version: 66.02
glider: 22
mission: 2
dive: 150
start: 9 25 107 22 10 16
data:
$ID,22
$MISSION,2
$DIVE,150
$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,-111955.26
$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,10
$R_STBD_OVSHOOT,16
$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
$GPS1,220447,4739.392,-12252.883,12,2.6,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-72.9
$GPS2,220853,4739.368,-12252.885,15,2.4,34,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.160,0.225
$KALMAN_X,25480.1,-22.9,118.0,-25453.8,-121.2
$KALMAN_Y,6856.7,-112.1,60.4,-7401.2,-200.9
$MHEAD_RNG_PITCHd_Wd,306.2,436,-11.1,-7.407
$D_GRID,121
$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,21,begin dive
$GC,24,-0.78,-78.2,0.0,0.0,0,75,0.00,0.00,-49.58,0.000,2,0.000,0.000,39,2085,2748
$GC,78,-0.78,-78.2,2.3,-2.4,8,151,13.62,2.95,-48.92,0.000,4,0.197,0.123,2356,3514,3805
$GC,330,-0.78,-78.2,16.1,-6.0,47,337,0.00,2.85,0.00,0.000,6,0.000,0.106,2356,2093,3806
$GC,402,-0.78,-78.2,19.6,-4.6,58,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2093,3806
$GC,478,-0.78,-78.2,23.3,-5.0,65,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2093,3806
$GC,668,-0.78,-78.2,33.4,-5.4,80,673,0.00,2.97,0.00,0.000,4,0.000,0.142,2355,673,3807
$GC,700,-0.78,-78.2,35.4,-6.2,82,704,0.00,2.75,0.00,0.000,6,0.000,0.089,2356,2105,3807
$GC,895,-0.78,-78.2,46.0,-5.4,97,900,0.00,2.83,0.00,0.000,4,0.000,0.116,2356,3523,3807
$GC,953,-0.78,-78.2,49.4,-5.8,101,961,0.00,2.90,0.00,0.000,6,0.000,0.108,2356,2093,3807
$GC,1150,-0.78,-78.2,60.3,-5.4,117,1154,0.00,2.95,0.00,0.000,4,0.000,0.143,2355,684,3807
$GC,1189,-0.78,-78.2,62.6,-6.1,120,1194,0.00,2.75,0.00,0.000,6,0.000,0.091,2356,2112,3807
$GC,1384,-0.78,-78.2,72.9,-4.4,135,1388,0.00,2.80,0.00,0.000,4,0.000,0.116,2356,3516,3807
$GC,1448,-0.78,-78.2,76.7,-6.1,139,1456,0.00,2.85,0.00,0.000,6,0.000,0.106,2356,2098,3807
$GC,1645,-0.78,-78.2,87.3,-5.5,155,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2098,3808
$GC,1835,-0.78,-78.2,97.9,-5.4,170,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2098,3807
$STATE,1883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1883,begin apogee
$GC,1887,-0.31,0.0,100.6,5.5,174,1957,0.52,0.00,62.40,0.750,6,0.129,0.000,2456,1988,3484
$STATE,1958,end apogee,CONTROL_FINISHED_OK
$STATE,1958,begin climb
$GC,1960,0.78,78.2,102.2,0.0,180,2030,1.20,2.90,61.12,0.732,4,0.098,0.119,2700,583,3164
$GC,2062,0.85,146.1,98.5,5.9,188,2121,0.00,2.67,51.67,0.723,6,0.000,0.071,2700,2014,2887
$GC,2318,0.85,146.1,79.7,7.9,209,2322,0.00,2.72,0.00,0.000,4,0.000,0.100,2700,3411,2887
$GC,2363,0.85,146.1,75.9,8.3,212,2371,0.00,2.78,0.00,0.000,6,0.000,0.087,2700,1998,2887
$GC,2559,0.85,146.1,60.1,8.3,228,2564,0.00,2.90,0.00,0.000,4,0.000,0.125,2700,588,2887
$GC,2600,0.85,146.1,56.7,8.9,231,2604,0.00,2.65,0.00,0.000,6,0.000,0.071,2700,2011,2887
$GC,2794,0.85,146.1,41.4,7.5,246,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2011,2887
$GC,2985,0.85,146.1,27.0,7.6,261,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2011,2887
$GC,3178,0.91,199.3,12.4,6.2,284,3222,0.12,0.00,40.50,0.690,6,0.075,0.000,2730,2011,2671
$STATE,3279,end climb,SURFACE_DEPTH_REACHED
$STATE,3279,begin surface coast
$FINISH,1.2,1.020242
$STATE,3327,end surface coast,CONTROL_FINISHED_OK
$STATE,3327,begin surface
$SM_CCo,3348,141.02,0.650,0,0,1649,450.13
$SM_GC,1.33,0.00,0.00,141.02,0.000,0.000,0.650,38,2108,1649,-11.46,0.23,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2097
$TCM_TEMP,19.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,50.4,7.6
$24V_AH,23.8,21.563
$10V_AH,10.2,5.644
$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,27.900,45.625,215.700,141.025,0.000,32.608,35.324,80.319,2.000,0.000,0.000,35.517,582.922,1930.393,470.164,536.801,261.476,33.335,798.885,0.000,516.232,0.000,5.345
$DEVICE_MAMPS,197.119,143.429,750.126,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,202.837,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9568,307
$CFSIZE,260034560,253235200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,230937,4739.553,-12253.189,39,1.4,39,18.3