version: 66.02
glider: 22
mission: 2
dive: 346
start: 10 3 107 15 36 46
data:
$ID,22
$MISSION,2
$DIVE,346
$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,-117166.83
$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,9
$R_STBD_OVSHOOT,14
$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
$GPS1,153050,4741.097,-12251.859,10,1.3,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.1
$GPS2,153523,4741.084,-12251.865,13,3.6,32,18.3
$SPEED_LIMITS,0.302,0.312
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.049,-0.298
$KALMAN_X,52745.3,257.9,149.3,-51756.3,-152.7
$KALMAN_Y,21756.9,-241.3,13.6,-18946.3,-90.7
$MHEAD_RNG_PITCHd_Wd,152.4,230,-11.3,-8.095
$D_GRID,102
$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,-0.81,-97.8,0.0,0.0,0,97,0.00,0.00,-67.32,0.000,2,0.000,0.000,36,2218,3053
$GC,101,-0.81,-97.8,2.2,-2.5,11,157,13.62,2.85,-35.67,0.000,4,0.198,0.148,2347,3570,3882
$GC,216,-0.81,-97.8,8.4,-8.0,29,222,0.00,2.75,0.00,0.000,6,0.000,0.108,2348,2199,3882
$GC,289,-0.81,-97.8,13.9,-7.8,40,295,0.00,2.97,0.00,0.000,4,0.000,0.142,2348,777,3882
$GC,368,-0.81,-97.8,18.5,-6.2,52,374,0.00,2.83,0.00,0.000,6,0.000,0.106,2348,2206,3882
$GC,438,-0.81,-97.8,23.7,-7.5,59,443,0.00,2.88,0.00,0.000,4,0.000,0.143,2348,3565,3883
$GC,558,-0.81,-97.8,31.4,-5.3,67,564,0.00,2.75,0.00,0.000,6,0.000,0.108,2348,2192,3883
$GC,753,-0.81,-97.8,43.0,-6.7,83,758,0.00,2.95,0.00,0.000,4,0.000,0.141,2348,776,3884
$GC,832,-0.81,-97.8,48.6,-7.5,88,838,0.00,2.83,0.00,0.000,6,0.000,0.107,2348,2204,3884
$GC,1028,-0.81,-97.8,62.1,-6.7,104,1032,0.00,2.85,0.00,0.000,4,0.000,0.141,2348,3566,3883
$GC,1087,-0.81,-97.8,66.3,-7.5,108,1092,0.00,2.78,0.00,0.000,6,0.000,0.110,2348,2188,3884
$GC,1283,-0.81,-97.8,79.0,-6.1,123,1288,0.00,2.92,0.00,0.000,4,0.000,0.142,2348,782,3885
$GC,1316,-0.81,-97.8,80.7,-5.4,125,1321,0.00,2.83,0.00,0.000,6,0.000,0.110,2348,2206,3884
$STATE,1408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1408,begin apogee
$GC,1414,-0.31,0.0,85.7,4.9,132,1495,0.57,0.00,76.30,0.726,6,0.139,0.000,2455,2037,3484
$STATE,1496,end apogee,CONTROL_FINISHED_OK
$STATE,1496,begin climb
$GC,1499,0.81,97.8,87.0,0.0,139,1585,1.20,2.90,75.88,0.711,4,0.104,0.118,2701,625,3085
$GC,1638,0.85,134.9,80.0,7.3,150,1674,0.00,2.72,28.48,0.711,6,0.000,0.081,2701,2067,2933
$GC,1863,0.86,138.6,61.7,8.0,168,1876,0.00,2.88,2.67,0.770,4,0.000,0.117,2701,3462,2918
$GC,1920,0.86,138.6,56.7,8.3,172,1928,0.00,2.80,0.00,0.000,6,0.000,0.093,2701,2051,2918
$GC,2117,0.87,153.2,40.7,7.8,188,2133,0.00,2.92,10.75,0.719,4,0.000,0.125,2701,631,2859
$GC,2240,0.87,153.2,30.4,8.5,197,2247,0.00,2.70,0.00,0.000,6,0.000,0.080,2701,2049,2859
$GC,2439,0.98,251.0,15.6,5.9,217,2518,0.15,0.00,74.32,0.672,6,0.077,0.000,2739,2049,2460
$STATE,2571,end climb,SURFACE_DEPTH_REACHED
$STATE,2571,begin surface coast
$FINISH,0.5,1.021837
$STATE,2645,end surface coast,CONTROL_FINISHED_OK
$STATE,2645,begin surface
$SM_CCo,2668,107.32,0.636,0,0,1648,450.13
$SM_GC,1.28,0.00,0.00,107.32,0.000,0.000,0.636,34,2209,1648,-11.48,0.25,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2068
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,50.8,7.9
$24V_AH,23.8,38.760
$10V_AH,10.2,10.228
$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,27.975,51.775,268.400,107.325,0.000,32.580,35.777,93.931,1.250,0.000,0.000,33.453,473.330,1350.381,479.167,475.274,316.655,33.331,790.051,0.000,458.587,0.000,5.347
$DEVICE_MAMPS,197.886,148.031,770.068,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.499,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6457,249
$CFSIZE,260034560,248176640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,162408,4740.791,-12251.828,31,1.3,31,18.3