version: 66.02
glider: 22
mission: 2
dive: 153
start: 9 26 107 1 31 58
data:
$ID,22
$MISSION,2
$DIVE,153
$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,-112031.48
$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,7
$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
$GPS1,012305,4739.608,-12252.094,13,3.1,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-72.2
$GPS2,013034,4739.647,-12252.061,10,2.7,29,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.214,-0.175
$KALMAN_X,25638.8,-74.7,-32.6,-24380.2,-33.1
$KALMAN_Y,6705.8,-130.3,-195.6,-6466.8,-12.0
$MHEAD_RNG_PITCHd_Wd,212.5,541,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.78,-78.2,0.0,0.0,0,74,0.00,0.00,-49.50,0.000,2,0.000,0.000,39,2116,2744
$GC,77,-0.78,-78.2,2.2,-2.1,8,150,13.68,3.08,-49.80,0.000,4,0.199,0.145,2355,677,3804
$GC,382,-0.78,-78.2,16.5,-5.3,55,389,0.00,2.75,0.00,0.000,6,0.000,0.088,2355,2110,3806
$GC,454,-0.78,-78.2,19.8,-4.7,66,461,0.00,2.97,0.00,0.000,4,0.000,0.132,2354,681,3806
$GC,665,-0.78,-78.2,32.9,-6.1,83,670,0.00,2.75,0.00,0.000,6,0.000,0.090,2355,2113,3806
$GC,860,-0.78,-78.2,44.8,-6.2,98,865,0.00,2.83,0.00,0.000,4,0.000,0.119,2355,3519,3807
$GC,899,-0.78,-78.2,47.1,-6.5,100,906,0.00,2.88,0.00,0.000,6,0.000,0.105,2355,2091,3808
$GC,1095,-0.78,-78.2,58.8,-5.8,116,1100,0.00,2.95,0.00,0.000,4,0.000,0.139,2355,677,3807
$GC,1141,-0.78,-78.2,61.6,-6.3,119,1145,0.00,2.75,0.00,0.000,6,0.000,0.091,2355,2106,3807
$GC,1336,-0.78,-78.2,72.4,-5.1,134,1341,0.00,2.83,0.00,0.000,4,0.000,0.119,2355,3514,3807
$GC,1401,-0.78,-78.2,76.3,-6.1,138,1408,0.00,2.88,0.00,0.000,6,0.000,0.107,2355,2093,3807
$GC,1597,-0.78,-78.2,86.0,-4.6,154,1602,0.00,2.95,0.00,0.000,4,0.000,0.140,2354,674,3808
$GC,1635,-0.78,-78.2,88.0,-5.0,156,1642,0.00,2.78,0.00,0.000,6,0.000,0.092,2355,2100,3807
$GC,1831,-0.78,-78.2,97.1,-4.6,172,1836,0.00,2.85,0.00,0.000,4,0.000,0.120,2355,3518,3807
$STATE,1887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1887,begin apogee
$GC,1895,-0.31,0.0,100.2,5.1,176,1962,0.52,0.00,62.22,0.744,6,0.132,0.000,2456,1990,3484
$STATE,1963,end apogee,CONTROL_FINISHED_OK
$STATE,1963,begin climb
$GC,1965,0.78,78.2,101.6,0.0,182,2034,1.20,0.00,61.45,0.733,6,0.099,0.000,2700,1985,3164
$GC,2222,0.82,117.2,87.9,6.5,203,2259,0.00,2.85,29.52,0.730,4,0.000,0.094,2700,3420,3005
$GC,2304,0.82,117.2,81.9,8.0,209,2312,0.00,2.80,0.00,0.000,6,0.000,0.084,2700,1991,3005
$GC,2500,0.83,125.5,68.1,7.2,225,2514,0.00,2.92,6.50,0.754,4,0.000,0.127,2700,576,2971
$GC,2620,0.83,125.5,59.9,7.6,234,2624,0.00,2.67,0.00,0.000,6,0.000,0.073,2700,2006,2971
$GC,2815,0.86,148.2,46.3,6.9,249,2833,0.00,0.00,16.92,0.726,6,0.000,0.000,2700,2006,2879
$GC,3015,0.86,148.2,31.3,7.4,265,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2006,2878
$GC,3206,0.88,173.4,18.1,6.8,282,3232,0.10,2.97,19.15,0.711,4,0.078,0.123,2725,582,2776
$GC,3291,0.88,173.4,11.2,8.9,295,3298,0.00,2.67,0.00,0.000,6,0.000,0.072,2725,2016,2775
$GC,3363,0.89,182.8,5.5,7.2,306,3377,0.00,2.78,6.90,0.726,4,0.000,0.106,2725,3412,2738
$STATE,3381,end climb,SURFACE_DEPTH_REACHED
$STATE,3381,begin surface coast
$FINISH,1.7,1.020375
$STATE,3468,end surface coast,CONTROL_FINISHED_OK
$STATE,3468,begin surface
$SM_CCo,3491,145.15,0.652,0,0,1648,450.13
$SM_GC,1.43,0.00,0.00,145.15,0.000,0.000,0.652,37,2088,1648,-11.47,-0.34,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2097
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,50.5,7.8
$24V_AH,23.8,21.806
$10V_AH,10.2,5.720
$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,27.975,62.600,202.675,145.150,0.000,65.186,136.412,94.660,1.000,0.000,0.000,30.780,614.331,2033.691,493.069,576.628,415.749,33.333,835.893,0.000,564.687,0.000,5.347
$DEVICE_MAMPS,198.653,144.963,753.961,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,212.880,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9595,322
$CFSIZE,260034560,253149184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260907,023338,4739.583,-12252.097,14,1.3,31,18.3