version: 66.02
glider: 22
mission: 2
dive: 491
start: 10 9 107 22 45 42
data:
$ID,22
$MISSION,2
$DIVE,491
$D_SURF,2
$D_FLARE,2
$D_TGT,95
$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,30
$T_MISSION,80
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$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,693.21777
$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,-139310.69
$T_RSLEEP,2
$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,10
$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,0
$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
$GPS1,220817,4740.838,-12251.590,316,5.7,335,18.3
$_CALLS,5
$_XMS_NAKs,27
$_XMS_TOUTs,3
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-60.9
$GPS2,220817,4740.838,-12251.590,316,5.7,335,18.3
$SPEED_LIMITS,0.151,0.246
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.128,0.080
$KALMAN_X,-3208.3,18.6,93.2,4751.1,-31.0
$KALMAN_Y,-10951.8,-324.5,-83.8,13982.0,56.7
$MHEAD_RNG_PITCHd_Wd,283.7,552,-33.2,-10.556
$D_GRID,98
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-2.13,-49.7,0.0,0.0,0,154,0.00,0.00,-122.70,0.000,2,0.000,0.000,37,2203,3084
$GC,158,-2.18,-97.7,2.1,-3.7,20,213,11.80,2.97,-33.28,0.000,4,0.199,0.143,2048,784,3884
$GC,331,-2.18,-97.7,31.2,-24.6,43,338,0.00,2.72,0.00,0.000,6,0.000,0.091,2048,2206,3884
$GC,402,-2.18,-97.7,47.9,-24.4,49,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2206,3885
$GC,464,-2.18,-97.7,63.7,-25.1,54,469,0.00,2.78,0.00,0.000,4,0.000,0.127,2049,3574,3885
$GC,484,-2.18,-97.7,68.9,-26.3,55,489,0.00,2.72,0.00,0.000,6,0.000,0.104,2048,2195,3886
$GC,554,-2.18,-97.7,86.8,-25.2,60,559,0.00,2.83,0.00,0.000,4,0.000,0.126,2048,3572,3886
$STATE,584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,585,begin apogee
$GC,595,-0.31,0.0,95.4,26.2,62,677,2.25,0.00,77.40,0.732,6,0.173,0.000,2456,2037,3484
$STATE,678,end apogee,CONTROL_FINISHED_OK
$STATE,679,begin climb
$GC,682,2.18,97.7,102.3,0.0,69,766,2.65,2.62,76.10,0.722,4,0.104,0.073,3000,621,3084
$GC,811,2.18,97.7,91.8,13.5,79,818,0.00,2.58,0.00,0.000,6,0.000,0.050,3000,2072,3084
$GC,883,2.18,97.7,81.3,15.3,85,884,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2072,3084
$GC,945,2.18,97.7,71.3,15.9,90,949,0.00,2.55,0.00,0.000,4,0.000,0.072,3000,3468,3084
$GC,1011,2.18,97.7,60.5,16.5,95,1016,0.00,2.55,0.00,0.000,6,0.000,0.049,3000,2032,3084
$GC,1081,2.18,97.7,49.7,15.3,100,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2032,3084
$GC,1144,2.18,97.7,40.3,14.6,105,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2032,3084
$GC,1207,2.18,97.7,31.0,14.4,110,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2032,3084
$GC,1270,2.18,97.7,22.1,14.1,115,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2032,3084
$GC,1336,2.18,97.7,14.1,12.7,123,1342,0.00,2.55,0.00,0.000,4,0.000,0.072,3000,631,3084
$GC,1557,2.28,192.2,6.0,-2.9,156,1639,0.12,2.50,72.28,0.667,6,0.079,0.047,3029,2069,2700
$STATE,1650,end climb,SURFACE_DEPTH_REACHED
$STATE,1650,begin surface coast
$FINISH,0.4,1.010718
$STATE,1671,end surface coast,CONTROL_FINISHED_OK
$STATE,1671,begin surface
$SM_CCo,1697,244.45,0.617,0,0,658,693.22
$SM_GC,1.08,0.00,0.00,244.45,0.000,0.000,0.617,36,2197,658,-11.47,-0.11,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,2028
$TCM_TEMP,19.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,51.0,7.5
$24V_AH,23.8,53.658
$10V_AH,10.2,14.708
$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,30.600,32.675,225.775,244.450,0.000,162.960,371.441,383.784,1.500,0.000,0.000,901.245,315.733,925.561,607.046,1188.367,1112.029,33.319,842.424,0.000,305.902,0.000,5.350
$DEVICE_MAMPS,198.653,143.429,731.718,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,111.637,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3322,174
$CFSIZE,260034560,244547584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,232128,4741.091,-12251.148,147,3.5,166,18.3