version: 66.02
glider: 22
mission: 2
dive: 281
start: 9 30 107 14 12 1
data:
$ID,22
$MISSION,2
$DIVE,281
$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,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,-115423.23
$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,11
$R_STBD_OVSHOOT,9
$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
$GPS1,140541,4739.445,-12253.228,11,3.2,30,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-61.0
$GPS2,141037,4739.489,-12253.168,16,1.8,27,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.286,-0.007
$KALMAN_X,37078.0,564.7,-95.8,-37778.5,6.6
$KALMAN_Y,10032.0,512.2,22.0,-10945.0,-13.4
$MHEAD_RNG_PITCHd_Wd,73.0,957,-10.5,-7.407
$D_GRID,116
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.77,-97.8,0.0,0.0,0,101,0.00,0.00,-73.53,0.000,2,0.000,0.000,36,2110,3143
$GC,104,-0.77,-97.8,2.2,-2.5,12,159,13.68,2.95,-30.83,0.000,4,0.197,0.137,2358,3511,3883
$GC,378,-0.77,-97.8,18.6,-6.7,54,384,0.00,2.88,0.00,0.000,6,0.000,0.114,2358,2091,3884
$GC,454,-0.77,-97.8,22.5,-5.1,62,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2091,3884
$GC,645,-0.77,-97.8,32.2,-5.6,77,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2089,3884
$GC,836,-0.77,-97.8,42.2,-5.4,92,841,0.00,2.95,0.00,0.000,4,0.000,0.139,2357,673,3884
$GC,874,-0.77,-97.8,44.7,-6.1,94,881,0.00,2.80,0.00,0.000,6,0.000,0.098,2358,2106,3884
$GC,1071,-0.77,-97.8,55.4,-5.1,110,1075,0.00,2.88,0.00,0.000,4,0.000,0.127,2358,3516,3884
$GC,1161,-0.77,-97.8,61.1,-6.3,116,1169,0.00,2.90,0.00,0.000,6,0.000,0.112,2358,2082,3885
$GC,1358,-0.77,-97.8,72.1,-5.7,132,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2081,3885
$GC,1549,-0.77,-97.8,82.7,-5.3,147,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2082,3885
$GC,1738,-0.77,-97.8,93.3,-5.8,162,1743,0.00,2.95,0.00,0.000,4,0.000,0.122,2358,3521,3885
$GC,1771,-0.77,-97.8,95.5,-6.7,164,1775,0.00,2.90,0.00,0.000,6,0.000,0.115,2358,2091,3885
$STATE,1850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1850,begin apogee
$GC,1855,-0.31,0.0,100.4,5.9,170,1937,0.52,0.00,77.03,0.745,6,0.130,0.000,2457,2091,3483
$STATE,1938,end apogee,CONTROL_FINISHED_OK
$STATE,1938,begin climb
$GC,1940,0.77,97.8,102.4,0.0,177,2022,1.17,0.00,76.07,0.725,6,0.103,0.000,2693,2087,3085
$GC,2211,0.79,124.1,87.6,6.9,199,2240,0.00,3.03,20.52,0.736,4,0.000,0.117,2693,3514,2977
$GC,2293,0.79,124.1,81.5,8.0,205,2300,0.00,2.80,0.00,0.000,6,0.000,0.091,2693,2082,2977
$GC,2489,0.83,152.6,68.0,6.8,221,2518,0.00,2.97,21.67,0.726,4,0.000,0.130,2693,680,2860
$GC,2558,0.83,152.6,62.9,8.2,226,2565,0.00,2.75,0.00,0.000,6,0.000,0.080,2693,2109,2860
$GC,2754,0.83,152.6,47.6,7.9,242,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2109,2860
$GC,2946,0.83,152.6,33.4,7.9,257,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2109,2860
$GC,3134,0.83,152.6,19.1,7.8,272,3141,0.00,2.83,0.00,0.000,4,0.000,0.117,2693,3514,2860
$GC,3174,0.83,152.6,15.5,8.9,278,3180,0.00,2.78,0.00,0.000,6,0.000,0.094,2693,2091,2860
$GC,3245,0.83,152.6,9.6,7.6,289,3252,0.00,2.88,0.00,0.000,4,0.000,0.129,2692,684,2860
$GC,3265,0.84,161.4,8.2,7.2,292,3277,0.00,2.70,6.18,0.729,6,0.000,0.082,2693,2110,2825
$STATE,3334,end climb,SURFACE_DEPTH_REACHED
$STATE,3334,begin surface coast
$FINISH,0.5,1.009076
$STATE,3521,end surface coast,CONTROL_FINISHED_OK
$STATE,3521,begin surface
$SM_CCo,3543,156.73,0.648,0,0,1648,450.13
$SM_GC,1.18,0.00,0.00,156.73,0.000,0.000,0.648,36,2073,1648,-11.47,-0.62,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2078
$TCM_TEMP,19.80
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,50.0,8.0
$24V_AH,23.8,32.626
$10V_AH,10.2,8.474
$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,27.450,46.000,201.475,156.725,0.000,32.588,39.645,120.941,4.500,0.000,0.000,27.931,617.409,2040.358,492.406,544.255,349.057,33.340,820.292,0.000,537.462,0.000,6.777
$DEVICE_MAMPS,197.119,138.827,744.757,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,219.274,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9575,331
$CFSIZE,260034560,249978880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300907,151455,4739.468,-12252.648,35,1.3,39,18.3