version: 66.02
glider: 22
mission: 2
dive: 502
start: 10 10 107 13 28 42
data:
$ID,22
$MISSION,2
$DIVE,502
$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,30
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$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,-153743.98
$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,7
$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
$GPS1,104458,4741.149,-12249.680,314,3.3,333,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-64.8
$GPS2,104458,4741.149,-12249.680,314,3.3,333,18.3
$SPEED_LIMITS,0.151,0.246
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.244,-0.033
$KALMAN_X,1564.1,649.4,541.6,1058.6,122.7
$KALMAN_Y,-10950.0,32.4,69.0,13898.0,23.9
$MHEAD_RNG_PITCHd_Wd,243.9,2878,-20.8,-10.556
$D_GRID,77
$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,29,-1.44,-127.1,0.0,0.0,0,154,0.00,0.00,-122.78,0.000,2,0.000,0.000,37,2208,3084
$GC,159,-1.44,-127.1,2.1,-3.5,20,213,12.70,0.00,-37.12,0.000,6,0.198,0.000,2209,2204,3996
$GC,280,-1.44,-127.1,14.2,-15.2,39,286,0.00,2.85,0.00,0.000,4,0.000,0.139,2209,3565,3997
$GC,348,-1.44,-127.1,24.4,-15.1,47,353,0.00,2.72,0.00,0.000,6,0.000,0.105,2209,2194,3997
$GC,418,-1.44,-127.1,34.7,-14.1,52,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2194,3997
$GC,481,-1.44,-127.1,44.0,-14.6,57,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2194,3998
$GC,545,-1.44,-127.1,53.4,-14.7,62,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2194,3998
$GC,607,-1.44,-127.1,62.7,-14.6,67,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2193,3998
$GC,670,-1.44,-127.1,71.0,-13.2,72,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2194,3998
$STATE,718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,718,begin apogee
$GC,725,-0.31,0.0,78.4,14.6,76,829,1.30,0.00,98.10,0.716,6,0.145,0.000,2456,2035,3484
$STATE,830,end apogee,CONTROL_FINISHED_OK
$STATE,830,begin climb
$GC,834,1.44,127.1,82.2,0.0,85,938,1.83,0.00,99.20,0.702,6,0.095,0.000,2835,2033,2965
$GC,1001,1.44,127.1,69.5,14.4,99,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2033,2965
$GC,1064,1.44,127.1,60.4,14.4,104,1069,0.00,2.83,0.00,0.000,4,0.000,0.101,2835,3471,2965
$GC,1110,1.44,127.1,53.1,16.4,107,1115,0.00,2.72,0.00,0.000,6,0.000,0.077,2834,2033,2965
$GC,1180,1.44,127.1,43.2,13.8,112,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2032,2965
$GC,1244,1.44,127.1,35.1,12.4,117,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2032,2964
$GC,1306,1.44,127.1,26.8,13.0,122,1311,0.00,2.83,0.00,0.000,4,0.000,0.099,2835,3471,2965
$GC,1320,1.44,127.1,25.0,13.6,122,1326,0.00,2.70,0.00,0.000,6,0.000,0.080,2835,2044,2965
$GC,1391,1.44,127.1,16.0,13.0,130,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2044,2965
$GC,1464,1.44,133.3,7.6,10.2,141,1471,0.00,0.00,4.57,0.719,6,0.000,0.000,2835,2044,2940
$STATE,1528,end climb,SURFACE_DEPTH_REACHED
$STATE,1528,begin surface coast
$FINISH,0.6,1.022135
$STATE,1552,end surface coast,CONTROL_FINISHED_OK
$STATE,1552,begin surface
$SM_CCo,1577,283.42,0.621,0,0,657,693.22
$SM_GC,1.17,0.00,0.00,283.42,0.000,0.000,0.621,36,2211,657,-11.47,0.31,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1999
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,51.7,7.7
$24V_AH,23.8,55.094
$10V_AH,10.2,15.396
$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,28.575,17.300,201.875,283.425,0.000,162.979,235.483,285.725,0.750,0.000,0.000,904.092,293.323,897.785,624.848,1142.034,920.326,33.333,832.073,0.000,261.442,0.000,5.351
$DEVICE_MAMPS,197.886,138.827,718.679,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,98.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3322,154
$CFSIZE,260034560,244277248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101007,104458,4741.149,-12249.680,314,3.3,333,18.3