version: 66.02
glider: 22
mission: 2
dive: 403
start: 10 5 107 22 59 3
data:
$ID,22
$MISSION,2
$DIVE,403
$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,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,-118582.34
$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,9
$R_STBD_OVSHOOT,10
$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
$GPS1,224705,4740.617,-12250.129,14,2.2,33,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-70.3
$GPS2,225739,4740.537,-12250.038,14,1.4,14,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.188,0.157
$KALMAN_X,57190.3,178.9,-112.2,-53589.4,189.1
$KALMAN_Y,14082.5,-185.5,-65.6,-12257.6,-154.5
$MHEAD_RNG_PITCHd_Wd,291.5,616,-10.1,-6.296
$D_GRID,89
$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,24,begin dive
$GC,27,-0.73,-88.0,0.0,0.0,0,90,0.00,0.00,-60.75,0.000,2,0.000,0.000,36,2215,2937
$GC,94,-0.73,-88.0,2.1,-1.9,10,161,13.60,2.90,-45.35,0.000,4,0.194,0.153,2366,3572,3843
$GC,181,-0.73,-88.0,3.9,-5.8,24,188,0.00,2.78,0.00,0.000,6,0.000,0.110,2367,2196,3843
$GC,254,-0.73,-88.0,9.1,-7.0,35,259,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2196,3844
$GC,327,-0.73,-88.0,13.3,-5.9,46,333,0.00,2.92,0.00,0.000,4,0.000,0.141,2366,3565,3845
$GC,353,-0.73,-88.0,15.0,-6.0,50,359,0.00,2.78,0.00,0.000,6,0.000,0.110,2366,2187,3845
$GC,426,-0.73,-88.0,19.2,-5.7,61,432,0.00,2.97,0.00,0.000,4,0.000,0.148,2366,783,3845
$GC,484,-0.73,-88.0,22.7,-5.7,66,491,0.00,2.88,0.00,0.000,6,0.000,0.114,2366,2205,3845
$GC,681,-0.73,-88.0,33.4,-5.6,82,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2205,3845
$GC,874,-0.73,-88.0,43.6,-5.1,97,879,0.00,2.88,0.00,0.000,4,0.000,0.143,2366,3573,3846
$GC,926,-0.73,-88.0,46.8,-5.8,100,932,0.00,2.78,0.00,0.000,6,0.000,0.110,2366,2195,3846
$GC,1122,-0.73,-88.0,57.0,-5.2,116,1127,0.00,2.95,0.00,0.000,4,0.000,0.142,2366,783,3846
$GC,1182,-0.73,-88.0,60.3,-5.7,120,1187,0.00,2.88,0.00,0.000,6,0.000,0.115,2366,2215,3846
$GC,1378,-0.73,-88.0,70.4,-5.1,135,1383,0.00,2.88,0.00,0.000,4,0.000,0.146,2366,3569,3846
$GC,1424,-0.73,-88.0,72.8,-5.4,138,1429,0.00,2.78,0.00,0.000,6,0.000,0.113,2366,2197,3846
$GC,1620,-0.73,-88.0,83.2,-5.8,153,1625,0.00,2.95,0.00,0.000,4,0.000,0.143,2366,775,3846
$STATE,1650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1650,begin apogee
$GC,1660,-0.31,0.0,85.2,6.0,155,1732,0.45,0.00,69.03,0.718,6,0.133,0.000,2453,2058,3484
$STATE,1733,end apogee,CONTROL_FINISHED_OK
$STATE,1733,begin climb
$GC,1735,0.73,88.0,88.0,0.0,161,1808,1.12,0.00,68.68,0.706,6,0.100,0.000,2683,2058,3125
$GC,1992,0.77,123.3,78.1,5.5,182,2021,0.00,0.00,26.98,0.714,6,0.000,0.000,2683,2058,2981
$GC,2206,0.78,137.4,65.2,6.0,199,2222,0.00,2.90,10.77,0.721,4,0.000,0.121,2683,3466,2923
$GC,2258,0.78,137.4,61.9,6.5,203,2262,0.00,2.83,0.00,0.000,6,0.000,0.097,2683,2039,2923
$GC,2453,0.78,137.4,48.7,7.1,218,2458,0.00,2.90,0.00,0.000,4,0.000,0.130,2683,622,2923
$GC,2505,0.78,137.4,44.7,7.4,221,2512,0.00,2.72,0.00,0.000,6,0.000,0.083,2683,2059,2923
$GC,2701,0.79,143.6,31.9,6.2,237,2714,0.00,2.90,4.32,0.746,4,0.000,0.122,2683,3463,2898
$GC,2741,0.79,143.6,29.3,7.0,240,2745,0.00,2.78,0.00,0.000,6,0.000,0.093,2683,2046,2898
$GC,2939,0.79,143.6,15.2,6.9,260,2946,0.00,2.88,0.00,0.000,4,0.000,0.128,2683,634,2898
$GC,3058,0.79,143.6,6.7,7.9,278,3064,0.00,2.70,0.00,0.000,6,0.000,0.083,2683,2060,2898
$STATE,3094,end climb,SURFACE_DEPTH_REACHED
$STATE,3095,begin surface coast
$FINISH,0.5,1.001988
$STATE,3208,end surface coast,CONTROL_FINISHED_OK
$STATE,3208,begin surface
$SM_CCo,3231,163.12,0.640,0,0,1648,450.13
$SM_GC,1.32,0.00,0.00,163.12,0.000,0.000,0.640,36,2211,1648,-11.47,0.31,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,2077
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,50.5,7.9
$24V_AH,23.8,44.166
$10V_AH,10.2,11.662
$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,27.225,62.775,179.775,163.125,0.000,97.810,227.557,90.036,1.250,0.000,0.000,14.678,586.580,1889.701,490.637,503.563,603.794,33.340,809.758,0.000,507.367,0.000,5.350
$DEVICE_MAMPS,194.051,152.633,746.291,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,199.076,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9548,301
$CFSIZE,260034560,246693888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,235627,4740.586,-12250.109,14,1.8,14,18.3