version: 66.02
glider: 22
mission: 2
dive: 272
start: 9 30 107 4 55 17
data:
$ID,22
$MISSION,2
$DIVE,272
$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,100
$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,693.21777
$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,-115184.41
$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,2095
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,7
$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,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
$GPS1,043553,4739.537,-12252.141,12,2.3,31,18.3
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-66.8
$GPS2,045353,4739.798,-12251.701,15,3.9,34,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.204,-0.201
$KALMAN_X,33721.1,362.3,7.3,-32505.6,287.2
$KALMAN_Y,7258.9,408.9,-126.0,-7357.7,357.5
$MHEAD_RNG_PITCHd_Wd,207.1,1067,-10.5,-7.407
$D_GRID,123
$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,25,-0.77,-97.8,0.0,0.0,0,94,0.00,0.00,-67.00,0.000,2,0.000,0.000,34,2103,3041
$GC,97,-0.77,-97.8,2.2,-2.7,11,153,13.70,2.90,-34.80,0.000,4,0.199,0.139,2355,3514,3881
$GC,208,-0.77,-97.8,7.6,-6.3,28,214,0.00,2.88,0.00,0.000,6,0.000,0.111,2355,2091,3880
$GC,280,-0.77,-97.8,12.1,-5.1,39,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2091,3881
$GC,352,-0.77,-97.8,16.3,-6.1,50,358,0.00,2.92,0.00,0.000,4,0.000,0.135,2355,677,3881
$GC,423,-0.77,-97.8,20.5,-5.3,60,430,0.00,2.80,0.00,0.000,6,0.000,0.098,2355,2098,3881
$GC,620,-0.77,-97.8,30.9,-5.8,76,624,0.00,2.88,0.00,0.000,4,0.000,0.125,2355,3518,3882
$GC,710,-0.77,-97.8,36.5,-5.6,82,718,0.00,2.88,0.00,0.000,6,0.000,0.109,2355,2089,3883
$GC,907,-0.77,-97.8,47.6,-5.5,98,912,0.00,2.92,0.00,0.000,4,0.000,0.138,2355,679,3883
$GC,945,-0.77,-97.8,49.9,-5.8,100,958,0.00,2.80,0.00,0.000,6,0.000,0.097,2356,2100,3883
$GC,1141,-0.77,-97.8,61.7,-5.7,116,1146,0.00,2.88,0.00,0.000,4,0.000,0.125,2355,3517,3883
$GC,1219,-0.77,-97.8,66.6,-6.4,121,1226,0.00,2.88,0.00,0.000,6,0.000,0.111,2355,2091,3883
$GC,1415,-0.77,-97.8,78.3,-5.6,137,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2091,3883
$GC,1608,-0.77,-97.8,88.7,-5.4,152,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2091,3884
$GC,1795,-0.77,-97.8,99.0,-5.6,167,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2091,3883
$STATE,1817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1817,begin apogee
$GC,1822,-0.31,0.0,100.2,5.3,169,1904,0.55,0.00,76.75,0.738,6,0.134,0.000,2459,2091,3484
$STATE,1905,end apogee,CONTROL_FINISHED_OK
$STATE,1905,begin climb
$GC,1907,0.77,97.8,102.1,0.0,176,1989,1.17,0.00,75.55,0.726,6,0.101,0.000,2697,2088,3085
$GC,2178,0.83,155.8,89.1,6.2,198,2230,0.00,3.00,44.40,0.719,4,0.000,0.125,2696,679,2847
$GC,2265,0.83,155.8,82.6,8.4,205,2269,0.00,2.72,0.00,0.000,6,0.000,0.079,2696,2115,2847
$GC,2460,0.88,202.2,69.4,6.4,220,2501,0.12,2.88,35.00,0.713,4,0.074,0.114,2725,3515,2658
$GC,2522,0.88,202.2,64.0,9.9,225,2527,0.00,2.80,0.00,0.000,6,0.000,0.093,2724,2092,2658
$GC,2718,0.88,202.2,43.1,10.9,240,2722,0.00,2.90,0.00,0.000,4,0.000,0.128,2724,677,2658
$GC,2829,0.88,202.2,30.9,10.6,248,2836,0.00,2.70,0.00,0.000,6,0.000,0.079,2724,2107,2658
$GC,3029,0.88,202.2,11.4,9.1,270,3035,0.00,2.92,0.00,0.000,4,0.000,0.123,2724,681,2658
$STATE,3092,end climb,SURFACE_DEPTH_REACHED
$STATE,3092,begin surface coast
$FINISH,0.4,1.010290
$STATE,3148,end surface coast,CONTROL_FINISHED_OK
$STATE,3148,begin surface
$SM_CCo,3172,247.57,0.630,1,0,658,693.22
$SM_GC,1.04,0.00,0.00,247.57,0.000,0.000,0.630,35,2103,658,-11.47,0.23,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2064
$TCM_TEMP,19.70
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,50.3,8.5
$24V_AH,23.8,31.890
$10V_AH,10.2,8.259
$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,27.825,51.425,231.700,247.575,0.000,163.008,228.304,313.164,3.000,0.000,0.000,35.320,551.138,1998.567,604.190,520.900,877.576,33.346,930.138,0.000,500.740,0.000,5.369
$DEVICE_MAMPS,199.420,138.827,737.854,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,189.972,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6439,288
$CFSIZE,260034560,250220544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300907,055329,4739.792,-12251.610,12,2.4,31,18.3