version: 66.02
glider: 22
mission: 2
dive: 451
start: 10 8 107 4 39 35
data:
$ID,22
$MISSION,2
$DIVE,451
$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,-124970.11
$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,14
$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
$GPS1,041247,4739.620,-12253.066,10,2.5,29,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-66.2
$GPS2,043829,4739.397,-12253.227,12,2.4,31,18.3
$SPEED_LIMITS,0.122,0.208
$TGT_NAME,G16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.134,0.160
$KALMAN_X,1.2,172.7,-45.3,-253.5,-240.3
$KALMAN_Y,-1170.3,-269.0,-106.2,1412.4,-203.2
$MHEAD_RNG_PITCHd_Wd,21.7,3328,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-1.08,-117.3,0.0,0.0,0,150,0.00,0.00,-114.10,0.000,2,0.000,0.000,36,2193,2970
$GC,154,-1.08,-117.3,2.1,-2.0,19,227,13.25,3.03,-50.65,0.000,4,0.197,0.155,2288,784,3963
$GC,309,-1.08,-117.3,12.0,-11.5,43,316,0.00,2.83,0.00,0.000,6,0.000,0.107,2288,2204,3964
$GC,382,-1.08,-117.3,20.4,-11.7,54,387,0.00,2.92,0.00,0.000,4,0.000,0.150,2289,3573,3964
$GC,461,-1.08,-117.3,29.6,-10.9,59,467,0.00,2.80,0.00,0.000,6,0.000,0.115,2288,2193,3965
$GC,657,-1.08,-117.3,48.9,-9.9,75,662,0.00,3.00,0.00,0.000,4,0.000,0.151,2288,775,3965
$GC,721,-1.08,-117.3,55.4,-9.7,79,728,0.00,2.88,0.00,0.000,6,0.000,0.113,2288,2210,3966
$GC,918,-1.08,-117.3,74.6,-10.0,95,922,0.00,2.95,0.00,0.000,4,0.000,0.156,2288,3575,3965
$GC,950,-1.08,-117.3,78.0,-10.8,97,955,0.00,2.83,0.00,0.000,6,0.000,0.115,2288,2185,3965
$STATE,1120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1120,begin apogee
$GC,1127,-0.31,0.0,95.1,10.3,110,1222,0.88,0.00,90.97,0.731,6,0.145,0.000,2454,2041,3484
$STATE,1223,end apogee,CONTROL_FINISHED_OK
$STATE,1223,begin climb
$GC,1226,1.08,117.3,99.1,0.0,118,1323,1.50,0.00,91.30,0.716,6,0.104,0.000,2758,2036,3005
$GC,1513,1.08,117.3,83.6,7.8,141,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2036,3005
$GC,1704,1.08,117.3,67.4,8.2,156,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2036,3005
$GC,1893,1.08,117.3,52.5,7.8,171,1897,0.00,2.83,0.00,0.000,4,0.000,0.118,2758,629,3005
$GC,1939,1.08,117.3,48.8,7.7,174,1943,0.00,2.67,0.00,0.000,6,0.000,0.074,2758,2067,3005
$GC,2135,1.08,117.3,32.5,8.9,189,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2067,3005
$GC,2325,1.08,117.3,17.7,7.6,206,2331,0.00,2.90,0.00,0.000,4,0.000,0.117,2758,625,3005
$GC,2364,1.08,117.3,14.7,7.5,212,2371,0.00,2.67,0.00,0.000,6,0.000,0.074,2758,2061,3005
$GC,2437,1.11,150.3,10.1,5.7,223,2467,0.00,0.00,25.35,0.683,6,0.000,0.000,2758,2061,2870
$GC,2536,1.11,150.3,3.7,7.2,238,2542,0.00,2.92,0.00,0.000,4,0.000,0.119,2758,621,2870
$STATE,2553,end climb,SURFACE_DEPTH_REACHED
$STATE,2553,begin surface coast
$FINISH,0.6,1.022433
$STATE,2574,end surface coast,CONTROL_FINISHED_OK
$STATE,2574,begin surface
$SM_CCo,2602,269.55,0.626,0,0,658,693.22
$SM_GC,1.28,0.00,0.00,269.55,0.000,0.000,0.626,35,2204,658,-11.47,0.11,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2021
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,50.3,6.5
$24V_AH,23.8,48.805
$10V_AH,10.2,13.183
$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,28.100,40.650,207.625,269.550,0.000,162.959,334.855,663.287,0.750,0.000,0.000,32.179,431.916,1589.478,632.679,429.272,1358.645,33.326,919.085,0.000,414.648,0.000,5.348
$DEVICE_MAMPS,197.119,155.701,730.951,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,159.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6439,244
$CFSIZE,260034560,245526528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081007,052835,4739.474,-12252.993,12,2.6,31,18.3