version: 66.02
glider: 22
mission: 2
dive: 371
start: 10 4 107 13 21 30
data:
$ID,22
$MISSION,2
$DIVE,371
$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,-117755.02
$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,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
$GPS1,131546,4740.822,-12251.397,10,5.3,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.2
$GPS2,132007,4740.822,-12251.427,16,2.0,32,18.3
$SPEED_LIMITS,0.222,0.232
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.191,0.133
$KALMAN_X,55770.8,469.9,155.7,-54450.6,-39.8
$KALMAN_Y,20714.9,35.3,-125.0,-18533.1,-85.3
$MHEAD_RNG_PITCHd_Wd,286.6,748,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.13,-117.3,0.0,0.0,0,103,0.00,0.00,-72.60,0.000,2,0.000,0.000,41,2214,3153
$GC,107,-1.13,-117.3,2.5,-3.6,12,162,13.23,3.12,-31.15,0.000,4,0.199,0.154,2275,776,3965
$GC,216,-1.13,-117.3,11.6,-11.6,29,223,0.00,2.83,0.00,0.000,6,0.000,0.104,2275,2200,3965
$GC,289,-1.13,-117.3,19.0,-9.8,40,295,0.00,2.90,0.00,0.000,4,0.000,0.143,2275,3569,3966
$GC,347,-1.13,-117.3,25.0,-10.9,45,354,0.00,2.78,0.00,0.000,6,0.000,0.110,2275,2198,3966
$GC,543,-1.13,-117.3,45.6,-10.0,61,547,0.00,3.00,0.00,0.000,4,0.000,0.146,2274,776,3966
$GC,634,-1.13,-117.3,54.1,-9.8,67,641,0.00,2.83,0.00,0.000,6,0.000,0.106,2275,2200,3966
$GC,830,-1.13,-117.3,73.3,-10.8,83,835,0.00,2.92,0.00,0.000,4,0.000,0.147,2275,3573,3966
$GC,921,-1.13,-117.3,84.3,-12.0,89,928,0.00,2.80,0.00,0.000,6,0.000,0.114,2275,2192,3966
$STATE,938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,938,begin apogee
$GC,945,-0.31,0.0,86.3,11.4,91,1041,0.98,0.00,92.82,0.720,6,0.140,0.000,2459,2049,3484
$STATE,1042,end apogee,CONTROL_FINISHED_OK
$STATE,1042,begin climb
$GC,1045,1.13,117.3,90.4,0.0,99,1141,1.52,0.00,91.72,0.705,6,0.097,0.000,2773,2044,3005
$GC,1325,1.13,117.3,71.8,10.3,122,1329,0.00,2.88,0.00,0.000,4,0.000,0.120,2772,622,3004
$GC,1371,1.13,117.3,66.5,11.5,125,1376,0.00,2.70,0.00,0.000,6,0.000,0.075,2772,2063,3004
$GC,1566,1.13,117.3,44.3,11.5,140,1570,0.00,2.72,0.00,0.000,4,0.000,0.101,2773,3466,3004
$GC,1613,1.13,117.3,38.7,12.4,143,1619,0.00,2.75,0.00,0.000,6,0.000,0.087,2773,2038,3004
$GC,1809,1.13,117.3,18.7,9.5,160,1815,0.00,2.83,0.00,0.000,4,0.000,0.121,2772,631,3003
$GC,1868,1.13,117.3,12.8,9.7,169,1874,0.00,2.65,0.00,0.000,6,0.000,0.074,2773,2057,3003
$GC,1941,1.14,130.6,7.3,7.6,180,1959,0.00,2.83,9.98,0.699,4,0.000,0.104,2773,3466,2950
$STATE,1976,end climb,SURFACE_DEPTH_REACHED
$STATE,1976,begin surface coast
$FINISH,3.2,1.022200
$STATE,2000,end surface coast,CONTROL_FINISHED_OK
$STATE,2000,begin surface
$SM_CCo,2025,164.18,0.635,0,0,1647,450.13
$SM_GC,1.32,0.00,0.00,164.18,0.000,0.000,0.635,36,2177,1647,-11.47,-0.65,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2045
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.5,7.9
$24V_AH,23.8,41.032
$10V_AH,10.2,10.795
$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,28.550,45.325,194.525,164.175,0.000,32.609,34.285,86.026,1.250,0.000,0.000,32.327,379.579,990.143,490.552,348.614,288.801,33.341,719.346,0.000,333.195,0.000,6.739
$DEVICE_MAMPS,199.420,154.167,720.213,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,123.004,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3324,189
$CFSIZE,260034560,247582720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,135905,4740.924,-12251.795,10,3.5,29,18.3