version: 66.02
glider: 22
mission: 2
dive: 471
start: 10 8 107 23 17 44
data:
$ID,22
$MISSION,2
$DIVE,471
$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,-125933.55
$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,8
$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,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
$GPS1,225805,4740.045,-12253.065,143,2.5,162,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-65.6
$GPS2,231638,4740.061,-12253.197,48,2.0,59,18.3
$SPEED_LIMITS,0.151,0.246
$TGT_NAME,G16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.190,0.156
$KALMAN_X,-2546.6,-320.7,-300.7,3081.2,-82.7
$KALMAN_Y,-7716.2,-417.0,-222.1,9443.9,12.0
$MHEAD_RNG_PITCHd_Wd,32.4,2291,-20.8,-10.556
$D_GRID,118
$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,28,-1.44,-127.1,0.0,0.0,0,148,0.00,0.00,-114.72,0.000,2,0.000,0.000,38,2205,2980
$GC,152,-1.44,-127.1,2.1,-2.9,19,225,12.77,2.85,-50.30,0.000,4,0.199,0.137,2206,3573,3997
$GC,365,-1.44,-127.1,26.9,-16.4,49,372,0.00,2.70,0.00,0.000,6,0.000,0.096,2206,2193,3999
$GC,562,-1.44,-127.1,55.9,-14.6,65,566,0.00,2.90,0.00,0.000,4,0.000,0.132,2206,778,3999
$GC,595,-1.44,-127.1,60.8,-14.7,67,599,0.00,2.80,0.00,0.000,6,0.000,0.102,2206,2205,3999
$GC,790,-1.44,-127.1,90.5,-14.6,82,795,0.00,2.85,0.00,0.000,4,0.000,0.139,2206,3570,4000
$STATE,821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,821,begin apogee
$GC,831,-0.31,0.0,95.4,15.2,84,934,1.35,0.00,97.97,0.724,6,0.162,0.000,2454,2042,3485
$STATE,935,end apogee,CONTROL_FINISHED_OK
$STATE,935,begin climb
$GC,939,1.44,127.1,99.9,0.0,93,1049,1.95,2.90,99.78,0.708,4,0.118,0.120,2838,631,2965
$GC,1123,1.44,127.1,81.9,13.7,107,1130,0.00,2.67,0.00,0.000,6,0.000,0.073,2838,2071,2965
$GC,1319,1.44,127.1,58.9,11.6,123,1324,0.00,2.70,0.00,0.000,4,0.000,0.097,2839,3470,2965
$GC,1398,1.44,127.1,48.6,13.2,128,1404,0.00,2.72,0.00,0.000,6,0.000,0.080,2838,2038,2965
$GC,1594,1.44,127.1,23.5,12.4,144,1598,0.00,2.83,0.00,0.000,4,0.000,0.120,2838,625,2965
$STATE,1802,end climb,SURFACE_DEPTH_REACHED
$STATE,1802,begin surface coast
$FINISH,1.4,1.022082
$STATE,1810,end surface coast,CONTROL_FINISHED_OK
$STATE,1810,begin surface
$SM_CCo,1837,287.48,0.622,0,0,659,693.22
$SM_GC,1.14,0.00,0.00,287.48,0.000,0.000,0.622,39,2211,659,-11.46,0.31,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2006
$TCM_TEMP,19.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,50.3,7.9
$24V_AH,23.8,51.006
$10V_AH,10.2,13.721
$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,29.000,33.975,197.750,287.475,0.000,163.002,334.407,206.661,1.500,0.000,0.000,59.651,312.711,1077.951,636.288,365.728,875.019,33.339,866.886,0.000,321.035,0.000,7.978
$DEVICE_MAMPS,198.653,138.827,724.048,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,112.429,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3312,174
$CFSIZE,260034560,245047296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,235444,4740.126,-12252.993,46,1.6,57,18.3