version: 66.02
glider: 22
mission: 2
dive: 487
start: 10 9 107 17 18 59
data:
$ID,22
$MISSION,2
$DIVE,487
$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,-133684.03
$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,21
$R_STBD_OVSHOOT,25
$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
$GPS1,142944,4740.705,-12250.934,387,2.0,393,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-66.1
$GPS2,171753,4740.336,-12250.912,191,2.6,210,18.3
$SPEED_LIMITS,0.151,0.246
$TGT_NAME,T16
$TGT_LATLONG,4740.985,-12251.976
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.216,0.117
$KALMAN_X,-3345.8,-132.5,75.1,6155.3,144.8
$KALMAN_Y,-10713.3,-361.1,-254.6,12944.1,9.2
$MHEAD_RNG_PITCHd_Wd,280.1,1789,-20.8,-10.556
$D_GRID,104
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-1.44,-127.1,0.0,0.0,0,157,0.00,0.00,-123.45,0.000,2,0.000,0.000,38,2179,3091
$GC,161,-1.44,-127.1,2.2,-3.7,20,217,12.80,2.95,-36.90,0.000,4,0.199,0.147,2208,795,3996
$GC,387,-1.44,-127.1,30.6,-14.3,49,392,0.00,2.75,0.00,0.000,6,0.000,0.103,2209,2193,3997
$GC,457,-1.44,-127.1,41.4,-14.9,54,461,0.00,2.95,0.00,0.000,4,0.000,0.151,2209,3572,3997
$GC,490,-1.44,-127.1,46.5,-16.1,56,494,0.00,2.72,0.00,0.000,6,0.000,0.105,2209,2201,3998
$GC,560,-1.44,-127.1,57.1,-15.3,61,565,0.00,2.95,0.00,0.000,4,0.000,0.140,2208,783,3997
$GC,593,-1.44,-127.1,62.3,-15.4,63,598,0.00,2.80,0.00,0.000,6,0.000,0.103,2209,2206,3997
$GC,663,-1.44,-127.1,72.3,-14.1,68,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2206,3997
$GC,727,-1.44,-127.1,81.6,-14.5,73,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2206,3997
$GC,789,-1.44,-127.1,90.5,-14.1,78,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2206,3997
$STATE,824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,824,begin apogee
$GC,831,-0.31,0.0,95.8,14.1,81,935,1.30,0.00,97.93,0.729,6,0.151,0.000,2453,2040,3484
$STATE,936,end apogee,CONTROL_FINISHED_OK
$STATE,936,begin climb
$GC,940,1.44,127.1,99.2,0.0,90,1044,1.92,0.00,99.28,0.710,6,0.113,0.000,2837,2035,2964
$GC,1107,1.44,127.1,86.7,12.0,104,1111,0.00,2.83,0.00,0.000,4,0.000,0.114,2836,625,2964
$GC,1193,1.44,127.1,75.1,14.0,110,1198,0.00,2.65,0.00,0.000,6,0.000,0.067,2836,2064,2964
$GC,1263,1.44,127.1,65.9,12.9,115,1268,0.00,2.88,0.00,0.000,4,0.000,0.114,2836,631,2964
$GC,1314,1.44,127.1,59.0,12.7,118,1321,0.00,2.65,0.00,0.000,6,0.000,0.071,2836,2060,2964
$GC,1385,1.44,127.1,50.6,11.9,124,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2060,2964
$GC,1448,1.44,127.1,43.2,11.5,129,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2059,2964
$GC,1511,1.44,127.1,36.0,11.3,134,1516,0.00,2.88,0.00,0.000,4,0.000,0.115,2836,630,2964
$GC,1563,1.44,127.1,29.3,12.9,137,1570,0.00,2.65,0.00,0.000,6,0.000,0.071,2836,2061,2964
$GC,1633,1.44,127.1,20.9,12.1,143,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2061,2964
$GC,1699,1.44,127.1,13.3,11.2,152,1705,0.00,2.72,0.00,0.000,4,0.000,0.103,2836,3462,2964
$STATE,1841,end climb,SURFACE_DEPTH_REACHED
$STATE,1841,begin surface coast
$FINISH,0.9,1.022201
$STATE,1855,end surface coast,CONTROL_FINISHED_OK
$STATE,1855,begin surface
$SM_CCo,1882,287.50,0.625,0,0,658,693.22
$SM_GC,1.11,0.00,0.00,287.50,0.000,0.000,0.625,37,2184,658,-11.47,-0.45,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2008
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,51.4,7.1
$24V_AH,23.8,53.137
$10V_AH,10.2,14.449
$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,28.925,39.300,197.200,287.500,0.000,165.203,438.222,461.225,1.000,0.000,0.000,211.834,340.548,1071.913,643.898,511.698,1251.877,33.336,878.532,0.000,318.760,0.000,5.349
$DEVICE_MAMPS,199.420,151.099,728.650,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,114.003,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3320,176
$CFSIZE,260034560,244662272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,171753,4740.336,-12250.912,191,2.6,210,18.3