version: 66.02
glider: 22
mission: 2
dive: 345
start: 10 3 107 14 41 0
data:
$ID,22
$MISSION,2
$DIVE,345
$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,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,-117132.75
$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,12
$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
$GPS1,143415,4740.900,-12251.887,32,1.9,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-65.0
$GPS2,143935,4740.891,-12251.882,10,2.4,29,18.3
$SPEED_LIMITS,0.302,0.312
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.067,0.295
$KALMAN_X,52698.1,304.9,274.9,-51904.2,-166.1
$KALMAN_Y,21936.2,-196.7,17.4,-19532.7,-59.3
$MHEAD_RNG_PITCHd_Wd,354.4,209,-11.3,-8.095
$D_GRID,101
$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,-0.81,-97.8,0.0,0.0,0,145,0.00,0.00,-115.15,0.000,2,0.000,0.000,39,2221,3066
$GC,149,-0.81,-97.8,2.3,-2.8,19,204,13.62,2.97,-35.38,0.000,4,0.199,0.140,2346,783,3882
$GC,352,-0.81,-97.8,15.1,-7.8,50,359,0.00,2.80,0.00,0.000,6,0.000,0.101,2347,2207,3885
$GC,425,-0.81,-97.8,19.8,-5.8,61,431,0.00,2.88,0.00,0.000,4,0.000,0.142,2347,3570,3885
$GC,561,-0.81,-97.8,29.4,-7.4,72,565,0.00,2.75,0.00,0.000,6,0.000,0.106,2347,2197,3887
$GC,756,-0.81,-97.8,41.3,-5.9,87,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2197,3888
$GC,946,-0.81,-97.8,52.2,-5.8,102,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2197,3888
$GC,1137,-0.81,-97.8,62.6,-5.4,117,1141,0.00,2.92,0.00,0.000,4,0.000,0.139,2346,782,3888
$GC,1241,-0.81,-97.8,69.0,-6.1,124,1248,0.00,2.83,0.00,0.000,6,0.000,0.107,2346,2212,3888
$GC,1437,-0.81,-97.8,81.0,-6.4,140,1442,0.00,2.85,0.00,0.000,4,0.000,0.143,2347,3565,3888
$GC,1489,-0.81,-97.8,84.5,-6.5,143,1496,0.00,2.78,0.00,0.000,6,0.000,0.113,2347,2190,3888
$STATE,1506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1506,begin apogee
$GC,1512,-0.31,0.0,85.6,6.2,145,1593,0.60,0.00,76.22,0.719,6,0.139,0.000,2458,2038,3485
$STATE,1594,end apogee,CONTROL_FINISHED_OK
$STATE,1594,begin climb
$GC,1597,0.81,97.8,87.2,0.0,152,1679,1.23,0.00,77.65,0.714,6,0.102,0.000,2705,2033,3085
$GC,1867,0.89,173.1,73.5,6.4,174,1927,0.00,0.00,57.78,0.704,6,0.000,0.000,2705,2033,2778
$GC,2116,0.89,173.1,52.7,8.4,194,2120,0.00,2.90,0.00,0.000,4,0.000,0.130,2704,625,2779
$GC,2193,0.89,173.1,45.8,8.9,199,2201,0.00,2.72,0.00,0.000,6,0.000,0.080,2705,2053,2779
$GC,2390,0.89,173.1,27.8,10.0,215,2395,0.00,2.85,0.00,0.000,4,0.000,0.120,2705,3467,2779
$GC,2454,0.89,173.1,21.3,10.1,219,2462,0.00,2.83,0.00,0.000,6,0.000,0.097,2705,2046,2779
$GC,2660,0.98,252.5,5.4,6.4,249,2668,0.15,0.00,5.00,0.716,2,0.081,0.000,2741,2046,2750
$STATE,2668,end climb,SURFACE_DEPTH_REACHED
$STATE,2668,begin surface coast
$FINISH,0.5,1.012198
$STATE,2759,end surface coast,CONTROL_FINISHED_OK
$STATE,2759,begin surface
$SM_CCo,2782,142.90,0.640,0,0,1649,450.13
$SM_GC,1.30,0.00,0.00,142.90,0.000,0.000,0.640,36,2218,1649,-11.48,0.51,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2051
$TCM_TEMP,19.80
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,50.1,7.9
$24V_AH,23.8,38.677
$10V_AH,10.2,10.205
$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,27.950,34.750,216.650,142.900,0.000,32.579,35.480,144.198,2.500,0.000,0.000,30.550,491.846,1461.069,512.800,463.536,365.398,33.330,797.786,0.000,452.257,0.000,5.351
$DEVICE_MAMPS,198.653,143.429,718.679,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.280,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6440,264
$CFSIZE,260034560,248201216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,153050,4741.097,-12251.859,10,1.3,28,18.3