version: 66.02
glider: 22
mission: 2
dive: 372
start: 10 4 107 14 4 50
data:
$ID,22
$MISSION,2
$DIVE,372
$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,-117770.58
$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,8
$R_STBD_OVSHOOT,13
$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
$GPS1,135905,4740.924,-12251.795,10,3.5,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.3
$GPS2,140326,4740.923,-12251.812,10,1.6,14,18.3
$SPEED_LIMITS,0.222,0.232
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.127,0.182
$KALMAN_X,55753.2,439.9,127.0,-54855.3,-86.1
$KALMAN_Y,20670.5,9.9,-145.4,-18254.4,-57.1
$MHEAD_RNG_PITCHd_Wd,306.8,234,-16.9,-8.095
$D_GRID,100
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.18,-117.3,0.0,0.0,0,97,0.00,0.00,-66.38,0.000,2,0.000,0.000,36,2177,3018
$GC,101,-1.18,-117.3,2.0,-2.1,11,163,13.23,2.83,-41.35,0.000,4,0.200,0.133,2265,781,3963
$GC,308,-1.18,-117.3,20.2,-9.8,43,313,0.00,2.78,0.00,0.000,6,0.000,0.094,2263,2209,3963
$GC,503,-1.18,-117.3,40.2,-10.8,58,508,0.00,2.80,0.00,0.000,4,0.000,0.128,2263,3574,3963
$GC,549,-1.18,-117.3,45.5,-11.8,61,554,0.00,2.75,0.00,0.000,6,0.000,0.100,2263,2186,3964
$GC,744,-1.18,-117.3,66.5,-10.4,76,749,0.00,2.85,0.00,0.000,4,0.000,0.130,2263,783,3964
$GC,790,-1.18,-117.3,71.4,-10.5,79,795,0.00,2.78,0.00,0.000,6,0.000,0.098,2263,2203,3963
$STATE,933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,933,begin apogee
$GC,939,-0.31,0.0,86.4,10.6,90,1035,1.02,0.00,92.15,0.719,6,0.140,0.000,2457,2032,3484
$STATE,1037,end apogee,CONTROL_FINISHED_OK
$STATE,1037,begin climb
$GC,1039,1.18,117.3,89.7,0.0,98,1141,1.60,2.88,91.60,0.705,4,0.104,0.112,2781,636,3005
$GC,1189,1.18,117.3,80.8,10.5,110,1193,0.00,2.67,0.00,0.000,6,0.000,0.071,2781,2070,3004
$GC,1384,1.18,117.3,60.0,10.8,125,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2070,3004
$GC,1576,1.18,117.3,39.6,10.2,140,1581,0.00,2.92,0.00,0.000,4,0.000,0.118,2781,625,3003
$GC,1648,1.18,117.3,32.0,10.7,145,1652,0.00,2.65,0.00,0.000,6,0.000,0.071,2781,2061,3004
$GC,1848,1.18,117.3,12.9,8.3,166,1854,0.00,2.72,0.00,0.000,4,0.000,0.100,2781,3466,3004
$GC,1966,1.20,132.9,5.1,7.4,184,1974,0.00,2.72,2.50,0.765,2,0.000,0.082,2781,2042,2992
$STATE,1975,end climb,SURFACE_DEPTH_REACHED
$STATE,1975,begin surface coast
$FINISH,4.0,1.022233
$STATE,1980,end surface coast,CONTROL_FINISHED_OK
$STATE,1980,begin surface
$SM_CCo,2003,175.32,0.637,0,0,1648,450.13
$SM_GC,1.24,0.00,0.00,175.32,0.000,0.000,0.637,39,2217,1648,-11.46,0.51,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2064
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,50.4,8.3
$24V_AH,23.8,41.110
$10V_AH,10.2,10.813
$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,28.725,34.025,186.250,175.325,0.000,32.597,36.832,98.952,1.000,0.000,0.000,14.927,374.379,1019.716,460.516,328.560,304.767,33.335,688.293,0.000,331.906,0.000,5.348
$DEVICE_MAMPS,200.187,133.458,764.699,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,121.946,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3319,186
$CFSIZE,260034560,247558144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,144157,4741.049,-12252.097,12,1.7,12,18.3