version: 66.02
glider: 22
mission: 2
dive: 410
start: 10 6 107 7 7 31
data:
$ID,22
$MISSION,2
$DIVE,410
$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,-118798.62
$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,8
$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
$GPS1,064825,4740.850,-12251.622,36,2.0,36,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-70.3
$GPS2,070608,4740.854,-12251.622,29,1.8,29,18.3
$SPEED_LIMITS,0.235,0.245
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.199,0.124
$KALMAN_X,58559.7,275.2,125.9,-57262.8,-96.7
$KALMAN_Y,12517.7,-203.2,-26.5,-10133.3,26.8
$MHEAD_RNG_PITCHd_Wd,283.7,503,-10.8,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.77,-88.0,0.0,0.0,0,98,0.00,0.00,-67.05,0.000,2,0.000,0.000,38,2210,3055
$GC,102,-0.77,-88.0,2.4,-2.4,11,157,13.57,3.05,-33.38,0.000,4,0.196,0.151,2356,775,3843
$GC,190,-0.77,-88.0,5.9,-7.0,25,196,0.00,2.88,0.00,0.000,6,0.000,0.112,2356,2203,3844
$GC,263,-0.77,-88.0,11.1,-7.6,36,268,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2203,3845
$GC,335,-0.77,-88.0,16.0,-6.6,47,341,0.00,2.92,0.00,0.000,4,0.000,0.146,2356,3578,3845
$GC,374,-0.77,-88.0,18.7,-7.1,53,381,0.00,2.80,0.00,0.000,6,0.000,0.112,2356,2198,3845
$GC,452,-0.77,-88.0,23.1,-5.6,61,456,0.00,2.95,0.00,0.000,4,0.000,0.139,2356,780,3845
$GC,511,-0.77,-88.0,26.9,-6.3,65,516,0.00,2.90,0.00,0.000,6,0.000,0.116,2356,2215,3845
$GC,707,-0.77,-88.0,38.6,-5.9,80,711,0.00,2.90,0.00,0.000,4,0.000,0.150,2356,3570,3846
$GC,771,-0.77,-88.0,42.8,-6.4,84,779,0.00,2.80,0.00,0.000,6,0.000,0.111,2356,2183,3846
$GC,968,-0.77,-88.0,53.4,-5.5,100,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2183,3846
$GC,1160,-0.77,-88.0,63.0,-5.3,115,1164,0.00,2.92,0.00,0.000,4,0.000,0.143,2356,778,3847
$GC,1206,-0.77,-88.0,65.7,-5.9,118,1211,0.00,2.88,0.00,0.000,6,0.000,0.117,2356,2201,3846
$GC,1402,-0.77,-88.0,77.4,-6.1,133,1407,0.00,2.88,0.00,0.000,4,0.000,0.148,2357,3564,3846
$GC,1435,-0.77,-88.0,79.5,-6.5,135,1440,0.00,2.78,0.00,0.000,6,0.000,0.114,2356,2190,3846
$STATE,1527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1527,begin apogee
$GC,1534,-0.31,0.0,85.3,5.9,142,1606,0.55,0.00,69.18,0.726,6,0.133,0.000,2460,2040,3483
$STATE,1607,end apogee,CONTROL_FINISHED_OK
$STATE,1607,begin climb
$GC,1610,0.77,88.0,87.4,0.0,148,1682,1.12,0.00,68.62,0.712,6,0.100,0.000,2691,2037,3125
$GC,1866,0.84,151.1,78.3,4.7,169,1917,0.10,0.00,48.12,0.710,6,0.074,0.000,2721,2037,2868
$GC,2103,0.84,151.1,60.7,7.5,188,2107,0.00,2.88,0.00,0.000,4,0.000,0.126,2720,628,2868
$GC,2154,0.84,151.1,56.4,8.5,191,2161,0.00,2.72,0.00,0.000,6,0.000,0.081,2721,2069,2868
$GC,2350,0.84,151.1,41.2,7.8,207,2355,0.00,2.78,0.00,0.000,4,0.000,0.112,2721,3465,2868
$GC,2402,0.84,151.1,36.7,8.9,210,2409,0.00,2.78,0.00,0.000,6,0.000,0.091,2721,2041,2868
$GC,2598,0.84,151.1,21.2,7.7,226,2603,0.00,2.85,0.00,0.000,4,0.000,0.125,2721,633,2868
$GC,2644,0.84,151.1,17.6,7.7,231,2650,0.00,2.67,0.00,0.000,6,0.000,0.081,2721,2052,2868
$GC,2717,0.84,151.1,11.3,9.0,242,2723,0.00,2.90,0.00,0.000,4,0.000,0.123,2721,628,2868
$GC,2776,0.86,171.3,7.5,5.8,251,2801,0.00,2.70,15.12,0.697,6,0.000,0.084,2721,2052,2784
$STATE,2831,end climb,SURFACE_DEPTH_REACHED
$STATE,2831,begin surface coast
$FINISH,0.6,1.006989
$STATE,2966,end surface coast,CONTROL_FINISHED_OK
$STATE,2967,begin surface
$SM_CCo,2990,146.23,0.644,0,0,1649,450.13
$SM_GC,1.46,0.00,0.00,146.23,0.000,0.000,0.644,35,2214,1649,-11.48,0.40,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2057
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,50.6,8.0
$24V_AH,23.8,44.856
$10V_AH,10.2,11.865
$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,27.625,57.550,201.050,146.225,0.000,164.929,296.225,238.185,0.750,0.000,0.000,29.050,541.123,1844.837,484.402,479.675,893.894,33.341,786.578,0.000,469.222,0.000,7.675
$DEVICE_MAMPS,196.352,151.099,725.582,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,184.688,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6439,280
$CFSIZE,260034560,246493184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,080107,4741.049,-12251.990,38,1.7,44,18.3