version: 66.02
glider: 22
mission: 2
dive: 340
start: 10 3 107 9 29 12
data:
$ID,22
$MISSION,2
$DIVE,340
$D_SURF,5
$D_FLARE,2
$D_TGT,95
$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,-117027.84
$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,9
$R_STBD_OVSHOOT,11
$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
$GPS1,092323,4740.608,-12249.905,33,2.6,52,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.5
$GPS2,092747,4740.600,-12249.879,16,2.7,35,18.3
$SPEED_LIMITS,0.263,0.273
$TGT_NAME,T18
$TGT_LATLONG,4740.752,-12250.415
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.267,0.057
$KALMAN_X,52417.5,334.5,-8.8,-48875.8,422.7
$KALMAN_Y,22501.3,90.2,-179.7,-20725.8,-39.2
$MHEAD_RNG_PITCHd_Wd,263.8,725,-10.4,-7.037
$D_GRID,89
$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,-0.76,-97.8,0.0,0.0,0,95,0.00,0.00,-67.43,0.000,2,0.000,0.000,36,2205,3055
$GC,99,-0.76,-97.8,2.3,-2.4,11,160,13.70,2.92,-37.12,0.000,4,0.198,0.149,2359,3563,3884
$GC,259,-0.76,-97.8,11.5,-8.2,36,266,0.00,2.75,0.00,0.000,6,0.000,0.111,2358,2199,3886
$GC,332,-0.76,-97.8,16.7,-7.0,47,338,0.00,2.90,0.00,0.000,4,0.000,0.137,2359,3564,3886
$GC,424,-0.76,-97.8,23.0,-6.2,58,429,0.00,2.80,0.00,0.000,6,0.000,0.114,2358,2191,3886
$GC,620,-0.76,-97.8,32.9,-5.3,73,625,0.00,2.97,0.00,0.000,4,0.000,0.144,2358,775,3886
$GC,679,-0.76,-97.8,36.0,-5.5,77,684,0.00,2.85,0.00,0.000,6,0.000,0.109,2359,2203,3886
$GC,875,-0.76,-97.8,46.0,-5.1,92,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2203,3886
$GC,1064,-0.76,-97.8,55.6,-5.2,107,1069,0.00,2.83,0.00,0.000,4,0.000,0.137,2359,3564,3886
$GC,1097,-0.76,-97.8,57.3,-6.0,109,1102,0.00,2.80,0.00,0.000,6,0.000,0.117,2358,2187,3886
$GC,1293,-0.76,-97.8,67.2,-4.8,124,1297,0.00,2.92,0.00,0.000,4,0.000,0.142,2358,785,3886
$GC,1352,-0.76,-97.8,70.4,-5.3,128,1356,0.00,2.85,0.00,0.000,6,0.000,0.110,2358,2212,3886
$GC,1547,-0.76,-97.8,80.7,-5.4,143,1552,0.00,2.85,0.00,0.000,4,0.000,0.140,2359,3569,3886
$GC,1606,-0.76,-97.8,83.8,-5.3,147,1611,0.00,2.83,0.00,0.000,6,0.000,0.120,2358,2195,3886
$GC,1802,-0.76,-97.8,88.1,-0.0,162,1807,0.00,2.92,0.00,0.000,4,0.000,0.137,2358,776,3886
$GC,2060,-0.76,-97.8,88.1,-0.1,181,2065,0.00,2.85,0.00,0.000,6,0.000,0.107,2359,2213,3886
$GC,2256,-0.76,-97.8,88.1,-0.0,196,2260,0.00,2.97,0.00,0.000,4,0.000,0.133,2358,777,3886
$STATE,2326,end dive,NO_VERTICAL_VELOCITY
$STATE,2326,begin apogee
$GC,2334,-0.31,0.0,88.1,0.0,201,2415,0.50,0.00,77.18,0.732,6,0.128,0.000,2456,2059,3484
$STATE,2415,end apogee,CONTROL_FINISHED_OK
$STATE,2415,begin climb
$GC,2418,0.76,97.8,87.9,0.0,208,2504,1.15,2.92,75.90,0.714,4,0.104,0.120,2690,3470,3085
$GC,2642,0.77,113.9,77.3,6.7,225,2662,0.00,2.80,12.00,0.737,6,0.000,0.094,2690,2043,3019
$GC,2850,0.77,113.9,63.2,7.0,242,2855,0.00,2.90,0.00,0.000,4,0.000,0.129,2690,630,3019
$GC,2968,0.77,113.9,54.7,7.3,250,2975,0.00,2.70,0.00,0.000,6,0.000,0.079,2691,2063,3018
$GC,3164,0.78,120.5,41.6,6.9,266,3176,0.00,0.00,5.15,0.754,6,0.000,0.000,2690,2063,2992
$GC,3365,0.81,143.0,27.9,6.6,282,3390,0.00,3.00,16.70,0.712,4,0.000,0.124,2690,634,2900
$GC,3477,0.81,143.7,20.2,7.0,290,3483,0.00,2.67,0.00,0.000,6,0.000,0.077,2691,2054,2900
$GC,3682,0.94,263.8,8.6,4.5,321,3750,0.17,0.00,64.88,0.673,2,0.081,0.000,2731,2054,2553
$STATE,3750,end climb,SURFACE_DEPTH_REACHED
$STATE,3750,begin surface coast
$FINISH,0.5,1.000245
$STATE,3848,end surface coast,CONTROL_FINISHED_OK
$STATE,3848,begin surface
$SM_CCo,3871,114.60,0.644,0,0,1648,450.13
$SM_GC,1.24,0.00,0.00,114.60,0.000,0.000,0.644,35,2217,1648,-11.48,0.45,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2065
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,50.3,7.8
$24V_AH,23.9,38.228
$10V_AH,10.2,10.085
$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,27.850,62.925,251.800,114.600,0.000,32.603,31.946,87.745,1.750,0.000,0.000,36.298,656.742,2159.441,480.921,671.922,327.077,33.347,877.692,0.000,648.901,0.000,5.348
$DEVICE_MAMPS,197.886,148.798,753.961,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,229.591,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9592,347
$CFSIZE,260034560,248311808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031007,103656,4740.606,-12249.997,43,2.0,43,18.3