version: 66.02
glider: 22
mission: 2
dive: 421
start: 10 6 107 19 50 43
data:
$ID,22
$MISSION,2
$DIVE,421
$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,-119043.74
$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,8
$R_STBD_OVSHOOT,9
$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
$GPS1,193708,4740.881,-12252.082,12,1.5,29,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-62.7
$GPS2,194920,4740.987,-12251.978,14,1.8,19,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.220,-0.108
$KALMAN_X,60695.4,173.7,177.2,-59794.2,-19.9
$KALMAN_Y,12003.2,29.4,66.4,-9703.7,163.9
$MHEAD_RNG_PITCHd_Wd,97.8,1997,-10.1,-6.296
$D_GRID,102
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.73,-88.0,0.0,0.0,0,96,0.00,0.00,-66.40,0.000,2,0.000,0.000,37,2204,3031
$GC,100,-0.73,-88.0,2.2,-2.3,11,161,13.60,2.95,-37.50,0.000,4,0.195,0.153,2364,3564,3844
$GC,307,-0.73,-88.0,12.3,-6.4,43,313,0.00,2.75,0.00,0.000,6,0.000,0.108,2365,2195,3845
$GC,380,-0.73,-88.0,15.9,-4.5,54,385,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2195,3845
$GC,452,-0.73,-88.0,19.4,-5.2,65,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2195,3845
$GC,529,-0.73,-88.0,23.5,-5.6,72,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2195,3846
$GC,720,-0.73,-88.0,33.6,-5.4,87,725,0.00,2.95,0.00,0.000,4,0.000,0.141,2363,781,3846
$GC,767,-0.73,-88.0,36.4,-6.0,90,771,0.00,2.88,0.00,0.000,6,0.000,0.114,2364,2211,3846
$GC,963,-0.73,-88.0,46.7,-4.9,105,967,0.00,2.90,0.00,0.000,4,0.000,0.148,2364,3575,3846
$GC,1014,-0.73,-88.0,49.7,-5.8,108,1021,0.00,2.78,0.00,0.000,6,0.000,0.110,2364,2196,3846
$GC,1211,-0.73,-88.0,58.7,-4.3,124,1216,0.00,2.97,0.00,0.000,4,0.000,0.143,2363,772,3847
$GC,1263,-0.73,-88.0,61.2,-4.8,127,1269,0.00,2.90,0.00,0.000,6,0.000,0.117,2364,2210,3846
$GC,1459,-0.73,-88.0,69.4,-4.2,143,1464,0.00,2.90,0.00,0.000,4,0.000,0.150,2364,3571,3846
$GC,1519,-0.73,-88.0,72.5,-5.7,147,1524,0.00,2.80,0.00,0.000,6,0.000,0.114,2364,2190,3846
$GC,1715,-0.73,-88.0,81.2,-4.4,162,1720,0.00,2.95,0.00,0.000,4,0.000,0.144,2363,784,3847
$GC,1775,-0.73,-88.0,84.3,-5.3,166,1780,0.00,2.88,0.00,0.000,6,0.000,0.118,2364,2205,3846
$STATE,1791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1791,begin apogee
$GC,1798,-0.31,0.0,85.2,5.0,167,1870,0.50,0.00,69.18,0.727,6,0.134,0.000,2457,2040,3483
$STATE,1871,end apogee,CONTROL_FINISHED_OK
$STATE,1871,begin climb
$GC,1874,0.73,88.0,86.8,0.0,173,1951,1.10,2.92,68.10,0.712,4,0.103,0.120,2682,636,3124
$GC,1978,0.78,134.8,83.6,5.2,181,2022,0.00,2.75,35.72,0.710,6,0.000,0.086,2682,2065,2934
$GC,2212,0.80,152.1,69.8,5.9,200,2230,0.00,2.90,12.82,0.729,4,0.000,0.123,2682,3468,2864
$GC,2288,0.80,152.1,64.5,7.5,205,2295,0.00,2.83,0.00,0.000,6,0.000,0.098,2682,2044,2863
$GC,2485,0.80,152.1,51.2,6.9,221,2489,0.00,2.92,0.00,0.000,4,0.000,0.133,2682,628,2863
$GC,2559,0.80,152.1,46.0,6.8,226,2563,0.00,2.72,0.00,0.000,6,0.000,0.083,2682,2061,2863
$GC,2754,0.80,152.1,32.1,7.3,241,2759,0.00,2.85,0.00,0.000,4,0.000,0.123,2682,3463,2863
$GC,2800,0.80,152.1,28.4,8.3,244,2805,0.00,2.80,0.00,0.000,6,0.000,0.096,2682,2040,2863
$GC,3000,0.80,152.1,13.8,7.1,265,3006,0.00,2.88,0.00,0.000,4,0.000,0.128,2680,628,2863
$GC,3072,0.80,152.1,8.7,6.4,276,3079,0.00,2.72,0.00,0.000,6,0.000,0.084,2682,2061,2864
$GC,3146,0.92,263.2,5.0,3.8,287,3159,0.17,0.00,10.88,0.703,2,0.079,0.000,2724,2062,2806
$STATE,3160,end climb,SURFACE_DEPTH_REACHED
$STATE,3160,begin surface coast
$FINISH,0.5,1.012924
$STATE,3390,end surface coast,CONTROL_FINISHED_OK
$STATE,3390,begin surface
$SM_CCo,3413,149.62,0.644,0,0,1648,450.13
$SM_GC,1.39,0.00,0.00,149.62,0.000,0.000,0.644,37,2217,1648,-11.46,0.51,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2076
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,50.8,7.9
$24V_AH,23.8,45.955
$10V_AH,10.2,12.187
$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,27.600,63.525,196.700,149.625,0.000,97.744,308.391,100.594,1.000,0.000,0.000,19.461,623.575,1961.001,477.119,571.600,705.809,33.348,834.627,0.000,568.701,0.000,5.353
$DEVICE_MAMPS,194.818,153.400,728.650,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,214.668,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9558,324
$CFSIZE,260034560,246177792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,205057,4740.931,-12251.540,15,2.0,15,18.3