version: 66.02
glider: 22
mission: 2
dive: 354
start: 10 3 107 22 56 59
data:
$ID,22
$MISSION,2
$DIVE,354
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-117302.82
$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
$GPS1,223737,4740.697,-12250.984,13,1.3,29,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-64.5
$GPS2,225533,4740.677,-12250.804,16,1.7,16,18.3
$SPEED_LIMITS,0.222,0.232
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.225,0.058
$KALMAN_X,53140.8,-9.1,-105.8,-50311.4,159.7
$KALMAN_Y,21145.8,-282.8,-73.6,-18960.3,-0.0
$MHEAD_RNG_PITCHd_Wd,266.1,1569,-16.0,-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,-1.13,-117.3,0.0,0.0,0,101,0.00,0.00,-72.72,0.000,2,0.000,0.000,35,2214,3134
$GC,105,-1.13,-117.3,2.2,-2.8,12,159,13.20,0.00,-34.08,0.000,6,0.197,0.000,2275,2212,3964
$GC,225,-1.13,-117.3,11.5,-11.1,31,230,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2212,3965
$GC,296,-1.13,-117.3,19.5,-10.5,42,303,0.00,2.78,0.00,0.000,4,0.000,0.124,2275,3566,3965
$GC,368,-1.13,-117.3,27.1,-10.1,48,375,0.00,2.72,0.00,0.000,6,0.000,0.100,2274,2193,3965
$GC,564,-1.13,-117.3,44.8,-9.2,64,569,0.00,2.95,0.00,0.000,4,0.000,0.143,2274,784,3965
$GC,628,-1.13,-117.3,50.2,-9.1,68,632,0.00,2.78,0.00,0.000,6,0.000,0.098,2276,2212,3966
$GC,823,-1.13,-117.3,69.9,-10.5,83,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2213,3965
$STATE,972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,972,begin apogee
$GC,979,-0.31,0.0,85.6,10.8,95,1075,0.98,0.00,92.65,0.722,6,0.143,0.000,2458,2039,3484
$STATE,1076,end apogee,CONTROL_FINISHED_OK
$STATE,1076,begin climb
$GC,1079,1.13,117.3,89.0,0.0,103,1176,1.52,0.00,91.65,0.705,6,0.104,0.000,2768,2035,3004
$GC,1365,1.13,117.3,66.6,9.7,126,1370,0.00,2.83,0.00,0.000,4,0.000,0.118,2768,631,3003
$GC,1430,1.13,117.3,59.6,10.8,130,1437,0.00,2.65,0.00,0.000,6,0.000,0.069,2768,2067,3003
$GC,1626,1.13,117.3,38.9,10.6,146,1631,0.00,2.90,0.00,0.000,4,0.000,0.117,2768,631,3003
$GC,1690,1.13,117.3,32.0,10.5,150,1698,0.00,2.67,0.00,0.000,6,0.000,0.071,2768,2059,3003
$GC,1890,1.16,147.5,13.9,6.9,171,1921,0.00,2.83,22.62,0.686,4,0.000,0.102,2768,3477,2883
$GC,1948,1.16,147.5,9.7,8.3,180,1954,0.00,2.78,0.00,0.000,6,0.000,0.084,2768,2040,2882
$STATE,1997,end climb,SURFACE_DEPTH_REACHED
$STATE,1997,begin surface coast
$FINISH,0.7,1.022054
$STATE,2052,end surface coast,CONTROL_FINISHED_OK
$STATE,2052,begin surface
$SM_CCo,2075,274.38,0.622,1,0,658,693.22
$SM_GC,1.02,0.00,0.00,274.38,0.000,0.000,0.622,36,2210,658,-11.47,0.31,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2022
$TCM_TEMP,19.90
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,50.2,8.3
$24V_AH,23.8,39.456
$10V_AH,10.2,10.406
$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,28.150,28.575,206.925,274.375,0.000,162.985,233.604,314.662,2.000,0.000,0.000,16.085,380.584,1287.971,595.948,341.111,873.794,33.358,831.228,0.000,343.875,0.000,5.350
$DEVICE_MAMPS,197.119,142.662,721.747,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,127.770,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6423,196
$CFSIZE,260034560,247980032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031007,233703,4740.673,-12251.071,14,1.8,14,18.3