version: 66.02
glider: 22
mission: 2
dive: 359
start: 10 4 107 3 38 4
data:
$ID,22
$MISSION,2
$DIVE,359
$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,-117430.27
$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,7
$R_STBD_OVSHOOT,9
$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
$GPS1,032905,4740.943,-12251.848,14,2.4,33,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-66.6
$GPS2,033638,4740.981,-12251.826,10,1.6,15,18.3
$SPEED_LIMITS,0.222,0.232
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.217,-0.083
$KALMAN_X,53666.4,101.0,293.5,-52616.8,-2.1
$KALMAN_Y,21018.3,-150.4,-26.5,-18454.3,64.2
$MHEAD_RNG_PITCHd_Wd,92.5,1810,-16.0,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.13,-117.3,0.0,0.0,0,102,0.00,0.00,-72.38,0.000,2,0.000,0.000,38,2214,3137
$GC,105,-1.13,-117.3,2.4,-3.3,12,160,13.18,2.85,-33.90,0.000,4,0.197,0.146,2275,3565,3964
$GC,379,-1.13,-117.3,28.5,-10.9,49,383,0.00,2.75,0.00,0.000,6,0.000,0.107,2275,2192,3965
$GC,581,-1.13,-117.3,49.2,-10.3,65,585,0.00,2.97,0.00,0.000,4,0.000,0.147,2275,783,3964
$GC,645,-1.13,-117.3,55.9,-9.8,69,652,0.00,2.83,0.00,0.000,6,0.000,0.105,2275,2214,3964
$GC,842,-1.13,-117.3,75.5,-10.0,85,846,0.00,2.85,0.00,0.000,4,0.000,0.145,2275,3563,3965
$GC,881,-1.13,-117.3,79.7,-10.6,87,888,0.00,2.75,0.00,0.000,6,0.000,0.110,2275,2195,3965
$STATE,935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,935,begin apogee
$GC,942,-0.31,0.0,85.5,10.3,92,1038,0.98,0.00,92.18,0.717,6,0.144,0.000,2458,2037,3484
$STATE,1039,end apogee,CONTROL_FINISHED_OK
$STATE,1039,begin climb
$GC,1042,1.13,117.3,88.6,0.0,100,1145,1.52,2.92,91.32,0.701,4,0.100,0.095,2769,3476,3004
$GC,1174,1.13,117.3,82.5,8.7,111,1178,0.00,2.78,0.00,0.000,6,0.000,0.083,2769,2038,3004
$GC,1369,1.13,117.3,63.9,10.1,126,1374,0.00,2.85,0.00,0.000,4,0.000,0.123,2769,626,3004
$GC,1487,1.13,117.3,51.4,11.0,134,1494,0.00,2.67,0.00,0.000,6,0.000,0.071,2769,2070,3004
$GC,1683,1.13,117.3,32.9,9.2,150,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2069,3004
$GC,1874,1.13,117.3,15.4,9.2,168,1880,0.00,2.70,0.00,0.000,4,0.000,0.099,2769,3464,3004
$STATE,2049,end climb,SURFACE_DEPTH_REACHED
$STATE,2049,begin surface coast
$FINISH,0.5,1.015780
$STATE,2183,end surface coast,CONTROL_FINISHED_OK
$STATE,2183,begin surface
$SM_CCo,2208,180.18,0.637,0,0,1648,450.13
$SM_GC,1.23,0.00,0.00,180.18,0.000,0.000,0.637,39,2187,1648,-11.46,-0.37,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2056
$TCM_TEMP,19.80
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,50.5,8.1
$24V_AH,23.8,40.001
$10V_AH,10.2,10.537
$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,28.125,33.875,183.500,180.175,0.000,65.161,147.348,89.424,2.500,0.000,0.000,15.481,416.228,1186.636,474.023,378.826,436.091,33.331,718.632,0.000,379.148,0.000,5.352
$DEVICE_MAMPS,197.119,147.264,717.145,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,141.339,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6460,215
$CFSIZE,260034560,247869440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,041859,4740.904,-12251.539,10,2.7,29,18.3