version: 66.02
glider: 22
mission: 2
dive: 477
start: 10 9 107 5 38 57
data:
$ID,22
$MISSION,2
$DIVE,477
$D_SURF,2
$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,30
$T_MISSION,80
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$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,-126565.9
$T_RSLEEP,2
$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,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
$GPS1,051750,4740.800,-12252.141,146,1.9,146,18.3
$_CALLS,5
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.2
$GPS2,053749,4740.753,-12252.204,39,1.4,47,18.3
$SPEED_LIMITS,0.151,0.246
$TGT_NAME,G16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.117,0.216
$KALMAN_X,-2934.1,-285.0,54.9,4314.9,29.1
$KALMAN_Y,-8663.4,-286.8,-65.9,11388.6,-28.0
$MHEAD_RNG_PITCHd_Wd,10.1,516,-20.8,-10.556
$D_GRID,101
$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,-1.44,-127.1,0.0,0.0,0,148,0.00,0.00,-114.45,0.000,2,0.000,0.000,40,2204,2950
$GC,152,-1.44,-127.1,2.2,-2.8,19,225,12.85,2.97,-49.55,0.000,4,0.200,0.136,2210,785,3998
$GC,288,-1.44,-127.1,14.2,-17.3,40,294,0.00,2.80,0.00,0.000,6,0.000,0.100,2210,2210,3998
$GC,365,-1.44,-127.1,26.4,-16.5,49,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2209,3999
$GC,428,-1.44,-127.1,36.1,-15.1,54,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2210,4000
$GC,492,-1.44,-127.1,45.4,-14.8,59,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2209,3999
$GC,555,-1.44,-127.1,54.5,-14.3,64,559,0.00,2.88,0.00,0.000,4,0.000,0.144,2210,3566,4000
$GC,606,-1.44,-127.1,62.2,-14.5,67,613,0.00,2.72,0.00,0.000,6,0.000,0.103,2210,2197,4000
$GC,677,-1.44,-127.1,72.6,-15.3,73,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2197,3999
$GC,740,-1.44,-127.1,82.2,-15.4,78,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2197,3999
$GC,803,-1.44,-127.1,91.7,-15.3,83,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2197,3999
$STATE,825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,825,begin apogee
$GC,832,-0.31,0.0,95.5,14.8,85,936,1.33,0.00,98.53,0.726,6,0.145,0.000,2459,2045,3484
$STATE,937,end apogee,CONTROL_FINISHED_OK
$STATE,937,begin climb
$GC,941,1.44,127.1,99.3,0.0,94,1049,1.85,0.00,99.25,0.709,6,0.103,0.000,2836,2040,2965
$GC,1112,1.44,127.1,87.5,12.2,108,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2041,2965
$GC,1176,1.44,127.1,79.5,12.5,113,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2040,2965
$GC,1239,1.44,127.1,71.6,12.9,118,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2041,2965
$GC,1302,1.44,127.1,64.0,11.8,123,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2040,2965
$GC,1365,1.44,127.1,56.7,11.8,128,1370,0.00,2.85,0.00,0.000,4,0.000,0.117,2836,622,2965
$GC,1438,1.44,127.1,47.2,12.8,133,1443,0.00,2.67,0.00,0.000,6,0.000,0.071,2836,2070,2965
$GC,1508,1.44,127.1,39.0,11.7,138,1512,0.00,2.72,0.00,0.000,4,0.000,0.103,2836,3461,2965
$GC,1546,1.44,127.1,33.8,13.7,140,1553,0.00,2.70,0.00,0.000,6,0.000,0.078,2836,2038,2964
$GC,1616,1.44,127.1,25.3,12.4,146,1621,0.00,2.80,0.00,0.000,4,0.000,0.117,2836,634,2965
$GC,1655,1.44,127.1,20.4,12.1,148,1661,0.00,2.65,0.00,0.000,6,0.000,0.073,2836,2065,2965
$GC,1728,1.44,127.1,12.8,11.3,159,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2065,2965
$GC,1801,1.49,178.0,6.5,7.7,170,1849,0.00,2.85,38.40,0.666,4,0.000,0.103,2836,3466,2758
$STATE,1853,end climb,SURFACE_DEPTH_REACHED
$STATE,1853,begin surface coast
$FINISH,0.5,1.022031
$STATE,1874,end surface coast,CONTROL_FINISHED_OK
$STATE,1874,begin surface
$SM_CCo,1901,252.40,0.620,0,0,658,693.22
$SM_GC,1.19,0.00,0.00,252.40,0.000,0.000,0.620,40,2186,658,-11.45,-0.42,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2016
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,50.9,7.1
$24V_AH,23.8,51.808
$10V_AH,10.2,13.943
$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,28.975,33.600,236.175,252.400,0.000,162.977,375.949,266.530,0.750,0.000,0.000,47.004,334.786,1059.620,644.517,348.523,995.153,33.329,900.094,0.000,322.650,0.000,5.348
$DEVICE_MAMPS,200.187,144.196,725.582,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,116.716,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3313,182
$CFSIZE,260034560,244908032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,061929,4740.905,-12252.097,222,2.4,241,18.3