version: 66.02
glider: 22
mission: 2
dive: 350
start: 10 3 107 19 8 21
data:
$ID,22
$MISSION,2
$DIVE,350
$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,35
$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,100
$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,-117225.35
$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,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
$GPS1,190221,4740.775,-12251.064,14,1.9,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-63.4
$GPS2,190657,4740.808,-12251.088,11,2.0,11,18.3
$SPEED_LIMITS,0.302,0.312
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.312,0.001
$KALMAN_X,52866.4,95.0,-198.4,-50392.8,-48.2
$KALMAN_Y,21513.3,-298.7,-30.8,-19118.0,-77.7
$MHEAD_RNG_PITCHd_Wd,71.4,845,-10.8,-8.095
$D_GRID,99
$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,-0.78,-97.8,0.0,0.0,0,104,0.00,0.00,-73.00,0.000,2,0.000,0.000,36,2205,3166
$GC,107,-0.78,-97.8,2.5,-3.5,12,156,13.65,2.90,-27.65,0.000,4,0.198,0.150,2353,3569,3884
$GC,275,-0.78,-97.8,13.8,-8.4,38,281,0.00,2.78,0.00,0.000,6,0.000,0.110,2353,2197,3886
$GC,348,-0.78,-97.8,18.9,-6.7,49,354,0.00,2.95,0.00,0.000,4,0.000,0.139,2353,782,3886
$GC,387,-0.78,-97.8,21.4,-6.7,54,392,0.00,2.83,0.00,0.000,6,0.000,0.106,2353,2203,3886
$GC,583,-0.78,-97.8,33.0,-6.2,69,587,0.00,2.88,0.00,0.000,4,0.000,0.139,2353,3575,3886
$GC,688,-0.78,-97.8,39.8,-6.9,76,694,0.00,2.80,0.00,0.000,6,0.000,0.114,2353,2192,3886
$GC,884,-0.78,-97.8,52.0,-5.8,92,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2192,3886
$GC,1075,-0.78,-97.8,61.7,-5.1,107,1079,0.00,2.92,0.00,0.000,4,0.000,0.140,2352,777,3886
$GC,1149,-0.78,-97.8,65.8,-5.4,112,1154,0.00,2.85,0.00,0.000,6,0.000,0.108,2353,2211,3886
$GC,1345,-0.78,-97.8,77.4,-6.2,127,1350,0.00,2.85,0.00,0.000,4,0.000,0.141,2353,3570,3886
$GC,1378,-0.78,-97.8,79.6,-6.8,129,1382,0.00,2.80,0.00,0.000,6,0.000,0.116,2353,2196,3886
$STATE,1470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1470,begin apogee
$GC,1476,-0.31,0.0,85.7,5.9,136,1557,0.55,0.00,77.18,0.727,6,0.135,0.000,2456,2044,3483
$STATE,1558,end apogee,CONTROL_FINISHED_OK
$STATE,1558,begin climb
$GC,1561,0.78,97.8,87.2,0.0,143,1646,1.17,2.97,75.93,0.709,4,0.110,0.116,2693,3468,3085
$GC,1665,0.93,238.8,83.5,5.2,151,1784,0.17,2.83,108.85,0.690,6,0.077,0.094,2730,2039,2510
$GC,1972,0.93,238.8,52.6,11.3,176,1977,0.00,2.88,0.00,0.000,4,0.000,0.130,2730,632,2509
$GC,2105,0.93,238.8,37.3,11.5,185,2111,0.00,2.70,0.00,0.000,6,0.000,0.080,2731,2065,2509
$GC,2301,0.93,238.8,16.3,10.4,203,2308,0.00,2.80,0.00,0.000,4,0.000,0.114,2730,3471,2510
$GC,2400,0.93,238.8,6.0,9.8,218,2406,0.00,2.83,0.00,0.000,6,0.000,0.100,2731,2047,2510
$STATE,2410,end climb,SURFACE_DEPTH_REACHED
$STATE,2410,begin surface coast
$FINISH,0.6,1.022008
$STATE,2466,end surface coast,CONTROL_FINISHED_OK
$STATE,2466,begin surface
$SM_CCo,2489,111.65,0.642,0,0,1648,450.13
$SM_GC,1.17,0.00,0.00,111.65,0.000,0.000,0.642,37,2219,1648,-11.46,0.54,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2062
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,50.4,8.0
$24V_AH,23.8,39.090
$10V_AH,10.2,10.313
$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,27.675,46.200,261.950,111.650,0.000,32.596,54.141,101.424,1.500,0.000,0.000,11.703,446.342,1260.153,465.304,417.977,334.040,33.332,752.864,0.000,421.372,0.000,7.029
$DEVICE_MAMPS,197.886,149.565,727.116,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,149.246,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6471,228
$CFSIZE,260034560,248082432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,195232,4740.737,-12250.753,10,1.7,15,18.3