version: 66.02
glider: 22
mission: 2
dive: 378
start: 10 4 107 18 42 31
data:
$ID,22
$MISSION,2
$DIVE,378
$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,-117907.15
$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,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
$GPS1,183638,4740.851,-12250.910,9,1.9,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.9
$GPS2,184108,4740.872,-12250.861,15,1.9,20,18.3
$SPEED_LIMITS,0.222,0.232
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.210,-0.100
$KALMAN_X,55493.3,33.3,-184.0,-52696.6,-36.8
$KALMAN_Y,20261.8,-160.9,-53.1,-17864.6,50.8
$MHEAD_RNG_PITCHd_Wd,97.1,599,-16.0,-8.095
$D_GRID,96
$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,-1.13,-117.3,0.0,0.0,0,97,0.00,0.00,-66.43,0.000,2,0.000,0.000,38,2216,3026
$GC,101,-1.13,-117.3,2.0,-2.4,11,163,13.25,2.90,-42.95,0.000,4,0.199,0.150,2277,3560,3963
$GC,406,-1.13,-117.3,31.0,-10.3,50,414,0.00,2.78,0.00,0.000,6,0.000,0.112,2277,2192,3965
$GC,603,-1.13,-117.3,49.9,-8.7,66,609,0.00,2.97,0.00,0.000,4,0.000,0.151,2276,786,3965
$GC,669,-1.13,-117.3,55.6,-9.1,71,673,0.00,2.80,0.00,0.000,6,0.000,0.110,2277,2196,3965
$GC,864,-1.13,-117.3,74.2,-9.7,86,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2197,3965
$STATE,975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,975,begin apogee
$GC,982,-0.31,0.0,86.1,10.7,95,1077,0.98,0.00,92.12,0.721,6,0.145,0.000,2460,2041,3484
$STATE,1079,end apogee,CONTROL_FINISHED_OK
$STATE,1079,begin climb
$GC,1081,1.13,117.3,89.1,0.0,103,1183,1.50,2.95,91.55,0.706,4,0.094,0.114,2770,621,3003
$GC,1196,1.16,149.2,84.7,6.8,112,1228,0.00,2.70,24.38,0.709,6,0.000,0.074,2770,2059,2874
$GC,1416,1.16,149.2,59.9,10.5,130,1421,0.00,2.92,0.00,0.000,4,0.000,0.121,2770,631,2875
$GC,1468,1.16,149.2,54.4,11.0,133,1475,0.00,2.67,0.00,0.000,6,0.000,0.075,2770,2058,2874
$GC,1664,1.16,149.2,32.0,12.1,149,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2058,2874
$GC,1857,1.16,149.2,11.6,8.8,170,1863,0.00,2.78,0.00,0.000,4,0.000,0.107,2770,3469,2874
$STATE,1948,end climb,SURFACE_DEPTH_REACHED
$STATE,1949,begin surface coast
$FINISH,0.5,1.021783
$STATE,2020,end surface coast,CONTROL_FINISHED_OK
$STATE,2020,begin surface
$SM_CCo,2045,156.48,0.639,0,0,1647,450.13
$SM_GC,1.35,0.00,0.00,156.48,0.000,0.000,0.639,36,2185,1647,-11.47,-0.42,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2044
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,50.4,8.0
$24V_AH,23.8,41.611
$10V_AH,10.2,10.935
$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,28.250,28.425,208.050,156.475,0.000,32.590,36.764,103.612,1.250,0.000,0.000,20.639,375.862,1030.081,471.195,339.035,303.281,33.346,696.830,0.000,336.319,0.000,5.370
$DEVICE_MAMPS,199.420,151.099,720.980,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,127.619,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6441,195
$CFSIZE,260034560,247418880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,192023,4740.792,-12250.492,14,2.6,33,18.3