version: 66.02
glider: 22
mission: 2
dive: 331
start: 10 2 107 23 55 39
data:
$ID,22
$MISSION,2
$DIVE,331
$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,-116778.73
$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,10
$R_STBD_OVSHOOT,12
$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
$GPS1,235002,4739.485,-12252.265,12,1.3,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.6
$GPS2,235415,4739.514,-12252.226,14,1.3,14,18.3
$SPEED_LIMITS,0.276,0.286
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.246,-0.125
$KALMAN_X,49874.4,254.5,350.2,-49536.5,221.4
$KALMAN_Y,21854.4,184.0,318.1,-22688.7,137.0
$MHEAD_RNG_PITCHd_Wd,224.7,236,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.80,-97.8,0.0,0.0,0,96,0.00,0.00,-66.45,0.000,2,0.000,0.000,38,2182,3042
$GC,100,-0.80,-97.8,2.4,-3.2,11,155,13.55,2.92,-35.67,0.000,4,0.196,0.147,2349,3569,3882
$GC,354,-0.80,-97.8,20.7,-8.7,50,360,0.00,2.80,0.00,0.000,6,0.000,0.114,2348,2191,3883
$GC,549,-0.80,-97.8,35.6,-8.0,66,554,0.00,2.97,0.00,0.000,4,0.000,0.144,2348,777,3883
$GC,581,-0.80,-97.8,38.0,-7.7,68,586,0.00,2.85,0.00,0.000,6,0.000,0.109,2348,2207,3883
$GC,777,-0.80,-97.8,51.9,-6.2,83,782,0.00,2.88,0.00,0.000,4,0.000,0.140,2349,3575,3883
$GC,823,-0.80,-97.8,54.6,-6.4,86,828,0.00,2.83,0.00,0.000,6,0.000,0.117,2348,2193,3883
$GC,1019,-0.80,-97.8,64.3,-4.7,101,1023,0.00,2.95,0.00,0.000,4,0.000,0.143,2348,782,3884
$GC,1070,-0.80,-97.8,67.0,-5.2,104,1077,0.00,2.85,0.00,0.000,6,0.000,0.111,2348,2205,3884
$GC,1267,-0.80,-97.8,77.4,-5.4,120,1271,0.00,2.85,0.00,0.000,4,0.000,0.140,2349,3565,3884
$GC,1331,-0.80,-97.8,81.6,-6.2,124,1338,0.00,2.80,0.00,0.000,6,0.000,0.117,2349,2193,3884
$GC,1528,-0.80,-97.8,92.6,-6.0,140,1532,0.00,2.95,0.00,0.000,4,0.000,0.141,2348,779,3884
$GC,1587,-0.80,-97.8,96.4,-6.4,144,1591,0.00,2.85,0.00,0.000,6,0.000,0.110,2348,2209,3884
$STATE,1653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1654,begin apogee
$GC,1660,-0.31,0.0,100.5,5.7,149,1741,0.57,0.00,77.03,0.739,6,0.137,0.000,2456,2042,3483
$STATE,1742,end apogee,CONTROL_FINISHED_OK
$STATE,1742,begin climb
$GC,1744,0.80,97.8,102.7,0.0,156,1830,1.20,2.92,75.95,0.723,4,0.104,0.120,2699,627,3085
$GC,1890,0.85,137.6,97.1,6.5,167,1926,0.00,2.72,30.75,0.726,6,0.000,0.081,2699,2062,2921
$GC,2116,0.85,137.6,78.3,8.6,185,2121,0.00,2.80,0.00,0.000,4,0.000,0.117,2699,3462,2921
$GC,2181,0.85,137.6,72.3,9.6,189,2188,0.00,2.80,0.00,0.000,6,0.000,0.095,2699,2040,2921
$GC,2377,0.85,137.6,55.8,8.3,205,2382,0.00,2.85,0.00,0.000,4,0.000,0.124,2699,634,2921
$GC,2415,0.85,137.6,52.4,8.8,207,2422,0.00,2.70,0.00,0.000,6,0.000,0.081,2699,2059,2920
$GC,2612,0.85,137.6,36.5,8.2,223,2616,0.00,2.83,0.00,0.000,4,0.000,0.118,2699,3461,2921
$GC,2663,0.85,137.6,32.1,8.6,226,2670,0.00,2.80,0.00,0.000,6,0.000,0.095,2699,2038,2921
$GC,2861,0.85,137.6,16.4,7.4,245,2867,0.00,2.83,0.00,0.000,4,0.000,0.120,2699,632,2921
$STATE,2997,end climb,SURFACE_DEPTH_REACHED
$STATE,2997,begin surface coast
$FINISH,1.8,1.021848
$STATE,3059,end surface coast,CONTROL_FINISHED_OK
$STATE,3059,begin surface
$SM_CCo,3084,163.55,0.645,0,0,1648,450.13
$SM_GC,1.25,0.00,0.00,163.55,0.000,0.000,0.645,35,2213,1648,-11.47,0.37,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2050
$TCM_TEMP,19.80
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,50.3,7.9
$24V_AH,23.8,37.471
$10V_AH,10.2,9.859
$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,27.600,63.100,183.725,163.550,0.000,32.579,33.992,95.073,2.750,0.000,0.000,14.500,541.389,1716.344,475.665,493.154,321.004,33.340,790.006,0.000,496.604,0.000,5.346
$DEVICE_MAMPS,195.585,147.264,738.621,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,181.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6437,275
$CFSIZE,260034560,248586240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,005033,4739.474,-12252.463,10,1.5,10,18.3