version: 66.02
glider: 22
mission: 2
dive: 381
start: 10 4 107 21 0 34
data:
$ID,22
$MISSION,2
$DIVE,381
$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,-117972.16
$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,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
$GPS1,205102,4740.765,-12250.727,10,1.7,15,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.7
$GPS2,205909,4740.788,-12250.640,13,1.7,13,18.3
$SPEED_LIMITS,0.222,0.232
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.231,0.027
$KALMAN_X,56220.8,-73.9,-65.9,-53160.6,209.5
$KALMAN_Y,20151.7,-153.5,82.3,-18050.0,4.3
$MHEAD_RNG_PITCHd_Wd,258.3,1705,-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,-66.30,0.000,2,0.000,0.000,35,2211,3019
$GC,99,-1.13,-117.3,2.1,-2.1,11,166,13.32,3.08,-44.10,0.000,4,0.201,0.154,2276,789,3964
$GC,188,-1.13,-117.3,5.6,-9.1,25,194,0.00,2.80,0.00,0.000,6,0.000,0.104,2277,2204,3963
$GC,260,-1.13,-117.3,13.7,-10.9,36,265,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2204,3964
$GC,331,-1.13,-117.3,21.8,-11.4,46,336,0.00,3.03,0.00,0.000,4,0.000,0.140,2276,776,3965
$GC,382,-1.13,-117.3,27.4,-9.8,49,390,0.00,2.85,0.00,0.000,6,0.000,0.107,2277,2206,3965
$GC,579,-1.13,-117.3,47.7,-10.5,65,584,0.00,2.90,0.00,0.000,4,0.000,0.147,2276,3563,3965
$GC,678,-1.13,-117.3,57.8,-10.3,72,683,0.00,2.80,0.00,0.000,6,0.000,0.114,2277,2190,3965
$GC,873,-1.13,-117.3,76.6,-9.7,87,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2188,3965
$STATE,972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,972,begin apogee
$GC,979,-0.31,0.0,86.2,9.4,95,1075,0.98,0.00,92.43,0.724,6,0.143,0.000,2459,2043,3483
$STATE,1076,end apogee,CONTROL_FINISHED_OK
$STATE,1076,begin climb
$GC,1079,1.13,117.3,88.4,0.0,103,1180,1.52,2.90,92.25,0.710,4,0.100,0.098,2772,3468,3004
$GC,1219,1.13,117.3,79.4,10.6,114,1226,0.00,2.80,0.00,0.000,6,0.000,0.089,2772,2036,3004
$GC,1416,1.13,117.3,61.7,9.2,130,1420,0.00,2.83,0.00,0.000,4,0.000,0.097,2772,3473,3004
$GC,1480,1.13,117.3,54.4,11.9,134,1487,0.00,2.78,0.00,0.000,6,0.000,0.088,2772,2044,3004
$GC,1677,1.13,117.3,33.5,10.5,150,1681,0.00,2.85,0.00,0.000,4,0.000,0.123,2771,631,3004
$GC,1703,1.13,117.3,30.8,10.7,151,1710,0.00,2.65,0.00,0.000,6,0.000,0.072,2772,2061,3005
$GC,1902,1.16,146.3,14.5,6.9,172,1933,0.00,3.00,21.65,0.691,4,0.000,0.120,2772,636,2887
$STATE,2010,end climb,SURFACE_DEPTH_REACHED
$STATE,2010,begin surface coast
$FINISH,0.6,1.010381
$STATE,2064,end surface coast,CONTROL_FINISHED_OK
$STATE,2064,begin surface
$SM_CCo,2090,155.98,0.638,0,0,1648,450.13
$SM_GC,1.41,0.00,0.00,155.98,0.000,0.000,0.638,36,2200,1648,-11.47,0.00,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.03068
$HUMID,2034
$TCM_TEMP,19.90
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,50.4,7.9
$24V_AH,23.8,41.860
$10V_AH,10.2,10.996
$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,28.375,40.600,206.325,155.975,0.000,65.198,80.740,185.478,5.750,0.000,0.000,15.435,383.631,1092.646,491.305,338.653,476.581,33.348,726.118,0.000,343.303,0.000,5.350
$DEVICE_MAMPS,200.954,154.167,724.048,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,128.308,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6425,197
$CFSIZE,260034560,247341056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,213907,4740.786,-12250.832,14,1.3,30,18.3