version: 66.02
glider: 22
mission: 2
dive: 348
start: 10 3 107 17 24 21
data:
$ID,22
$MISSION,2
$DIVE,348
$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,-117196.12
$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,6
$R_STBD_OVSHOOT,11
$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
$GPS1,171838,4741.002,-12251.885,12,1.3,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-67.1
$GPS2,172257,4741.003,-12251.880,14,1.4,14,18.3
$SPEED_LIMITS,0.302,0.312
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.307,-0.055
$KALMAN_X,52916.7,191.3,-65.0,-51666.7,-95.4
$KALMAN_Y,21688.4,-299.4,-19.7,-18937.4,-25.8
$MHEAD_RNG_PITCHd_Wd,81.8,1885,-10.8,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-0.78,-97.8,0.0,0.0,0,103,0.00,0.00,-72.60,0.000,2,0.000,0.000,36,2211,3162
$GC,107,-0.78,-97.8,2.5,-3.6,12,156,13.75,2.90,-27.45,0.000,4,0.200,0.150,2355,3572,3884
$GC,303,-0.78,-97.8,15.7,-6.5,42,310,0.00,2.80,0.00,0.000,6,0.000,0.113,2355,2190,3886
$GC,376,-0.78,-97.8,20.1,-5.5,53,381,0.00,2.95,0.00,0.000,4,0.000,0.141,2355,782,3886
$GC,422,-0.78,-97.8,22.6,-5.6,56,427,0.00,2.85,0.00,0.000,6,0.000,0.109,2355,2209,3886
$GC,618,-0.78,-97.8,33.0,-5.8,71,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2209,3886
$GC,809,-0.78,-97.8,44.3,-5.7,86,813,0.00,2.85,0.00,0.000,4,0.000,0.138,2355,3570,3886
$GC,868,-0.78,-97.8,48.0,-6.2,90,873,0.00,2.80,0.00,0.000,6,0.000,0.112,2355,2185,3887
$GC,1064,-0.78,-97.8,60.6,-6.3,105,1068,0.00,2.92,0.00,0.000,4,0.000,0.139,2355,779,3886
$GC,1123,-0.78,-97.8,64.3,-6.5,109,1128,0.00,2.85,0.00,0.000,6,0.000,0.110,2355,2209,3886
$GC,1319,-0.78,-97.8,75.8,-5.4,124,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2210,3887
$STATE,1492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1495,begin apogee
$GC,1501,-0.31,0.0,85.4,5.6,138,1581,0.50,0.00,77.28,0.726,6,0.132,0.000,2453,2042,3484
$STATE,1582,end apogee,CONTROL_FINISHED_OK
$STATE,1582,begin climb
$GC,1585,0.78,97.8,87.7,0.0,145,1668,1.20,2.92,76.28,0.709,4,0.103,0.122,2696,628,3084
$GC,1690,0.96,259.6,84.6,4.8,154,1826,0.20,2.72,124.62,0.690,6,0.066,0.081,2740,2059,2424
$GC,2012,0.96,259.6,46.4,12.8,180,2016,0.00,2.92,0.00,0.000,4,0.000,0.122,2740,633,2424
$GC,2071,0.96,259.6,38.6,13.1,184,2075,0.00,2.70,0.00,0.000,6,0.000,0.082,2740,2059,2423
$GC,2268,0.96,259.6,14.6,12.0,202,2274,0.00,2.80,0.00,0.000,4,0.000,0.114,2740,3464,2424
$GC,2307,0.96,259.6,10.1,12.0,208,2313,0.00,2.78,0.00,0.000,6,0.000,0.095,2740,2048,2424
$STATE,2357,end climb,SURFACE_DEPTH_REACHED
$STATE,2357,begin surface coast
$FINISH,0.7,1.021758
$STATE,2405,end surface coast,CONTROL_FINISHED_OK
$STATE,2405,begin surface
$SM_CCo,2427,102.28,0.640,0,0,1648,450.13
$SM_GC,1.27,0.00,0.00,102.28,0.000,0.000,0.640,39,2212,1648,-11.46,0.37,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2079
$TCM_TEMP,19.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,70.1,7.9
$24V_AH,23.8,38.925
$10V_AH,10.2,10.269
$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,27.950,40.475,278.175,102.275,0.000,32.579,39.621,95.750,2.000,0.000,0.000,14.343,431.709,1238.988,458.159,394.229,312.408,33.335,734.455,0.000,400.868,0.000,3.959
$DEVICE_MAMPS,200.187,149.565,725.582,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,146.076,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6446,223
$CFSIZE,260034560,248135680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,180736,4740.856,-12251.465,10,3.2,29,18.3