version: 66.02
glider: 22
mission: 2
dive: 358
start: 10 4 107 2 50 15
data:
$ID,22
$MISSION,2
$DIVE,358
$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,-117414.15
$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,9
$R_STBD_OVSHOOT,14
$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
$GPS1,023256,4740.842,-12251.562,14,1.7,31,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-65.8
$GPS2,024850,4740.919,-12251.541,15,1.6,32,18.3
$SPEED_LIMITS,0.222,0.232
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.231,0.024
$KALMAN_X,53591.1,76.4,278.7,-52144.5,43.5
$KALMAN_Y,21006.4,-181.4,-46.5,-18506.5,50.2
$MHEAD_RNG_PITCHd_Wd,257.5,555,-16.0,-8.095
$D_GRID,99
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.13,-117.3,0.0,0.0,0,95,0.00,0.00,-66.95,0.000,2,0.000,0.000,36,2221,3006
$GC,99,-1.13,-117.3,2.0,-1.7,11,166,13.20,3.10,-43.35,0.000,4,0.198,0.152,2276,784,3964
$GC,238,-1.13,-117.3,12.1,-12.7,33,245,0.00,2.80,0.00,0.000,6,0.000,0.102,2275,2208,3967
$GC,311,-1.13,-117.3,19.8,-9.9,44,317,0.00,3.00,0.00,0.000,4,0.000,0.138,2276,782,3966
$GC,403,-1.13,-117.3,28.3,-9.4,52,408,0.00,2.83,0.00,0.000,6,0.000,0.107,2276,2204,3966
$GC,598,-1.13,-117.3,47.3,-9.8,67,603,0.00,2.90,0.00,0.000,4,0.000,0.144,2276,3573,3966
$GC,719,-1.13,-117.3,59.3,-10.1,75,725,0.00,2.78,0.00,0.000,6,0.000,0.110,2276,2190,3966
$GC,914,-1.13,-117.3,79.0,-10.1,91,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2190,3966
$STATE,975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,975,begin apogee
$GC,981,-0.31,0.0,85.1,9.8,96,1077,0.95,0.00,92.10,0.721,6,0.140,0.000,2455,2043,3485
$STATE,1078,end apogee,CONTROL_FINISHED_OK
$STATE,1078,begin climb
$GC,1081,1.13,117.3,88.0,0.0,104,1182,1.55,2.95,91.47,0.701,4,0.101,0.117,2772,630,3005
$GC,1208,1.13,117.3,81.5,9.4,114,1215,0.00,2.70,0.00,0.000,6,0.000,0.072,2772,2058,3005
$GC,1404,1.13,117.3,61.5,10.0,130,1409,0.00,2.75,0.00,0.000,4,0.000,0.101,2772,3467,3005
$GC,1508,1.13,117.3,50.2,10.5,137,1516,0.00,2.75,0.00,0.000,6,0.000,0.081,2772,2046,3005
$GC,1705,1.13,117.3,31.1,9.4,153,1709,0.00,2.83,0.00,0.000,4,0.000,0.120,2771,632,3005
$GC,1757,1.13,117.3,25.7,10.7,157,1762,0.00,2.65,0.00,0.000,6,0.000,0.071,2772,2066,3005
$GC,1959,1.21,193.9,9.4,5.0,182,2027,0.00,3.00,58.55,0.666,4,0.000,0.120,2771,625,2691
$STATE,2033,end climb,SURFACE_DEPTH_REACHED
$STATE,2033,begin surface coast
$FINISH,0.5,1.022378
$STATE,2105,end surface coast,CONTROL_FINISHED_OK
$STATE,2105,begin surface
$SM_CCo,2131,129.27,0.631,0,0,1649,450.13
$SM_GC,1.22,0.00,0.00,129.27,0.000,0.000,0.631,38,2213,1649,-11.46,0.37,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2030
$TCM_TEMP,20.00
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,50.6,7.9
$24V_AH,23.8,39.917
$10V_AH,10.2,10.515
$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,28.200,40.450,242.125,129.275,0.000,130.371,130.326,374.020,1.750,0.000,0.000,32.300,388.066,1204.957,486.296,381.478,802.854,33.335,735.429,0.000,365.799,0.000,5.349
$DEVICE_MAMPS,197.886,151.866,720.980,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,133.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6460,205
$CFSIZE,260034560,247885824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,032905,4740.943,-12251.848,14,2.4,33,18.3