version: 66.02
glider: 22
mission: 2
dive: 401
start: 10 5 107 20 43 3
data:
$ID,22
$MISSION,2
$DIVE,401
$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,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,90
$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,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,-118528.47
$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,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,13
$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
$GPS1,202051,4740.756,-12251.175,13,1.4,13,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.5
$GPS2,204139,4740.694,-12251.061,15,1.8,15,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.244,-0.017
$KALMAN_X,56721.4,168.8,-191.2,-54299.1,-17.5
$KALMAN_Y,14910.1,-304.1,-76.2,-12668.5,126.9
$MHEAD_RNG_PITCHd_Wd,75.7,812,-10.1,-6.296
$D_GRID,99
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-0.73,-88.0,0.0,0.0,0,147,0.00,0.00,-112.72,0.000,2,0.000,0.000,36,2219,3024
$GC,151,-0.73,-88.0,2.3,-2.2,19,212,13.57,2.90,-38.80,0.000,4,0.193,0.154,2367,3561,3845
$GC,411,-0.73,-88.0,15.7,-5.3,59,417,0.00,2.75,0.00,0.000,6,0.000,0.110,2367,2191,3848
$GC,484,-0.73,-88.0,20.1,-6.0,70,489,0.00,2.97,0.00,0.000,4,0.000,0.145,2366,777,3848
$GC,530,-0.73,-88.0,22.8,-5.7,73,535,0.00,2.88,0.00,0.000,6,0.000,0.114,2366,2206,3848
$GC,726,-0.73,-88.0,33.2,-5.6,88,731,0.00,2.90,0.00,0.000,4,0.000,0.144,2366,3577,3849
$GC,799,-0.73,-88.0,37.6,-6.2,93,803,0.00,2.80,0.00,0.000,6,0.000,0.110,2366,2187,3849
$GC,995,-0.73,-88.0,47.9,-4.9,108,999,0.00,2.95,0.00,0.000,4,0.000,0.142,2366,777,3849
$GC,1067,-0.73,-88.0,51.0,-4.5,113,1072,0.00,2.88,0.00,0.000,6,0.000,0.112,2366,2215,3849
$GC,1263,-0.73,-88.0,59.3,-4.4,128,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2216,3849
$GC,1457,-0.73,-88.0,67.7,-3.6,143,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2216,3849
$GC,1643,-0.73,-88.0,77.8,-6.3,158,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2216,3849
$STATE,1777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1777,begin apogee
$GC,1784,-0.31,0.0,85.0,4.1,169,1853,0.47,0.00,65.47,0.723,6,0.133,0.000,2455,2048,3484
$STATE,1853,end apogee,CONTROL_FINISHED_OK
$STATE,1854,begin climb
$GC,1856,0.73,88.0,85.6,0.0,175,1937,1.15,2.95,69.90,0.709,4,0.104,0.120,2686,628,3125
$GC,1977,0.79,148.3,81.5,4.9,185,2029,0.00,2.72,46.40,0.701,6,0.000,0.077,2686,2070,2878
$GC,2227,0.79,148.3,66.1,6.4,205,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2070,2879
$GC,2419,0.79,148.3,51.8,8.0,220,2424,0.00,2.97,0.00,0.000,4,0.000,0.127,2686,624,2879
$GC,2470,0.79,148.3,47.8,7.7,223,2477,0.00,2.70,0.00,0.000,6,0.000,0.081,2686,2050,2879
$GC,2667,0.79,148.3,35.1,6.7,239,2671,0.00,2.85,0.00,0.000,4,0.000,0.123,2685,3465,2879
$GC,2713,0.79,148.3,31.3,8.4,242,2717,0.00,2.78,0.00,0.000,6,0.000,0.091,2686,2040,2879
$GC,2909,0.79,148.3,17.7,6.5,259,2916,0.00,2.88,0.00,0.000,4,0.000,0.128,2686,628,2879
$GC,2949,0.79,148.3,14.5,8.0,265,2955,0.00,2.70,0.00,0.000,6,0.000,0.082,2685,2059,2879
$GC,3021,0.79,148.3,9.4,6.7,276,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2059,2879
$GC,3094,0.87,221.3,5.6,4.7,287,3114,0.15,0.00,16.95,0.686,2,0.077,0.000,2721,2059,2786
$STATE,3114,end climb,SURFACE_DEPTH_REACHED
$STATE,3115,begin surface coast
$FINISH,0.6,1.010484
$STATE,3258,end surface coast,CONTROL_FINISHED_OK
$STATE,3259,begin surface
$SM_CCo,3282,261.90,0.629,0,0,658,693.22
$SM_GC,1.23,0.00,0.00,261.90,0.000,0.000,0.629,38,2208,658,-11.46,0.20,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2043
$TCM_TEMP,19.70
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,50.2,8.0
$24V_AH,23.8,43.985
$10V_AH,10.2,11.607
$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,27.550,46.225,198.725,261.900,0.000,162.961,252.499,414.228,2.500,0.000,0.000,15.249,579.359,2028.279,613.385,521.526,1095.219,33.334,948.040,0.000,524.725,0.000,5.354
$DEVICE_MAMPS,193.284,154.167,722.514,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,205.732,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9593,312
$CFSIZE,260034560,246738944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,214257,4740.537,-12250.466,13,1.4,13,18.3