version: 66.02
glider: 22
mission: 2
dive: 361
start: 10 4 107 5 30 51
data:
$ID,22
$MISSION,2
$DIVE,361
$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,-117492.44
$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,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
$GPS1,051057,4740.887,-12251.228,14,1.8,14,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-66.8
$GPS2,052927,4740.995,-12251.161,14,1.6,14,18.3
$SPEED_LIMITS,0.222,0.232
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.198,-0.122
$KALMAN_X,53683.9,116.8,198.4,-51724.4,-76.9
$KALMAN_Y,21213.4,-49.6,46.1,-18799.8,94.3
$MHEAD_RNG_PITCHd_Wd,103.4,1034,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.13,-117.3,0.0,0.0,0,102,0.00,0.00,-70.85,0.000,2,0.000,0.000,38,2182,3092
$GC,105,-1.13,-117.3,2.2,-2.6,12,161,13.25,2.95,-36.38,0.000,4,0.200,0.142,2276,3565,3963
$GC,326,-1.13,-117.3,23.8,-10.2,44,331,0.00,2.78,0.00,0.000,6,0.000,0.110,2276,2189,3965
$GC,522,-1.13,-117.3,42.7,-9.9,59,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2189,3965
$GC,711,-1.13,-117.3,61.0,-9.7,74,715,0.00,2.97,0.00,0.000,4,0.000,0.146,2275,776,3965
$GC,776,-1.13,-117.3,67.1,-9.3,78,783,0.00,2.80,0.00,0.000,6,0.000,0.104,2276,2201,3965
$STATE,970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,970,begin apogee
$GC,976,-0.31,0.0,86.0,9.7,94,1072,0.95,0.00,92.00,0.722,6,0.138,0.000,2456,2042,3484
$STATE,1073,end apogee,CONTROL_FINISHED_OK
$STATE,1073,begin climb
$GC,1076,1.13,117.3,88.6,0.0,102,1174,1.55,2.92,90.72,0.709,4,0.103,0.114,2770,632,3005
$GC,1234,1.13,117.3,78.8,9.8,114,1241,0.00,2.65,0.00,0.000,6,0.000,0.070,2770,2064,3004
$GC,1431,1.13,117.3,59.1,10.2,130,1435,0.00,2.90,0.00,0.000,4,0.000,0.116,2771,627,3004
$GC,1476,1.13,117.3,54.2,10.4,133,1481,0.00,2.65,0.00,0.000,6,0.000,0.072,2770,2058,3005
$GC,1672,1.13,117.3,33.7,10.0,148,1676,0.00,2.72,0.00,0.000,4,0.000,0.101,2770,3461,3005
$GC,1723,1.13,117.3,28.3,10.6,151,1730,0.00,2.72,0.00,0.000,6,0.000,0.078,2770,2037,3005
$GC,1924,1.17,159.5,10.8,6.4,175,1962,0.00,2.92,31.90,0.679,4,0.000,0.101,2770,3461,2832
$STATE,2019,end climb,SURFACE_DEPTH_REACHED
$STATE,2019,begin surface coast
$FINISH,0.4,1.010409
$STATE,2107,end surface coast,CONTROL_FINISHED_OK
$STATE,2108,begin surface
$SM_CCo,2133,150.98,0.636,0,0,1648,450.13
$SM_GC,1.28,0.00,0.00,150.98,0.000,0.000,0.636,37,2181,1648,-11.47,-0.51,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2042
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,50.2,8.5
$24V_AH,23.8,40.195
$10V_AH,10.2,10.587
$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,28.250,33.950,214.625,150.975,0.000,162.933,421.772,182.672,1.250,0.000,0.000,14.720,390.338,1317.592,462.786,354.866,917.128,33.331,701.610,0.000,356.977,0.000,5.352
$DEVICE_MAMPS,200.187,146.497,721.747,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,132.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6450,203
$CFSIZE,260034560,247816192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,061023,4740.852,-12250.814,32,2.6,51,18.3