version: 66.02
glider: 22
mission: 2
dive: 376
start: 10 4 107 17 13 27
data:
$ID,22
$MISSION,2
$DIVE,376
$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,-117852.61
$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,11
$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
$GPS1,170435,4740.792,-12251.570,11,2.6,30,18.3
$_CALLS,1
$_XMS_NAKs,34
$_XMS_TOUTs,7
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.9
$GPS2,171203,4740.774,-12251.603,14,1.4,14,18.3
$SPEED_LIMITS,0.222,0.232
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.231,0.022
$KALMAN_X,55335.4,183.1,-91.5,-53701.5,-194.3
$KALMAN_Y,20129.5,-119.9,-97.4,-17905.4,-55.0
$MHEAD_RNG_PITCHd_Wd,66.2,1481,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.13,-117.3,0.0,0.0,0,96,0.00,0.00,-67.18,0.000,2,0.000,0.000,36,2215,3031
$GC,100,-1.13,-117.3,2.0,-2.1,11,162,13.32,3.10,-40.92,0.000,4,0.201,0.156,2277,772,3963
$GC,415,-1.13,-117.3,30.1,-10.4,52,419,0.00,2.85,0.00,0.000,6,0.000,0.107,2277,2209,3963
$GC,610,-1.13,-117.3,49.3,-9.5,67,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2209,3963
$GC,799,-1.13,-117.3,66.9,-9.5,82,804,0.00,2.88,0.00,0.000,4,0.000,0.145,2277,3565,3963
$GC,851,-1.13,-117.3,72.2,-10.6,85,858,0.00,2.80,0.00,0.000,6,0.000,0.114,2277,2190,3964
$STATE,994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,994,begin apogee
$GC,1001,-0.31,0.0,85.8,8.9,97,1096,0.95,0.00,92.15,0.723,6,0.142,0.000,2455,2044,3484
$STATE,1098,end apogee,CONTROL_FINISHED_OK
$STATE,1098,begin climb
$GC,1100,1.13,117.3,88.8,0.0,105,1203,1.52,2.90,91.75,0.707,4,0.100,0.098,2769,3472,3004
$GC,1269,1.13,117.3,77.6,10.9,118,1276,0.00,2.78,0.00,0.000,6,0.000,0.087,2769,2041,3004
$GC,1465,1.13,117.3,57.0,10.2,134,1469,0.00,2.85,0.00,0.000,4,0.000,0.122,2770,630,3004
$GC,1529,1.13,117.3,49.9,11.4,138,1536,0.00,2.70,0.00,0.000,6,0.000,0.073,2769,2063,3003
$GC,1726,1.13,117.3,28.7,10.6,154,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2063,3003
$GC,1920,1.14,128.1,11.5,7.7,177,1934,0.00,2.83,8.10,0.707,4,0.000,0.101,2769,3471,2960
$GC,1980,1.18,163.6,7.7,6.7,186,2017,0.00,2.75,26.83,0.683,6,0.000,0.087,2769,2045,2816
$STATE,2020,end climb,SURFACE_DEPTH_REACHED
$STATE,2021,begin surface coast
$FINISH,0.6,1.005826
$STATE,2101,end surface coast,CONTROL_FINISHED_OK
$STATE,2101,begin surface
$SM_CCo,2125,144.82,0.636,0,0,1648,450.13
$SM_GC,1.35,0.00,0.00,144.82,0.000,0.000,0.636,36,2218,1648,-11.47,0.51,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2045
$TCM_TEMP,19.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,50.4,7.8
$24V_AH,23.8,41.452
$10V_AH,10.2,10.897
$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,28.350,29.075,218.825,144.825,0.000,32.579,38.903,284.199,1.250,0.000,0.000,14.353,390.336,1066.166,461.143,358.634,489.826,33.347,704.168,0.000,362.400,0.000,5.349
$DEVICE_MAMPS,200.954,156.468,722.514,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,133.890,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6424,205
$CFSIZE,260034560,247451648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,175202,4740.840,-12251.327,9,1.1,9,18.3