version: 66.02
glider: 22
mission: 2
dive: 146
start: 9 25 107 17 54 13
data:
$ID,22
$MISSION,2
$DIVE,146
$D_SURF,5
$D_FLARE,2
$D_TGT,100
$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,45
$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,80
$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,-111838.84
$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,2100
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,8
$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,2
$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
$GPS1,174417,4739.938,-12251.431,10,3.0,29,18.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.2
$GPS2,175250,4739.918,-12251.470,14,1.3,31,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.212,-0.193
$KALMAN_X,25640.6,157.5,53.4,-23961.9,-5.9
$KALMAN_Y,7468.5,-144.3,64.0,-6968.4,103.9
$MHEAD_RNG_PITCHd_Wd,209.4,1432,-10.5,-7.407
$D_GRID,119
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.74,-78.2,0.0,0.0,0,81,0.00,0.00,-55.47,0.000,2,0.000,0.000,36,2108,2869
$GC,84,-0.74,-78.2,2.3,-2.7,9,151,13.65,2.85,-44.58,0.000,4,0.196,0.122,2362,3514,3804
$GC,403,-0.74,-78.2,18.3,-4.7,58,409,0.00,2.83,0.00,0.000,6,0.000,0.103,2363,2094,3806
$GC,481,-0.74,-78.2,21.9,-4.4,67,486,0.00,2.85,0.00,0.000,4,0.000,0.107,2362,3522,3806
$GC,553,-0.74,-78.2,25.9,-5.4,72,557,0.00,2.85,0.00,0.000,6,0.000,0.104,2362,2092,3806
$GC,748,-0.74,-78.2,35.5,-4.9,87,753,0.00,2.97,0.00,0.000,4,0.000,0.143,2362,677,3807
$GC,781,-0.74,-78.2,37.3,-5.5,89,785,0.00,2.75,0.00,0.000,6,0.000,0.090,2362,2105,3807
$GC,976,-0.74,-78.2,47.3,-5.1,104,981,0.00,2.83,0.00,0.000,4,0.000,0.116,2362,3522,3807
$GC,1035,-0.74,-78.2,50.5,-6.2,108,1039,0.00,2.85,0.00,0.000,6,0.000,0.107,2362,2091,3807
$GC,1230,-0.74,-78.2,60.0,-5.0,123,1235,0.00,2.97,0.00,0.000,4,0.000,0.143,2362,676,3808
$GC,1268,-0.74,-78.2,62.1,-5.1,125,1275,0.00,2.78,0.00,0.000,6,0.000,0.091,2362,2104,3807
$GC,1465,-0.74,-78.2,71.5,-4.9,141,1469,0.00,2.83,0.00,0.000,4,0.000,0.115,2362,3525,3807
$GC,1510,-0.74,-78.2,73.7,-5.1,144,1515,0.00,2.85,0.00,0.000,6,0.000,0.107,2362,2097,3807
$GC,1706,-0.74,-78.2,82.9,-4.5,159,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2097,3807
$GC,1897,-0.74,-78.2,91.1,-4.7,174,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2097,3807
$STATE,2057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2057,begin apogee
$GC,2062,-0.31,0.0,100.2,5.4,187,2131,0.50,0.00,62.25,0.748,6,0.127,0.000,2457,1987,3484
$STATE,2132,end apogee,CONTROL_FINISHED_OK
$STATE,2132,begin climb
$GC,2134,0.74,78.2,102.1,0.0,193,2207,1.12,3.00,61.05,0.736,4,0.101,0.124,2688,576,3164
$GC,2226,0.91,230.9,99.6,4.2,200,2355,0.20,2.70,118.00,0.714,6,0.057,0.071,2739,2015,2540
$GC,2545,0.91,230.9,67.0,11.1,226,2549,0.00,2.70,0.00,0.000,4,0.000,0.094,2739,3415,2541
$GC,2576,0.91,230.9,62.9,12.6,228,2581,0.00,2.78,0.00,0.000,6,0.000,0.085,2738,1998,2540
$GC,2778,0.91,230.9,39.7,11.4,244,2783,0.00,2.90,0.00,0.000,4,0.000,0.127,2739,584,2540
$GC,2877,0.91,230.9,27.9,12.1,251,2881,0.00,2.65,0.00,0.000,6,0.000,0.071,2739,2011,2540
$GC,3078,0.91,230.9,7.7,9.1,276,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2011,2541
$STATE,3108,end climb,SURFACE_DEPTH_REACHED
$STATE,3109,begin surface coast
$FINISH,1.2,1.019833
$STATE,3170,end surface coast,CONTROL_FINISHED_OK
$STATE,3170,begin surface
$SM_CCo,3191,123.90,0.652,0,0,1649,450.13
$SM_GC,1.61,0.00,0.00,123.90,0.000,0.000,0.652,38,2111,1649,-11.46,0.31,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,2110
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,50.1,7.7
$24V_AH,23.8,21.251
$10V_AH,10.2,5.549
$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,27.975,51.325,241.300,123.900,0.000,65.182,68.608,220.759,1.500,0.000,0.000,31.640,560.783,1837.629,468.755,535.734,472.468,33.336,803.247,0.000,518.265,0.000,5.352
$DEVICE_MAMPS,196.352,142.662,747.825,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,191.588,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9573,290
$CFSIZE,260034560,253349888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,185035,4739.682,-12251.948,14,3.6,33,18.3