version: 66.02
glider: 22
mission: 2
dive: 380
start: 10 4 107 20 12 10
data:
$ID,22
$MISSION,2
$DIVE,380
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-117956.09
$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,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
$GPS1,200550,4740.775,-12250.629,10,1.2,28,18.3
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.8
$GPS2,201045,4740.783,-12250.577,14,1.6,14,18.3
$SPEED_LIMITS,0.222,0.232
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.231,0.022
$KALMAN_X,55896.1,-57.4,-135.7,-52704.4,128.9
$KALMAN_Y,20221.3,-157.5,47.6,-18089.3,29.9
$MHEAD_RNG_PITCHd_Wd,257.2,1783,-16.0,-8.095
$D_GRID,93
$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,27,-1.13,-117.3,0.0,0.0,0,95,0.00,0.00,-66.38,0.000,2,0.000,0.000,36,2208,3026
$GC,99,-1.13,-117.3,2.1,-2.3,11,166,13.30,3.10,-43.20,0.000,4,0.200,0.153,2276,778,3963
$GC,192,-1.13,-117.3,6.3,-9.4,26,199,0.00,2.83,0.00,0.000,6,0.000,0.104,2276,2208,3964
$GC,264,-1.13,-117.3,13.9,-10.4,37,270,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2208,3964
$GC,343,-1.13,-117.3,21.5,-9.1,48,348,0.00,2.88,0.00,0.000,4,0.000,0.144,2276,3563,3964
$GC,376,-1.13,-117.3,24.7,-10.0,50,380,0.00,2.78,0.00,0.000,6,0.000,0.112,2276,2197,3965
$GC,571,-1.13,-117.3,43.4,-9.0,65,576,0.00,2.97,0.00,0.000,4,0.000,0.143,2276,780,3965
$GC,653,-1.13,-117.3,50.2,-8.7,70,659,0.00,2.85,0.00,0.000,6,0.000,0.108,2276,2213,3965
$GC,849,-1.13,-117.3,67.6,-9.0,86,853,0.00,2.88,0.00,0.000,4,0.000,0.149,2276,3566,3966
$GC,966,-1.13,-117.3,78.2,-8.2,94,973,0.00,2.80,0.00,0.000,6,0.000,0.115,2276,2192,3965
$STATE,1046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1046,begin apogee
$GC,1053,-0.31,0.0,85.4,8.7,101,1149,0.98,0.00,92.53,0.723,6,0.145,0.000,2458,2041,3484
$STATE,1150,end apogee,CONTROL_FINISHED_OK
$STATE,1150,begin climb
$GC,1153,1.13,117.3,86.5,0.0,109,1254,1.52,2.88,91.97,0.706,4,0.104,0.097,2768,3460,3004
$GC,1308,1.13,117.3,75.4,12.1,121,1315,0.00,2.80,0.00,0.000,6,0.000,0.090,2769,2046,3003
$GC,1505,1.13,117.3,53.4,9.9,137,1509,0.00,2.83,0.00,0.000,4,0.000,0.102,2769,3468,3004
$GC,1564,1.13,117.3,46.7,11.3,141,1569,0.00,2.75,0.00,0.000,6,0.000,0.087,2768,2046,3003
$GC,1759,1.13,117.3,25.7,10.6,156,1764,0.00,2.85,0.00,0.000,4,0.000,0.122,2768,633,3003
$GC,1867,1.14,128.9,16.6,7.6,166,1885,0.00,2.65,8.68,0.709,6,0.000,0.073,2768,2059,2958
$GC,1951,1.14,128.9,9.6,8.9,179,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2059,2957
$STATE,2014,end climb,SURFACE_DEPTH_REACHED
$STATE,2015,begin surface coast
$FINISH,0.5,1.021928
$STATE,2089,end surface coast,CONTROL_FINISHED_OK
$STATE,2089,begin surface
$SM_CCo,2112,167.73,0.640,0,0,1648,450.13
$SM_GC,1.27,0.00,0.00,167.73,0.000,0.000,0.640,35,2211,1648,-11.48,0.28,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2064
$TCM_TEMP,19.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,50.2,8.0
$24V_AH,23.8,41.772
$10V_AH,10.2,10.975
$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,28.325,40.400,193.175,167.725,0.000,32.578,32.026,141.986,2.250,0.000,0.000,14.114,395.940,1026.895,482.733,369.212,350.701,33.342,735.897,0.000,371.249,0.000,5.349
$DEVICE_MAMPS,200.187,152.633,722.514,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,130.572,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6456,200
$CFSIZE,260034560,247361536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,205102,4740.765,-12250.727,10,1.7,15,18.3