version: 66.02
glider: 22
mission: 2
dive: 344
start: 10 3 107 13 45 38
data:
$ID,22
$MISSION,2
$DIVE,344
$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,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,693.21777
$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,-117101.58
$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,13
$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
$GPS1,132805,4740.769,-12251.433,8,3.3,27,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.1
$GPS2,134414,4740.763,-12251.479,10,1.2,15,18.3
$SPEED_LIMITS,0.302,0.312
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.219,0.212
$KALMAN_X,52629.8,344.4,367.0,-51462.1,-159.0
$KALMAN_Y,22079.6,-143.4,-0.7,-19949.7,-35.5
$MHEAD_RNG_PITCHd_Wd,295.7,743,-11.2,-8.095
$D_GRID,98
$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,-0.80,-97.8,0.0,0.0,0,97,0.00,0.00,-67.10,0.000,2,0.000,0.000,38,2220,3043
$GC,101,-0.80,-97.8,2.3,-3.0,11,162,13.55,3.08,-37.88,0.000,4,0.196,0.150,2349,781,3883
$GC,222,-0.80,-97.8,7.7,-7.7,30,228,0.00,2.83,0.00,0.000,6,0.000,0.106,2349,2204,3884
$GC,294,-0.80,-97.8,13.5,-7.7,41,301,0.00,2.90,0.00,0.000,4,0.000,0.146,2349,3572,3885
$GC,426,-0.80,-97.8,24.7,-8.6,57,431,0.00,2.78,0.00,0.000,6,0.000,0.111,2349,2197,3886
$GC,622,-0.80,-97.8,38.4,-5.7,72,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2197,3886
$GC,815,-0.80,-97.8,48.5,-5.2,87,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2197,3886
$GC,1000,-0.80,-97.8,58.5,-5.1,102,1005,0.00,2.95,0.00,0.000,4,0.000,0.140,2349,776,3886
$GC,1038,-0.80,-97.8,60.6,-5.8,104,1046,0.00,2.85,0.00,0.000,6,0.000,0.109,2349,2211,3886
$GC,1235,-0.80,-97.8,70.9,-5.0,120,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2210,3886
$GC,1426,-0.80,-97.8,80.1,-5.1,135,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2209,3885
$STATE,1522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1523,begin apogee
$GC,1529,-0.31,0.0,85.3,5.1,143,1610,0.57,0.00,77.07,0.728,6,0.137,0.000,2458,2041,3484
$STATE,1611,end apogee,CONTROL_FINISHED_OK
$STATE,1611,begin climb
$GC,1614,0.80,97.8,87.1,0.0,150,1699,1.17,2.90,75.70,0.712,4,0.102,0.119,2698,630,3084
$GC,1718,0.91,195.6,83.2,6.0,158,1799,0.15,2.72,75.03,0.701,6,0.070,0.080,2731,2061,2685
$GC,1988,0.91,195.6,56.5,11.2,180,1992,0.00,2.92,0.00,0.000,4,0.000,0.123,2731,634,2685
$GC,2020,0.91,195.6,52.4,12.8,182,2024,0.00,2.70,0.00,0.000,6,0.000,0.084,2731,2054,2685
$GC,2215,0.91,195.6,32.5,8.8,197,2220,0.00,2.85,0.00,0.000,4,0.000,0.118,2731,3471,2685
$GC,2266,0.91,195.6,27.1,11.3,200,2274,0.00,2.83,0.00,0.000,6,0.000,0.096,2731,2048,2685
$GC,2469,0.95,233.7,9.7,7.3,225,2500,0.00,0.00,28.80,0.677,6,0.000,0.000,2732,2048,2531
$STATE,2530,end climb,SURFACE_DEPTH_REACHED
$STATE,2530,begin surface coast
$FINISH,0.5,1.010694
$STATE,2591,end surface coast,CONTROL_FINISHED_OK
$STATE,2591,begin surface
$SM_CCo,2614,230.38,0.625,1,0,658,693.22
$SM_GC,1.16,0.00,0.00,230.38,0.000,0.000,0.625,39,2221,658,-11.46,0.62,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2052
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,50.4,7.9
$24V_AH,23.8,38.595
$10V_AH,10.2,10.182
$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,27.875,35.000,256.600,230.375,0.000,164.666,397.591,67.427,1.750,0.000,0.000,15.207,463.496,1618.495,582.782,416.825,784.283,33.334,863.817,0.000,418.535,0.000,5.349
$DEVICE_MAMPS,195.585,150.332,727.883,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,160.015,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6450,244
$CFSIZE,260034560,248225792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031007,143415,4740.900,-12251.887,32,1.9,32,18.3