version: 66.02
glider: 22
mission: 2
dive: 347
start: 10 3 107 16 29 51
data:
$ID,22
$MISSION,2
$DIVE,347
$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,-117181.15
$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,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
$GPS1,162408,4740.791,-12251.828,31,1.3,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-66.5
$GPS2,162827,4740.789,-12251.847,13,1.8,13,18.3
$SPEED_LIMITS,0.302,0.312
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.021,0.301
$KALMAN_X,52810.2,218.6,32.1,-51642.3,-128.3
$KALMAN_Y,21799.2,-247.3,22.7,-19547.0,-74.4
$MHEAD_RNG_PITCHd_Wd,337.7,397,-11.3,-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,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,-67.03,0.000,2,0.000,0.000,34,2211,3049
$GC,101,-0.81,-97.8,2.2,-2.6,11,157,13.70,3.00,-35.55,0.000,4,0.199,0.147,2349,782,3882
$GC,297,-0.81,-97.8,14.4,-7.4,41,304,0.00,2.83,0.00,0.000,6,0.000,0.108,2349,2205,3883
$GC,370,-0.81,-97.8,19.2,-6.7,52,376,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2206,3883
$GC,446,-0.81,-97.8,24.1,-6.5,59,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2206,3883
$GC,637,-0.81,-97.8,35.9,-6.0,74,642,0.00,2.88,0.00,0.000,4,0.000,0.142,2349,3573,3883
$GC,750,-0.81,-97.8,43.3,-7.0,82,755,0.00,2.80,0.00,0.000,6,0.000,0.111,2349,2183,3883
$GC,946,-0.81,-97.8,55.3,-6.1,97,951,0.00,2.90,0.00,0.000,4,0.000,0.140,2349,778,3883
$GC,997,-0.81,-97.8,58.5,-6.3,100,1004,0.00,2.85,0.00,0.000,6,0.000,0.110,2349,2211,3883
$GC,1194,-0.81,-97.8,69.5,-5.6,116,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2211,3883
$GC,1384,-0.81,-97.8,79.5,-5.3,131,1389,0.00,2.85,0.00,0.000,4,0.000,0.141,2349,3570,3883
$GC,1436,-0.81,-97.8,82.6,-6.0,134,1443,0.00,2.78,0.00,0.000,6,0.000,0.114,2349,2198,3883
$STATE,1478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1478,begin apogee
$GC,1484,-0.31,0.0,85.1,5.8,138,1566,0.57,0.00,76.62,0.726,6,0.138,0.000,2456,2034,3484
$STATE,1566,end apogee,CONTROL_FINISHED_OK
$STATE,1567,begin climb
$GC,1569,0.81,97.8,87.0,0.0,145,1650,1.25,0.00,76.28,0.710,6,0.107,0.000,2705,2030,3085
$GC,1839,0.86,137.8,71.8,7.2,167,1874,0.00,0.00,30.58,0.706,6,0.000,0.000,2705,2031,2922
$GC,2064,0.86,137.8,51.7,9.3,185,2068,0.00,2.90,0.00,0.000,4,0.000,0.130,2705,622,2922
$GC,2115,0.86,137.8,46.7,9.8,188,2122,0.00,2.75,0.00,0.000,6,0.000,0.083,2705,2056,2921
$GC,2312,0.86,137.8,30.1,8.1,204,2316,0.00,2.83,0.00,0.000,4,0.000,0.116,2705,3468,2921
$GC,2389,0.86,137.8,23.2,9.3,209,2396,0.00,2.83,0.00,0.000,6,0.000,0.096,2705,2043,2921
$GC,2594,1.01,278.5,9.4,5.0,237,2667,0.17,0.00,70.82,0.667,2,0.081,0.000,2747,2042,2543
$STATE,2668,end climb,SURFACE_DEPTH_REACHED
$STATE,2670,begin surface coast
$FINISH,0.6,1.008525
$STATE,2741,end surface coast,CONTROL_FINISHED_OK
$STATE,2741,begin surface
$SM_CCo,2764,115.03,0.637,0,0,1649,450.13
$SM_GC,1.28,0.00,0.00,115.03,0.000,0.000,0.637,36,2210,1649,-11.48,0.28,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2072
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,50.8,7.9
$24V_AH,23.8,38.841
$10V_AH,10.2,10.250
$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,28.100,34.875,254.300,115.025,0.000,32.589,36.994,97.882,1.500,0.000,0.000,13.696,485.916,1472.375,478.142,432.365,316.491,33.336,760.410,0.000,440.553,0.000,5.348
$DEVICE_MAMPS,199.420,147.264,725.582,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.462,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6425,260
$CFSIZE,260034560,248156160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,171838,4741.002,-12251.885,12,1.3,12,18.3