version: 66.02
glider: 22
mission: 2
dive: 492
start: 10 9 107 23 42 33
data:
$ID,22
$MISSION,2
$DIVE,492
$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,-139423.31
$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,22
$R_STBD_OVSHOOT,15
$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
$GPS1,232128,4741.091,-12251.148,147,3.5,166,18.3
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-58.8
$GPS2,234127,4741.150,-12250.932,92,3.6,111,18.3
$SPEED_LIMITS,0.151,0.246
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.175,-0.173
$KALMAN_X,-2314.7,106.7,164.2,4756.0,-20.2
$KALMAN_Y,-10777.3,-286.2,-12.6,14175.1,232.3
$MHEAD_RNG_PITCHd_Wd,207.0,1337,-20.8,-10.556
$D_GRID,103
$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,-1.44,-127.1,0.0,0.0,0,155,0.00,0.00,-123.38,0.000,2,0.000,0.000,37,2198,3113
$GC,159,-1.44,-127.1,2.3,-3.9,20,214,12.77,2.78,-33.88,0.000,4,0.198,0.131,2207,3561,3996
$GC,307,-1.44,-127.1,20.1,-17.8,43,313,0.00,2.65,0.00,0.000,6,0.000,0.099,2207,2210,3997
$GC,376,-1.44,-127.1,31.5,-16.0,49,381,0.00,3.00,0.00,0.000,4,0.000,0.143,2207,780,3997
$GC,423,-1.44,-127.1,38.8,-15.5,52,427,0.00,2.80,0.00,0.000,6,0.000,0.102,2207,2206,3998
$GC,492,-1.44,-127.1,49.3,-15.6,57,502,0.00,2.85,0.00,0.000,4,0.000,0.143,2207,3565,3998
$GC,541,-1.44,-127.1,57.0,-15.3,60,548,0.00,2.72,0.00,0.000,6,0.000,0.105,2207,2195,3998
$GC,611,-1.44,-127.1,67.3,-14.7,66,616,0.00,2.97,0.00,0.000,4,0.000,0.142,2207,774,3998
$GC,636,-1.44,-127.1,71.3,-15.5,67,643,0.00,2.85,0.00,0.000,6,0.000,0.107,2207,2214,3998
$GC,707,-1.44,-127.1,81.7,-15.4,73,712,0.00,2.88,0.00,0.000,4,0.000,0.148,2207,3564,3998
$GC,746,-1.44,-127.1,88.0,-15.8,75,752,0.00,2.75,0.00,0.000,6,0.000,0.107,2207,2190,3998
$STATE,800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,800,begin apogee
$GC,808,-0.31,0.0,96.2,14.9,80,912,1.33,0.00,99.07,0.719,6,0.151,0.000,2456,2041,3483
$STATE,913,end apogee,CONTROL_FINISHED_OK
$STATE,913,begin climb
$GC,916,1.44,127.1,100.7,0.0,89,1021,1.88,0.00,100.30,0.706,6,0.104,0.000,2836,2037,2964
$GC,1084,1.44,127.1,89.5,12.0,103,1088,0.00,2.83,0.00,0.000,4,0.000,0.102,2837,3465,2964
$GC,1096,1.44,127.1,87.7,13.0,103,1103,0.00,2.70,0.00,0.000,6,0.000,0.077,2836,2040,2964
$GC,1166,1.44,127.1,78.8,12.5,109,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2041,2964
$GC,1229,1.44,127.1,70.7,13.0,114,1234,0.00,2.83,0.00,0.000,4,0.000,0.119,2836,632,2964
$GC,1276,1.44,127.1,64.5,13.9,117,1281,0.00,2.67,0.00,0.000,6,0.000,0.074,2836,2063,2964
$GC,1346,1.44,127.1,55.4,13.2,122,1350,0.00,2.88,0.00,0.000,4,0.000,0.114,2836,630,2964
$GC,1384,1.44,127.1,50.1,13.5,124,1391,0.00,2.67,0.00,0.000,6,0.000,0.075,2837,2064,2964
$GC,1455,1.44,127.1,41.5,12.3,130,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2065,2964
$GC,1518,1.44,127.1,33.9,11.7,135,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2064,2964
$GC,1581,1.44,127.1,26.9,11.1,140,1585,0.00,2.90,0.00,0.000,4,0.000,0.116,2836,624,2964
$GC,1627,1.44,127.1,21.7,11.0,143,1631,0.00,2.67,0.00,0.000,6,0.000,0.072,2837,2065,2964
$GC,1700,1.44,131.0,13.7,10.3,152,1706,0.00,0.00,2.92,0.738,6,0.000,0.000,2837,2065,2949
$GC,1773,1.49,176.0,7.3,8.1,163,1816,0.00,2.80,34.20,0.666,4,0.000,0.099,2837,3464,2766
$STATE,1842,end climb,SURFACE_DEPTH_REACHED
$STATE,1842,begin surface coast
$FINISH,0.5,1.011174
$STATE,1867,end surface coast,CONTROL_FINISHED_OK
$STATE,1867,begin surface
$SM_CCo,1894,253.88,0.617,0,0,657,693.22
$SM_GC,0.95,0.00,0.00,253.88,0.000,0.000,0.617,35,2176,657,-11.48,-0.68,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2016
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,50.2,7.8
$24V_AH,23.8,53.785
$10V_AH,10.2,14.742
$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,28.700,56.150,236.500,253.875,0.000,162.951,299.268,265.550,0.750,0.000,0.000,111.977,338.194,1027.346,654.854,418.558,937.150,33.335,916.121,0.000,325.739,0.000,5.371
$DEVICE_MAMPS,197.886,148.031,737.854,617.435,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,114.134,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3296,178
$CFSIZE,260034560,244518912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,002241,4740.984,-12250.906,202,8.5,221,18.3