version: 66.02
glider: 22
mission: 2
dive: 357
start: 10 4 107 1 52 46
data:
$ID,22
$MISSION,2
$DIVE,357
$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,-117381.23
$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,11
$R_STBD_OVSHOOT,15
$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
$GPS1,014159,4740.792,-12251.265,14,2.8,33,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-63.2
$GPS2,015123,4740.813,-12251.240,12,4.6,31,18.3
$SPEED_LIMITS,0.222,0.232
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.229,0.040
$KALMAN_X,53561.3,53.9,223.4,-51662.1,115.9
$KALMAN_Y,20975.7,-222.1,-76.0,-18600.2,43.0
$MHEAD_RNG_PITCHd_Wd,261.5,970,-16.0,-8.095
$D_GRID,98
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,28,-1.13,-117.3,0.0,0.0,0,152,0.00,0.00,-120.70,0.000,2,0.000,0.000,37,2221,3140
$GC,155,-1.13,-117.3,2.3,-3.0,20,210,13.25,3.10,-32.35,0.000,4,0.199,0.153,2277,787,3965
$GC,265,-1.13,-117.3,10.6,-11.1,37,271,0.00,2.80,0.00,0.000,6,0.000,0.102,2277,2203,3966
$GC,337,-1.13,-117.3,19.7,-12.0,48,342,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2203,3966
$GC,406,-1.13,-117.3,27.1,-10.7,54,411,0.00,2.97,0.00,0.000,4,0.000,0.139,2277,786,3968
$GC,439,-1.13,-117.3,30.3,-10.4,56,443,0.00,2.80,0.00,0.000,6,0.000,0.105,2277,2209,3968
$GC,634,-1.13,-117.3,49.5,-9.6,71,644,0.00,2.85,0.00,0.000,4,0.000,0.144,2277,3561,3970
$GC,717,-1.13,-117.3,57.5,-9.1,77,721,0.00,2.75,0.00,0.000,6,0.000,0.108,2277,2192,3969
$GC,912,-1.13,-117.3,76.4,-10.0,92,917,0.00,3.00,0.00,0.000,4,0.000,0.149,2277,775,3969
$GC,937,-1.13,-117.3,79.0,-9.8,93,944,0.00,2.83,0.00,0.000,6,0.000,0.104,2277,2208,3969
$STATE,1005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1005,begin apogee
$GC,1011,-0.31,0.0,85.8,9.6,99,1104,0.98,0.00,89.32,0.711,6,0.143,0.000,2460,2036,3484
$STATE,1105,end apogee,CONTROL_FINISHED_OK
$STATE,1105,begin climb
$GC,1108,1.13,117.3,89.2,0.0,107,1210,1.52,2.88,93.28,0.698,4,0.103,0.112,2771,625,3005
$GC,1244,1.13,117.3,82.5,9.6,118,1249,0.00,2.70,0.00,0.000,6,0.000,0.073,2772,2066,3006
$GC,1440,1.13,117.3,62.3,10.1,133,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2066,3007
$GC,1631,1.13,117.3,43.3,9.8,148,1635,0.00,2.70,0.00,0.000,4,0.000,0.097,2772,3462,3007
$GC,1695,1.13,117.3,36.3,10.5,152,1702,0.00,2.70,0.00,0.000,6,0.000,0.079,2772,2043,3007
$GC,1893,1.13,117.3,17.3,8.8,170,1899,0.00,2.83,0.00,0.000,4,0.000,0.117,2771,626,3006
$GC,2038,1.18,160.7,8.4,6.4,192,2081,0.00,2.65,33.70,0.671,6,0.000,0.071,2772,2063,2827
$STATE,2091,end climb,SURFACE_DEPTH_REACHED
$STATE,2091,begin surface coast
$FINISH,0.5,1.001663
$STATE,2172,end surface coast,CONTROL_FINISHED_OK
$STATE,2172,begin surface
$SM_CCo,2195,147.40,0.630,0,0,1649,450.13
$SM_GC,1.23,0.00,0.00,147.40,0.000,0.000,0.630,36,2221,1649,-11.47,0.59,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2058
$TCM_TEMP,19.90
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,50.1,7.9
$24V_AH,23.8,39.812
$10V_AH,10.2,10.489
$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,28.175,40.200,216.300,147.400,0.000,65.189,71.773,250.007,2.000,0.000,0.000,32.126,397.138,1125.272,505.394,388.117,538.300,33.333,775.130,0.000,372.004,0.000,5.367
$DEVICE_MAMPS,199.420,153.400,711.009,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,138.326,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6444,213
$CFSIZE,260034560,247910400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,023256,4740.842,-12251.562,14,1.7,31,18.3