version: 66.02
glider: 22
mission: 2
dive: 374
start: 10 4 107 15 33 22
data:
$ID,22
$MISSION,2
$DIVE,374
$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,-117825.1
$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,6
$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
$GPS1,152725,4740.945,-12251.909,34,2.0,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.4
$GPS2,153159,4740.942,-12251.946,16,3.5,35,18.3
$SPEED_LIMITS,0.222,0.232
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.232,0.005
$KALMAN_X,55593.7,333.2,26.9,-54654.4,-154.1
$KALMAN_Y,20418.5,-44.6,-134.2,-17923.6,-71.5
$MHEAD_RNG_PITCHd_Wd,70.6,1941,-16.0,-8.095
$D_GRID,101
$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,-117.3,0.0,0.0,0,97,0.00,0.00,-66.72,0.000,2,0.000,0.000,36,2205,3034
$GC,101,-1.13,-117.3,2.1,-2.2,11,162,13.27,2.88,-40.88,0.000,4,0.200,0.148,2275,3571,3963
$GC,262,-1.13,-117.3,15.2,-10.7,36,268,0.00,2.78,0.00,0.000,6,0.000,0.112,2276,2192,3962
$GC,340,-1.13,-117.3,23.1,-9.6,46,344,0.00,3.00,0.00,0.000,4,0.000,0.149,2276,782,3963
$GC,399,-1.13,-117.3,29.0,-10.1,50,404,0.00,2.83,0.00,0.000,6,0.000,0.107,2276,2204,3963
$GC,594,-1.13,-117.3,49.6,-10.0,65,601,0.00,2.88,0.00,0.000,4,0.000,0.142,2276,3572,3963
$GC,661,-1.13,-117.3,56.2,-9.7,70,665,0.00,2.78,0.00,0.000,6,0.000,0.112,2275,2196,3963
$GC,856,-1.13,-117.3,75.3,-9.9,85,861,0.00,3.00,0.00,0.000,4,0.000,0.147,2275,775,3963
$GC,941,-1.13,-117.3,83.0,-8.6,91,946,0.00,2.85,0.00,0.000,6,0.000,0.109,2276,2206,3963
$STATE,972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,972,begin apogee
$GC,978,-0.31,0.0,85.6,8.4,93,1074,0.93,0.00,92.38,0.720,6,0.143,0.000,2453,2042,3483
$STATE,1075,end apogee,CONTROL_FINISHED_OK
$STATE,1075,begin climb
$GC,1078,1.13,117.3,88.8,0.0,101,1179,1.55,2.90,91.75,0.704,4,0.103,0.114,2769,634,3004
$GC,1247,1.13,117.3,78.6,10.2,114,1253,0.00,2.67,0.00,0.000,6,0.000,0.073,2770,2068,3003
$GC,1443,1.13,117.3,58.9,9.9,130,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2068,3003
$GC,1635,1.13,117.3,39.8,9.7,145,1640,0.00,2.90,0.00,0.000,4,0.000,0.114,2769,624,3003
$GC,1668,1.13,117.3,36.1,10.5,147,1673,0.00,2.65,0.00,0.000,6,0.000,0.072,2769,2055,3003
$GC,1865,1.13,117.3,17.1,9.5,164,1871,0.00,2.88,0.00,0.000,4,0.000,0.115,2769,623,3003
$GC,1924,1.13,117.3,11.5,9.0,173,1930,0.00,2.67,0.00,0.000,6,0.000,0.074,2769,2061,3003
$GC,1997,1.18,167.6,6.7,6.1,184,2028,0.00,0.00,29.02,0.677,2,0.000,0.000,2770,2061,2849
$STATE,2028,end climb,SURFACE_DEPTH_REACHED
$STATE,2028,begin surface coast
$FINISH,0.6,1.012063
$STATE,2113,end surface coast,CONTROL_FINISHED_OK
$STATE,2113,begin surface
$SM_CCo,2136,149.65,0.634,0,0,1648,450.13
$SM_GC,1.28,0.00,0.00,149.65,0.000,0.000,0.634,35,2204,1648,-11.48,0.08,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2042
$TCM_TEMP,19.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,50.2,7.8
$24V_AH,23.8,41.267
$10V_AH,10.2,10.852
$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,28.150,40.275,213.150,149.650,0.000,32.607,43.600,85.728,1.500,0.000,0.000,36.373,399.027,1057.662,464.257,385.633,301.147,33.343,719.827,0.000,365.396,0.000,5.370
$DEVICE_MAMPS,200.187,148.798,720.213,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,132.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6440,202
$CFSIZE,260034560,247504896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,161234,4740.875,-12251.736,10,2.3,29,18.3