version: 66.02
glider: 22
mission: 2
dive: 341
start: 10 3 107 10 42 27
data:
$ID,22
$MISSION,2
$DIVE,341
$D_SURF,5
$D_FLARE,2
$D_TGT,95
$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,45
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,-117041.28
$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,10
$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
$GPS1,103656,4740.606,-12249.997,43,2.0,43,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.4
$GPS2,104103,4740.595,-12249.983,12,1.2,12,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.257,0.091
$KALMAN_X,52701.0,372.4,201.2,-49532.4,302.5
$KALMAN_Y,22376.9,27.6,-132.1,-20597.5,-44.6
$MHEAD_RNG_PITCHd_Wd,271.3,612,-10.4,-7.037
$D_GRID,89
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.76,-97.8,0.0,0.0,0,98,0.00,0.00,-67.05,0.000,2,0.000,0.000,34,2217,3053
$GC,101,-0.76,-97.8,2.3,-2.5,11,162,13.70,3.08,-37.35,0.000,4,0.198,0.150,2357,789,3883
$GC,228,-0.76,-97.8,8.7,-7.4,31,234,0.00,2.85,0.00,0.000,6,0.000,0.109,2357,2213,3883
$GC,300,-0.76,-97.8,13.3,-6.5,42,307,0.00,2.85,0.00,0.000,4,0.000,0.140,2357,3564,3884
$GC,451,-0.76,-97.8,23.5,-6.4,61,458,0.00,2.78,0.00,0.000,6,0.000,0.112,2357,2198,3884
$GC,648,-0.76,-97.8,34.7,-5.7,77,652,0.00,2.95,0.00,0.000,4,0.000,0.140,2357,782,3884
$GC,699,-0.76,-97.8,38.0,-6.2,80,706,0.00,2.85,0.00,0.000,6,0.000,0.109,2357,2210,3885
$GC,896,-0.76,-97.8,49.5,-5.6,96,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2211,3885
$GC,1085,-0.76,-97.8,60.3,-5.5,111,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2210,3885
$GC,1278,-0.76,-97.8,70.4,-5.2,126,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2211,3884
$GC,1464,-0.76,-97.8,79.6,-4.7,141,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2211,3885
$STATE,1651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1652,begin apogee
$GC,1658,-0.31,0.0,89.1,5.0,156,1738,0.50,0.00,76.85,0.735,6,0.130,0.000,2454,2043,3484
$STATE,1739,end apogee,CONTROL_FINISHED_OK
$STATE,1739,begin climb
$GC,1741,0.76,97.8,91.1,0.0,163,1827,1.15,2.85,75.75,0.715,4,0.105,0.107,2687,628,3084
$GC,1853,0.79,125.3,86.8,6.4,172,1881,0.00,2.70,21.10,0.719,6,0.000,0.076,2688,2056,2972
$GC,2079,0.79,125.3,70.8,7.1,190,2084,0.00,2.85,0.00,0.000,4,0.000,0.116,2688,3471,2972
$GC,2138,0.79,125.3,66.0,8.1,194,2143,0.00,2.80,0.00,0.000,6,0.000,0.092,2687,2038,2972
$GC,2334,0.79,131.3,51.9,6.9,209,2346,0.00,2.90,4.20,0.762,4,0.000,0.123,2687,634,2948
$GC,2457,0.79,131.3,42.8,7.3,218,2465,0.00,2.70,0.00,0.000,6,0.000,0.077,2687,2055,2947
$GC,2654,0.79,131.3,28.9,7.1,234,2658,0.00,2.88,0.00,0.000,4,0.000,0.123,2687,3468,2947
$GC,2726,0.79,131.3,23.4,7.6,239,2731,0.00,2.78,0.00,0.000,6,0.000,0.092,2687,2040,2947
$GC,2929,0.89,222.7,12.0,5.1,265,3002,0.15,0.00,69.50,0.676,6,0.077,0.000,2723,2040,2575
$STATE,3032,end climb,SURFACE_DEPTH_REACHED
$STATE,3032,begin surface coast
$FINISH,0.4,1.009823
$STATE,3115,end surface coast,CONTROL_FINISHED_OK
$STATE,3115,begin surface
$SM_CCo,3137,120.10,0.645,0,0,1648,450.13
$SM_GC,1.28,0.00,0.00,120.10,0.000,0.000,0.645,39,2212,1648,-11.46,0.34,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2070
$TCM_TEMP,19.80
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,50.2,7.8
$24V_AH,23.8,38.309
$10V_AH,10.2,10.109
$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,27.775,40.525,247.400,120.100,0.000,32.578,30.687,90.824,2.500,0.000,0.000,12.812,545.970,1717.614,468.937,501.842,316.446,33.343,791.348,0.000,506.428,0.000,5.348
$DEVICE_MAMPS,197.886,150.332,762.398,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,193.529,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6442,294
$CFSIZE,260034560,248299520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,113733,4740.665,-12250.373,12,1.8,12,18.3