version: 66.02
glider: 22
mission: 2
dive: 157
start: 9 26 107 5 52 57
data:
$ID,22
$MISSION,2
$DIVE,157
$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,550
$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,-112106.47
$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,2150
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,8
$R_STBD_OVSHOOT,14
$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
$GPS1,054705,4739.417,-12252.809,9,3.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-71.3
$GPS2,055133,4739.426,-12252.794,16,1.2,16,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.276,-0.007
$KALMAN_X,26826.3,148.3,189.2,-26926.4,178.1
$KALMAN_Y,6961.6,18.0,115.3,-7587.5,92.0
$MHEAD_RNG_PITCHd_Wd,250.3,515,-11.1,-7.407
$D_GRID,122
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.78,-78.2,0.0,0.0,0,76,0.00,0.00,-50.08,0.000,2,0.000,0.000,37,2139,2750
$GC,79,-0.78,-78.2,2.1,-1.9,8,146,13.65,0.00,-50.05,0.000,6,0.197,0.000,2356,2137,3803
$GC,211,-0.78,-78.2,7.2,-6.2,29,218,0.00,2.95,0.00,0.000,4,0.000,0.135,2356,726,3804
$GC,298,-0.78,-78.2,13.0,-6.4,42,304,0.00,2.75,0.00,0.000,6,0.000,0.088,2356,2160,3805
$GC,370,-0.78,-78.2,17.2,-5.6,53,376,0.00,2.83,0.00,0.000,4,0.000,0.118,2356,3563,3807
$GC,468,-0.78,-78.2,23.1,-5.9,64,475,0.00,2.83,0.00,0.000,6,0.000,0.102,2356,2143,3807
$GC,663,-0.78,-78.2,33.3,-5.2,80,668,0.00,2.95,0.00,0.000,4,0.000,0.139,2356,728,3808
$GC,701,-0.78,-78.2,35.6,-6.0,82,709,0.00,2.80,0.00,0.000,6,0.000,0.093,2356,2158,3808
$GC,898,-0.78,-78.2,46.3,-5.4,98,902,0.00,3.00,0.00,0.000,4,0.000,0.134,2356,727,3808
$GC,939,-0.78,-78.2,48.4,-5.3,101,943,0.00,2.78,0.00,0.000,6,0.000,0.094,2356,2155,3808
$GC,1133,-0.78,-78.2,59.2,-5.5,116,1138,0.00,2.85,0.00,0.000,4,0.000,0.120,2357,3570,3808
$GC,1192,-0.78,-78.2,62.8,-6.1,120,1197,0.00,2.85,0.00,0.000,6,0.000,0.106,2355,2145,3808
$GC,1388,-0.78,-78.2,73.5,-5.7,135,1392,0.00,2.95,0.00,0.000,4,0.000,0.140,2356,728,3808
$GC,1426,-0.78,-78.2,75.7,-5.4,137,1433,0.00,2.78,0.00,0.000,6,0.000,0.093,2356,2150,3808
$GC,1622,-0.78,-78.2,86.3,-5.6,153,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2150,3807
$GC,1814,-0.78,-78.2,96.1,-4.7,168,1819,0.00,2.83,0.00,0.000,4,0.000,0.117,2357,3564,3808
$GC,1860,-0.78,-78.2,98.7,-5.7,171,1864,0.00,2.85,0.00,0.000,6,0.000,0.107,2356,2137,3809
$STATE,1889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1889,begin apogee
$GC,1894,-0.31,0.0,100.6,5.6,173,1963,0.52,0.00,62.28,0.742,6,0.123,0.000,2458,2039,3484
$STATE,1964,end apogee,CONTROL_FINISHED_OK
$STATE,1964,begin climb
$GC,1966,0.78,78.2,102.0,0.0,179,2036,1.20,0.00,61.28,0.726,6,0.102,0.000,2699,2034,3164
$GC,2224,0.89,174.7,89.6,5.2,200,2301,0.12,0.00,73.80,0.713,6,0.069,0.000,2731,2034,2771
$GC,2486,0.89,174.7,66.1,9.7,221,2491,0.00,2.88,0.00,0.000,4,0.000,0.125,2731,630,2770
$GC,2524,0.89,174.7,62.0,10.7,223,2531,0.00,2.70,0.00,0.000,6,0.000,0.071,2731,2061,2770
$GC,2720,0.89,174.7,42.2,9.8,239,2725,0.00,2.92,0.00,0.000,4,0.000,0.121,2731,630,2770
$GC,2758,0.89,174.7,38.0,10.7,241,2766,0.00,2.67,0.00,0.000,6,0.000,0.071,2731,2051,2770
$GC,2954,0.89,174.7,19.7,8.5,257,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2050,2770
$GC,3026,0.89,174.7,13.2,9.3,268,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2051,2770
$GC,3098,0.90,185.5,7.7,7.2,279,3112,0.00,2.85,8.05,0.716,4,0.000,0.101,2731,3468,2725
$STATE,3136,end climb,SURFACE_DEPTH_REACHED
$STATE,3136,begin surface coast
$FINISH,4.5,1.022064
$STATE,3143,end surface coast,CONTROL_FINISHED_OK
$STATE,3144,begin surface
$SM_CCo,3167,189.38,0.644,0,0,1240,550.21
$SM_GC,1.49,0.00,0.00,189.38,0.000,0.000,0.644,38,2138,1240,-11.47,-0.34,550.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2091
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,50.2,7.6
$24V_AH,23.9,22.154
$10V_AH,10.2,5.818
$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,28.125,56.800,205.400,189.375,0.000,32.579,31.024,127.848,1.750,0.000,0.000,16.077,559.021,1782.144,538.406,485.146,307.512,33.340,852.232,0.000,487.695,0.000,5.347
$DEVICE_MAMPS,197.119,139.594,742.456,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,188.561,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6429,286
$CFSIZE,260034560,253038592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,064959,4739.354,-12253.231,13,2.9,32,18.3