version: 66.02
glider: 22
mission: 2
dive: 324
start: 10 2 107 16 10 57
data:
$ID,22
$MISSION,2
$DIVE,324
$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,-116637.69
$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,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,8
$R_STBD_OVSHOOT,8
$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,0
$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
$GPS1,160455,4739.337,-12252.521,24,1.6,42,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.0
$GPS2,160932,4739.374,-12252.459,15,1.6,32,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.281,0.054
$KALMAN_X,47328.2,339.9,-123.4,-46893.1,-3.1
$KALMAN_Y,19840.5,290.1,-110.8,-20613.5,-0.6
$MHEAD_RNG_PITCHd_Wd,262.6,943,-10.5,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.77,-97.8,0.0,0.0,0,95,0.00,0.00,-67.43,0.000,2,0.000,0.000,36,2216,3063
$GC,99,-0.77,-97.8,2.4,-3.4,11,154,13.68,3.03,-32.22,0.000,4,0.198,0.145,2357,787,3883
$GC,227,-0.77,-97.8,9.6,-5.8,31,233,0.00,2.83,0.00,0.000,6,0.000,0.105,2357,2213,3883
$GC,299,-0.77,-97.8,13.9,-6.0,42,305,0.00,2.83,0.00,0.000,4,0.000,0.137,2356,3565,3883
$GC,339,-0.77,-97.8,16.4,-6.7,48,345,0.00,2.78,0.00,0.000,6,0.000,0.109,2358,2189,3883
$GC,411,-0.77,-97.8,20.8,-5.6,58,415,0.00,2.90,0.00,0.000,4,0.000,0.137,2357,782,3883
$GC,457,-0.77,-97.8,23.6,-5.9,61,462,0.00,2.85,0.00,0.000,6,0.000,0.109,2358,2207,3883
$GC,652,-0.77,-97.8,34.8,-5.6,76,657,0.00,2.85,0.00,0.000,4,0.000,0.136,2358,3575,3884
$GC,712,-0.77,-97.8,38.4,-6.1,80,716,0.00,2.80,0.00,0.000,6,0.000,0.110,2358,2189,3884
$GC,907,-0.77,-97.8,48.9,-5.5,95,912,0.00,2.92,0.00,0.000,4,0.000,0.137,2357,777,3884
$GC,933,-0.77,-97.8,50.4,-5.5,96,940,0.00,2.85,0.00,0.000,6,0.000,0.109,2357,2208,3884
$GC,1130,-0.77,-97.8,61.3,-5.6,112,1134,0.00,2.83,0.00,0.000,4,0.000,0.136,2358,3572,3884
$GC,1175,-0.77,-97.8,64.2,-6.4,115,1180,0.00,2.80,0.00,0.000,6,0.000,0.113,2358,2189,3885
$GC,1371,-0.77,-97.8,75.0,-5.3,130,1376,0.00,2.92,0.00,0.000,4,0.000,0.139,2357,778,3885
$GC,1422,-0.77,-97.8,77.8,-5.4,133,1429,0.00,2.85,0.00,0.000,6,0.000,0.107,2357,2217,3885
$GC,1619,-0.77,-97.8,87.5,-5.1,149,1623,0.00,2.80,0.00,0.000,4,0.000,0.137,2358,3565,3884
$GC,1685,-0.77,-97.8,91.4,-6.3,154,1689,0.00,2.78,0.00,0.000,6,0.000,0.114,2358,2199,3885
$STATE,1842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1842,begin apogee
$GC,1848,-0.31,0.0,100.3,5.5,166,1928,0.50,0.00,77.28,0.740,6,0.128,0.000,2455,2044,3484
$STATE,1929,end apogee,CONTROL_FINISHED_OK
$STATE,1929,begin climb
$GC,1931,0.77,97.8,102.6,0.0,173,2017,1.15,2.92,76.38,0.724,4,0.106,0.110,2689,3464,3084
$GC,2036,0.92,236.4,99.9,4.5,181,2155,0.17,2.78,107.07,0.709,6,0.065,0.088,2731,2046,2519
$GC,2341,0.92,236.4,70.7,10.7,206,2346,0.00,2.92,0.00,0.000,4,0.000,0.132,2730,630,2519
$GC,2446,0.92,236.4,59.3,11.2,213,2453,0.00,2.70,0.00,0.000,6,0.000,0.080,2731,2058,2518
$GC,2642,0.92,236.4,38.4,10.7,229,2646,0.00,2.78,0.00,0.000,4,0.000,0.111,2731,3463,2519
$GC,2660,0.92,236.4,36.3,10.5,230,2667,0.00,2.80,0.00,0.000,6,0.000,0.096,2731,2052,2519
$GC,2858,0.92,236.4,15.4,10.7,249,2865,0.00,2.90,0.00,0.000,4,0.000,0.129,2730,632,2519
$STATE,2955,end climb,SURFACE_DEPTH_REACHED
$STATE,2955,begin surface coast
$FINISH,0.5,1.022081
$STATE,3009,end surface coast,CONTROL_FINISHED_OK
$STATE,3009,begin surface
$SM_CCo,3034,115.43,0.647,0,0,1648,450.13
$SM_GC,1.27,0.00,0.00,115.43,0.000,0.000,0.647,35,2219,1648,-11.48,0.54,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2078
$TCM_TEMP,19.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,50.0,7.9
$24V_AH,23.8,36.854
$10V_AH,10.2,9.676
$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,27.800,68.800,260.725,115.425,0.000,32.579,34.542,101.661,2.250,0.000,0.000,32.714,528.808,1615.384,486.621,515.088,328.473,33.349,822.036,0.000,495.581,0.000,5.348
$DEVICE_MAMPS,197.886,144.963,740.155,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,178.894,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6442,272
$CFSIZE,260034560,248786944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,170435,4739.484,-12252.904,13,2.1,32,18.3