version: 66.02
glider: 22
mission: 2
dive: 143
start: 9 25 107 14 29 0
data:
$ID,22
$MISSION,2
$DIVE,143
$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,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,-111775.26
$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,2100
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,8
$R_STBD_OVSHOOT,15
$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
$GPS1,141953,4740.525,-12252.037,15,3.2,34,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-71.3
$GPS2,142737,4740.534,-12251.998,11,1.7,27,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,JLA
$TGT_LATLONG,4739.833,-12250.183
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.228,-0.174
$KALMAN_X,25852.3,191.8,-257.3,-24556.6,132.1
$KALMAN_Y,7356.2,-143.6,-172.0,-5481.7,41.7
$MHEAD_RNG_PITCHd_Wd,109.1,2610,-10.5,-7.407
$D_GRID,100
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.74,-78.2,0.0,0.0,0,75,0.00,0.00,-49.53,0.000,2,0.000,0.000,38,2113,2753
$GC,78,-0.74,-78.2,2.3,-2.9,8,146,13.68,2.80,-46.42,0.000,4,0.197,0.120,2364,3520,3803
$GC,217,-0.74,-78.2,9.6,-7.5,30,224,0.00,2.83,0.00,0.000,6,0.000,0.101,2364,2096,3804
$GC,290,-0.74,-78.2,13.4,-4.9,41,296,0.00,2.97,0.00,0.000,4,0.000,0.142,2364,683,3805
$GC,322,-0.74,-78.2,15.1,-5.3,46,328,0.00,2.72,0.00,0.000,6,0.000,0.087,2364,2103,3805
$GC,394,-0.74,-78.2,18.7,-5.1,57,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2103,3805
$GC,470,-0.74,-78.2,23.0,-5.5,65,475,0.00,3.00,0.00,0.000,4,0.000,0.136,2364,677,3805
$GC,495,-0.74,-78.2,24.4,-5.4,66,502,0.00,2.78,0.00,0.000,6,0.000,0.089,2364,2104,3806
$GC,691,-0.74,-78.2,34.0,-4.8,82,696,0.00,2.80,0.00,0.000,4,0.000,0.114,2364,3519,3806
$GC,783,-0.74,-78.2,39.2,-5.7,89,788,0.00,2.83,0.00,0.000,6,0.000,0.101,2364,2088,3807
$GC,979,-0.74,-78.2,48.7,-4.7,104,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2089,3808
$GC,1168,-0.74,-78.2,57.7,-4.7,119,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2088,3807
$GC,1358,-0.74,-78.2,66.1,-4.4,134,1363,0.00,2.95,0.00,0.000,4,0.000,0.141,2363,677,3807
$GC,1390,-0.74,-78.2,67.6,-4.5,136,1395,0.00,2.72,0.00,0.000,6,0.000,0.087,2364,2106,3807
$GC,1592,-0.74,-78.2,77.5,-5.2,152,1597,0.00,2.80,0.00,0.000,4,0.000,0.113,2364,3521,3807
$GC,1656,-0.74,-78.2,81.1,-5.8,156,1664,0.00,2.85,0.00,0.000,6,0.000,0.103,2364,2098,3807
$GC,1853,-0.74,-78.2,90.6,-4.8,172,1858,0.00,2.97,0.00,0.000,4,0.000,0.142,2364,677,3807
$GC,1885,-0.74,-78.2,92.3,-5.4,174,1890,0.00,2.72,0.00,0.000,6,0.000,0.089,2364,2105,3806
$STATE,2055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2055,begin apogee
$GC,2059,-0.31,0.0,100.3,5.4,187,2129,0.47,0.00,62.15,0.749,6,0.118,0.000,2456,1988,3484
$STATE,2129,end apogee,CONTROL_FINISHED_OK
$STATE,2130,begin climb
$GC,2131,0.74,78.2,102.0,0.0,193,2204,1.12,3.00,61.12,0.739,4,0.101,0.125,2685,582,3163
$GC,2309,0.82,151.4,94.5,5.9,207,2372,0.10,2.67,56.15,0.726,6,0.069,0.071,2709,2018,2866
$GC,2559,0.82,151.4,74.9,8.7,227,2564,0.00,2.70,0.00,0.000,4,0.000,0.094,2709,3416,2865
$GC,2618,0.82,151.4,69.3,9.6,231,2622,0.00,2.72,0.00,0.000,6,0.000,0.078,2709,1987,2865
$GC,2820,0.82,151.4,51.8,8.6,247,2824,0.00,2.83,0.00,0.000,4,0.000,0.118,2708,583,2865
$GC,2885,0.82,151.4,45.7,9.4,252,2890,0.00,2.62,0.00,0.000,6,0.000,0.068,2709,2002,2865
$GC,3087,0.82,151.4,29.0,8.3,268,3091,0.00,2.72,0.00,0.000,4,0.000,0.095,2709,3421,2865
$GC,3132,0.82,151.4,25.1,9.0,271,3140,0.00,2.72,0.00,0.000,6,0.000,0.076,2709,1997,2865
$GC,3335,0.83,159.0,10.2,7.2,297,3348,0.00,2.88,5.40,0.736,4,0.000,0.119,2709,581,2835
$STATE,3413,end climb,SURFACE_DEPTH_REACHED
$STATE,3413,begin surface coast
$FINISH,4.2,1.021623
$STATE,3426,end surface coast,CONTROL_FINISHED_OK
$STATE,3426,begin surface
$SM_CCo,3448,166.60,0.654,0,0,1648,450.13
$SM_GC,1.54,0.00,0.00,166.60,0.000,0.000,0.654,39,2114,1648,-11.46,0.40,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2082
$TCM_TEMP,19.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,50.5,7.7
$24V_AH,23.8,20.994
$10V_AH,10.2,5.474
$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,27.775,67.750,184.825,166.600,0.000,65.167,63.145,183.748,1.500,0.000,0.000,27.159,608.358,2033.104,485.151,565.433,434.203,33.340,834.827,0.000,552.197,0.000,5.352
$DEVICE_MAMPS,197.119,141.895,748.592,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,206.040,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9591,311
$CFSIZE,260034560,253431808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,153003,4740.489,-12251.884,15,1.3,15,18.3