version: 66.02
glider: 22
mission: 2
dive: 432
start: 10 7 107 7 57 46
data:
$ID,22
$MISSION,2
$DIVE,432
$D_SURF,5
$D_FLARE,2
$D_TGT,85
$D_ABORT,1050
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,45
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,600
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,90
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51950
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0040048002
$HD_B,0.010364
$HD_C,5.4717998e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-119331.33
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3347
$C_PITCH,2530
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,208
$ROLL_MAX,3567
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,11
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,658
$VBD_MAX,3994
$C_VBD,3484
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,16
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-21.951805
$PRESSURE_SLOPE,0.00011632
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.7
$TCM_ROLL_OFFSET,-0.89999998
$ALTIM_BOTTOM_PING_RANGE,15
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,0
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,3
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,1
$SMARTDEVICE1,5
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,0
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044140997
$SEABIRD_T_H,0.00064927549
$SEABIRD_T_I,2.7523491e-05
$SEABIRD_T_J,3.1132354e-06
$SEABIRD_C_G,-10.525962
$SEABIRD_C_H,1.1896306
$SEABIRD_C_I,-0.0026426413
$SEABIRD_C_J,0.00031414768
$GPS1,074708,4740.992,-12250.324,42,1.8,49,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-60.0
$GPS2,075623,4741.097,-12250.323,11,3.1,30,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.026,-0.244
$KALMAN_X,64265.2,554.6,249.5,-61750.0,-139.7
$KALMAN_Y,14185.5,364.0,142.4,-12098.4,254.5
$MHEAD_RNG_PITCHd_Wd,155.7,649,-10.1,-6.296
$D_GRID,84
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,37,end surface,CONTROL_FINISHED_OK
$STATE,37,begin dive
$GC,40,-0.73,-88.0,0.0,0.0,0,113,0.00,0.00,-70.55,0.000,2,0.000,0.000,36,2179,3094
$GC,116,-0.73,-88.0,2.2,-1.9,12,171,13.57,3.00,-31.95,0.000,4,0.195,0.155,2364,3561,3844
$GC,211,-0.73,-88.0,6.2,-6.0,27,217,0.00,2.78,0.00,0.000,6,0.000,0.117,2364,2197,3844
$GC,283,-0.73,-88.0,10.9,-6.7,38,289,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2197,3844
$GC,356,-0.73,-88.0,15.3,-5.2,49,362,0.00,2.92,0.00,0.000,4,0.000,0.142,2364,3565,3844
$GC,376,-0.73,-88.0,16.2,-4.7,52,382,0.00,2.78,0.00,0.000,6,0.000,0.113,2364,2198,3845
$GC,448,-0.73,-88.0,20.0,-5.2,63,454,0.00,3.00,0.00,0.000,4,0.000,0.149,2363,775,3844
$GC,514,-0.73,-88.0,23.1,-4.3,69,518,0.00,2.90,0.00,0.000,6,0.000,0.117,2363,2204,3844
$GC,709,-0.73,-88.0,33.1,-4.2,84,714,0.00,2.88,0.00,0.000,4,0.000,0.146,2364,3573,3845
$GC,769,-0.73,-88.0,36.4,-5.5,88,774,0.00,2.80,0.00,0.000,6,0.000,0.114,2364,2189,3845
$GC,965,-0.73,-88.0,47.3,-5.2,103,970,0.00,2.92,0.00,0.000,4,0.000,0.143,2363,783,3845
$GC,1011,-0.73,-88.0,49.8,-5.8,106,1016,0.00,2.90,0.00,0.000,6,0.000,0.119,2364,2212,3845
$GC,1208,-0.73,-88.0,59.0,-4.9,121,1212,0.00,2.88,0.00,0.000,4,0.000,0.149,2364,3570,3845
$GC,1272,-0.73,-88.0,62.9,-6.0,125,1279,0.00,2.80,0.00,0.000,6,0.000,0.114,2364,2186,3845
$GC,1469,-0.73,-88.0,72.1,-4.4,141,1474,0.00,2.95,0.00,0.000,4,0.000,0.144,2363,776,3845
$GC,1548,-0.73,-88.0,76.1,-5.1,146,1554,0.00,2.90,0.00,0.000,6,0.000,0.117,2364,2210,3845
$STATE,1716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1716,begin apogee
$GC,1723,-0.31,0.0,84.1,4.8,160,1795,0.50,0.00,69.30,0.736,6,0.130,0.000,2458,2043,3484
$STATE,1796,end apogee,CONTROL_FINISHED_OK
$STATE,1796,begin climb
$GC,1799,0.73,88.0,85.9,0.0,166,1876,1.12,2.97,68.47,0.718,4,0.110,0.125,2685,631,3125
$GC,1930,0.79,142.2,82.3,5.1,176,1977,0.00,2.75,41.47,0.716,6,0.000,0.086,2684,2064,2904
$GC,2176,0.79,142.2,66.9,6.5,196,2180,0.00,2.85,0.00,0.000,4,0.000,0.121,2685,3470,2903
$GC,2214,0.79,142.2,64.1,7.3,198,2221,0.00,2.83,0.00,0.000,6,0.000,0.099,2685,2044,2903
$GC,2410,0.79,142.2,50.4,7.0,214,2415,0.00,2.90,0.00,0.000,4,0.000,0.131,2684,633,2903
$GC,2462,0.79,142.2,46.4,7.8,217,2469,0.00,2.72,0.00,0.000,6,0.000,0.087,2685,2055,2903
$GC,2658,0.79,142.2,32.9,6.8,233,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2054,2903
$GC,2847,0.79,142.2,19.9,6.8,248,2853,0.00,2.92,0.00,0.000,4,0.000,0.126,2685,631,2903
$GC,2886,0.79,142.2,17.3,6.7,254,2892,0.00,2.72,0.00,0.000,6,0.000,0.087,2685,2057,2903
$GC,2959,0.83,184.7,13.0,5.3,265,2995,0.12,0.00,32.08,0.686,6,0.077,0.000,2712,2059,2731
$GC,3062,0.84,195.0,7.5,6.1,281,3075,0.00,2.95,7.57,0.713,4,0.000,0.123,2713,3461,2689
$STATE,3098,end climb,SURFACE_DEPTH_REACHED
$STATE,3098,begin surface coast
$FINISH,0.6,1.021916
$STATE,3186,end surface coast,CONTROL_FINISHED_OK
$STATE,3186,begin surface
$SM_CCo,3285,131.88,0.651,0,0,1648,450.13
$SM_GC,1.35,0.00,0.00,131.88,0.000,0.000,0.651,34,2181,1648,-11.48,-0.54,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.046787
$HUMID,2053
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.6,8.3
$24V_AH,23.8,46.886
$10V_AH,10.1,12.490
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,27.425,69.050,218.900,131.875,0.000,32.589,36.849,139.550,0.500,0.000,0.000,31.378,537.574,1776.295,474.012,573.893,560.383,33.347,821.188,0.000,526.691,0.000,5.355
$DEVICE_MAMPS,194.818,154.934,735.553,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,197.494,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9579,300
$CFSIZE,260034560,245919744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,085553,4740.967,-12250.201,14,2.4,33,18.3