version: 66.02
glider: 22
mission: 2
dive: 148
start: 9 25 107 19 57 30
data:
$ID,22
$MISSION,2
$DIVE,148
$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,-111887.05
$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,14
$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
$GPS1,195208,4739.396,-12252.443,11,1.3,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.2
$GPS2,195607,4739.369,-12252.476,16,1.9,32,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.166,0.221
$KALMAN_X,25550.3,61.1,153.4,-25128.9,-51.6
$KALMAN_Y,7341.4,-111.3,149.6,-7975.6,-13.3
$MHEAD_RNG_PITCHd_Wd,18.5,203,-11.1,-7.407
$D_GRID,124
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.78,-78.2,0.0,0.0,0,75,0.00,0.00,-49.35,0.000,2,0.000,0.000,37,2107,2747
$GC,78,-0.78,-78.2,2.3,-2.6,8,151,13.55,2.88,-50.28,0.000,4,0.194,0.127,2356,3511,3804
$GC,177,-0.78,-78.2,5.2,-7.5,24,184,0.00,2.83,0.00,0.000,6,0.000,0.103,2356,2093,3804
$GC,250,-0.78,-78.2,9.5,-5.7,35,256,0.00,2.95,0.00,0.000,4,0.000,0.140,2355,683,3805
$GC,269,-0.78,-78.2,10.6,-5.9,38,275,0.00,2.75,0.00,0.000,6,0.000,0.088,2356,2109,3805
$GC,341,-0.78,-78.2,15.1,-6.0,49,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2110,3805
$GC,413,-0.78,-78.2,18.9,-5.2,60,419,0.00,2.83,0.00,0.000,4,0.000,0.117,2356,3520,3806
$GC,439,-0.78,-78.2,20.3,-5.6,64,443,0.00,2.85,0.00,0.000,6,0.000,0.105,2355,2094,3806
$GC,634,-0.78,-78.2,30.6,-5.1,79,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2094,3806
$GC,824,-0.78,-78.2,40.2,-4.6,94,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2094,3807
$GC,1015,-0.78,-78.2,49.5,-4.9,109,1020,0.00,2.97,0.00,0.000,4,0.000,0.143,2355,675,3807
$GC,1060,-0.78,-78.2,52.1,-5.9,112,1065,0.00,2.75,0.00,0.000,6,0.000,0.090,2356,2105,3807
$GC,1255,-0.78,-78.2,62.2,-5.0,127,1260,0.00,2.83,0.00,0.000,4,0.000,0.117,2356,3522,3807
$GC,1359,-0.78,-78.2,67.9,-5.6,134,1367,0.00,2.85,0.00,0.000,6,0.000,0.105,2356,2102,3808
$GC,1556,-0.78,-78.2,77.2,-5.0,150,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2102,3807
$GC,1748,-0.78,-78.2,87.1,-5.3,165,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2102,3808
$GC,1936,-0.78,-78.2,97.2,-5.5,180,1940,0.00,2.97,0.00,0.000,4,0.000,0.143,2356,682,3807
$STATE,1984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1984,begin apogee
$GC,1991,-0.31,0.0,100.3,6.5,183,2058,0.50,0.00,62.30,0.745,6,0.124,0.000,2455,2014,3484
$STATE,2059,end apogee,CONTROL_FINISHED_OK
$STATE,2059,begin climb
$GC,2061,0.78,78.2,102.4,0.0,189,2131,1.20,2.97,61.38,0.732,4,0.097,0.115,2698,579,3164
$GC,2175,0.88,167.8,98.3,5.4,198,2250,0.08,2.70,68.82,0.718,6,0.054,0.071,2723,2001,2799
$GC,2439,0.88,167.8,74.2,9.9,219,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2001,2798
$GC,2629,0.88,167.8,56.6,8.9,234,2633,0.00,2.75,0.00,0.000,4,0.000,0.097,2723,3418,2798
$GC,2660,0.88,167.8,53.4,10.5,236,2665,0.00,2.75,0.00,0.000,6,0.000,0.084,2723,1986,2798
$GC,2855,0.88,167.8,34.4,9.7,251,2860,0.00,2.85,0.00,0.000,4,0.000,0.123,2724,580,2798
$GC,2927,0.88,167.8,27.4,10.1,256,2935,0.00,2.67,0.00,0.000,6,0.000,0.068,2723,2012,2798
$GC,3129,0.88,167.8,9.8,7.6,281,3135,0.00,2.70,0.00,0.000,4,0.000,0.097,2723,3411,2798
$GC,3181,0.88,167.8,5.1,8.8,289,3187,0.00,2.72,0.00,0.000,6,0.000,0.084,2723,1992,2797
$STATE,3192,end climb,SURFACE_DEPTH_REACHED
$STATE,3192,begin surface coast
$FINISH,1.7,1.020281
$STATE,3253,end surface coast,CONTROL_FINISHED_OK
$STATE,3253,begin surface
$SM_CCo,3274,155.12,0.654,0,0,1648,450.13
$SM_GC,1.55,0.00,0.00,155.12,0.000,0.000,0.654,38,2107,1648,-11.46,0.20,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2108
$TCM_TEMP,19.80
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,50.3,7.7
$24V_AH,23.8,21.405
$10V_AH,10.2,5.596
$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,27.775,56.375,192.500,155.125,0.000,32.606,31.689,81.648,3.500,0.000,0.000,32.738,580.121,1866.827,480.049,527.711,261.835,33.333,804.274,0.000,511.926,0.000,5.352
$DEVICE_MAMPS,194.051,142.662,744.757,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,198.289,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9601,300
$CFSIZE,260034560,253292544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,205544,4739.520,-12252.294,14,2.0,31,18.3