version: 66.02
glider: 22
mission: 2
dive: 327
start: 10 2 107 19 20 12
data:
$ID,22
$MISSION,2
$DIVE,327
$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,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,-116705
$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,10
$R_STBD_OVSHOOT,8
$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
$GPS1,191023,4739.409,-12253.276,12,2.6,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.1
$GPS2,191847,4739.513,-12253.136,15,2.6,34,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.261,-0.091
$KALMAN_X,48333.6,271.0,-2.7,-48794.7,227.1
$KALMAN_Y,20592.3,191.3,-18.3,-21101.5,162.4
$MHEAD_RNG_PITCHd_Wd,91.0,920,-11.1,-7.407
$D_GRID,116
$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,-0.80,-97.8,0.0,0.0,0,101,0.00,0.00,-72.62,0.000,2,0.000,0.000,38,2209,3140
$GC,104,-0.80,-97.8,2.5,-3.5,12,159,13.57,2.92,-32.70,0.000,4,0.197,0.149,2349,3570,3884
$GC,311,-0.80,-97.8,12.7,-5.7,44,317,0.00,2.80,0.00,0.000,6,0.000,0.114,2348,2195,3886
$GC,384,-0.80,-97.8,16.8,-5.7,55,390,0.00,2.92,0.00,0.000,4,0.000,0.139,2349,783,3886
$GC,450,-0.80,-97.8,20.5,-5.5,65,454,0.00,2.85,0.00,0.000,6,0.000,0.110,2349,2206,3886
$GC,645,-0.80,-97.8,31.8,-6.0,80,650,0.00,2.88,0.00,0.000,4,0.000,0.140,2349,3576,3886
$GC,724,-0.80,-97.8,36.6,-6.1,85,730,0.00,2.80,0.00,0.000,6,0.000,0.110,2349,2187,3886
$GC,920,-0.80,-97.8,47.9,-5.7,101,924,0.00,2.92,0.00,0.000,4,0.000,0.140,2349,779,3886
$GC,958,-0.80,-97.8,50.6,-6.5,103,965,0.00,2.85,0.00,0.000,6,0.000,0.110,2349,2203,3886
$GC,1155,-0.80,-97.8,62.8,-6.0,119,1160,0.00,2.85,0.00,0.000,4,0.000,0.139,2350,3575,3886
$GC,1227,-0.80,-97.8,67.5,-6.3,124,1232,0.00,2.80,0.00,0.000,6,0.000,0.112,2349,2191,3886
$GC,1423,-0.80,-97.8,78.4,-5.2,139,1428,0.00,2.95,0.00,0.000,4,0.000,0.142,2349,778,3886
$GC,1474,-0.80,-97.8,81.4,-5.7,142,1481,0.00,2.85,0.00,0.000,6,0.000,0.109,2349,2213,3886
$GC,1671,-0.80,-97.8,93.7,-6.8,158,1675,0.00,2.85,0.00,0.000,4,0.000,0.139,2350,3573,3886
$GC,1749,-0.80,-97.8,98.5,-6.0,163,1756,0.00,2.80,0.00,0.000,6,0.000,0.112,2349,2189,3886
$STATE,1778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1779,begin apogee
$GC,1785,-0.31,0.0,100.2,5.3,166,1866,0.57,0.00,77.43,0.742,6,0.136,0.000,2457,2038,3484
$STATE,1867,end apogee,CONTROL_FINISHED_OK
$STATE,1867,begin climb
$GC,1869,0.80,97.8,101.9,0.0,173,1950,1.23,0.00,75.95,0.727,6,0.103,0.000,2704,2035,3085
$GC,2139,0.80,97.8,85.3,7.8,195,2144,0.00,2.90,0.00,0.000,4,0.000,0.112,2704,3471,3085
$GC,2256,0.80,97.8,75.7,8.9,203,2264,0.00,2.80,0.00,0.000,6,0.000,0.087,2704,2039,3085
$GC,2453,0.80,97.8,61.4,7.5,219,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2039,3085
$GC,2645,0.84,131.4,48.6,6.6,234,2676,0.00,2.97,25.65,0.716,4,0.000,0.126,2703,633,2947
$GC,2720,0.84,131.4,42.9,7.6,239,2728,0.00,2.72,0.00,0.000,6,0.000,0.080,2703,2054,2947
$GC,2917,0.86,148.0,28.9,7.0,255,2935,0.00,2.88,12.70,0.720,4,0.000,0.117,2704,3464,2879
$GC,2967,0.86,148.0,25.0,8.0,258,2974,0.00,2.83,0.00,0.000,6,0.000,0.094,2704,2044,2878
$GC,3170,0.87,164.5,9.6,7.0,284,3189,0.00,2.92,11.88,0.711,4,0.000,0.110,2704,3471,2813
$STATE,3232,end climb,SURFACE_DEPTH_REACHED
$STATE,3233,begin surface coast
$FINISH,1.0,1.021991
$STATE,3306,end surface coast,CONTROL_FINISHED_OK
$STATE,3306,begin surface
$SM_CCo,3331,154.88,0.645,0,0,1648,450.13
$SM_GC,1.20,0.00,0.00,154.88,0.000,0.000,0.645,38,2176,1648,-11.47,-0.68,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2079
$TCM_TEMP,19.80
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,50.0,7.9
$24V_AH,23.8,37.111
$10V_AH,10.2,9.752
$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,27.525,62.925,203.600,154.875,0.000,65.180,173.863,93.859,2.500,0.000,0.000,35.001,585.167,1905.371,501.324,551.343,494.919,33.342,832.833,0.000,534.505,0.000,5.348
$DEVICE_MAMPS,197.119,148.798,742.456,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,201.539,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9596,305
$CFSIZE,260034560,248692736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,201932,4739.488,-12252.584,38,1.7,38,18.3