version: 66.02
glider: 22
mission: 2
dive: 452
start: 10 8 107 5 49 44
data:
$ID,22
$MISSION,2
$DIVE,452
$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,45
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-125007.83
$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,6
$R_STBD_OVSHOOT,6
$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
$GPS1,052835,4739.474,-12252.993,12,2.6,31,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-65.6
$GPS2,054837,4739.369,-12253.096,33,1.5,37,18.3
$SPEED_LIMITS,0.122,0.208
$TGT_NAME,G16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.105,0.180
$KALMAN_X,-39.0,128.6,-168.8,113.9,-141.0
$KALMAN_Y,-1502.6,-305.9,-177.9,1797.3,-182.6
$MHEAD_RNG_PITCHd_Wd,11.9,3303,-15.2,-7.037
$D_GRID,119
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-1.08,-117.3,0.0,0.0,0,155,0.00,0.00,-122.12,0.000,2,0.000,0.000,36,2205,3138
$GC,159,-1.08,-117.3,2.4,-2.4,20,214,13.35,2.92,-33.90,0.000,4,0.200,0.156,2288,3567,3964
$GC,459,-1.08,-117.3,31.2,-10.6,59,464,0.00,2.80,0.00,0.000,6,0.000,0.113,2288,2187,3966
$GC,658,-1.08,-117.3,50.6,-9.7,74,662,0.00,3.00,0.00,0.000,4,0.000,0.153,2288,781,3966
$GC,696,-1.08,-117.3,54.7,-9.7,76,703,0.00,2.85,0.00,0.000,6,0.000,0.110,2288,2208,3967
$GC,893,-1.08,-117.3,73.2,-9.4,92,897,0.00,2.92,0.00,0.000,4,0.000,0.153,2288,3565,3967
$GC,944,-1.08,-117.3,78.0,-8.8,95,951,0.00,2.80,0.00,0.000,6,0.000,0.116,2288,2191,3967
$GC,1141,-1.08,-117.3,94.7,-8.9,111,1145,0.00,2.15,0.00,0.000,3,0.000,0.152,2288,1174,3967
$STATE,1146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1146,begin apogee
$GC,1154,-0.31,0.0,95.3,9.0,111,1249,0.88,0.00,91.35,0.732,6,0.137,0.000,2455,2068,3484
$STATE,1250,end apogee,CONTROL_FINISHED_OK
$STATE,1250,begin climb
$GC,1253,1.08,117.3,98.8,0.0,119,1357,1.50,2.88,91.60,0.716,4,0.105,0.108,2758,3465,3005
$GC,1389,1.08,117.3,93.9,8.0,130,1396,0.00,2.78,0.00,0.000,6,0.000,0.089,2758,2042,3005
$GC,1585,1.08,117.3,77.7,8.3,146,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2042,3005
$GC,1777,1.08,117.3,61.9,8.6,161,1781,0.00,2.85,0.00,0.000,4,0.000,0.122,2758,627,3005
$GC,1895,1.08,117.3,51.8,8.5,169,1901,0.00,2.67,0.00,0.000,6,0.000,0.074,2758,2061,3005
$GC,2091,1.08,117.3,35.8,8.2,185,2096,0.00,2.75,0.00,0.000,4,0.000,0.107,2758,3463,3005
$GC,2298,1.08,117.3,17.7,8.1,202,2304,0.00,2.72,0.00,0.000,6,0.000,0.086,2758,2048,3006
$GC,2371,1.08,121.4,12.5,6.9,213,2384,0.00,2.90,2.95,0.754,4,0.000,0.117,2758,625,2988
$GC,2430,1.10,135.0,8.5,6.5,222,2449,0.00,2.67,10.43,0.706,6,0.000,0.076,2758,2059,2933
$GC,2516,1.12,156.3,3.1,6.2,235,2535,0.00,1.27,15.90,0.692,3,0.000,0.098,2759,1445,2846
$STATE,2536,end climb,SURFACE_DEPTH_REACHED
$STATE,2536,begin surface coast
$FINISH,0.7,1.022334
$STATE,2567,end surface coast,CONTROL_FINISHED_OK
$STATE,2568,begin surface
$SM_CCo,2594,264.52,0.626,0,0,658,693.22
$SM_GC,1.28,0.00,0.00,264.52,0.000,0.000,0.626,38,2211,658,-11.47,0.31,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2017
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,50.6,8.1
$24V_AH,23.8,48.933
$10V_AH,10.2,13.216
$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,28.325,46.250,212.225,264.525,0.000,165.112,464.874,199.435,1.000,0.000,0.000,37.087,437.271,1538.937,643.357,453.964,1016.045,33.327,929.861,0.000,436.436,0.000,5.350
$DEVICE_MAMPS,200.187,155.701,753.961,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,158.446,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6433,243
$CFSIZE,260034560,245506048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,063837,4739.370,-12252.923,34,1.6,38,18.3