version: 66.02
glider: 23
mission: 2
dive: 26
start: 9 21 107 12 16 12
data:
$ID,23
$MISSION,2
$DIVE,26
$D_SURF,2
$D_FLARE,2
$D_TGT,70
$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,40
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51702
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-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,350
$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,-28943.811
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2610
$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,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,580
$VBD_MAX,3994
$C_VBD,3484
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-24.5345
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,15
$ALTIM_TOP_PING_RANGE,10
$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,12
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$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,2
$SMARTDEVICE1,5
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043036696
$SEABIRD_T_H,0.00062677584
$SEABIRD_T_I,2.2664151e-05
$SEABIRD_T_J,2.2667414e-06
$SEABIRD_C_G,-10.310682
$SEABIRD_C_H,1.1615626
$SEABIRD_C_I,-0.0017275931
$SEABIRD_C_J,0.00021877716
$GPS1,121125,4740.196,-12249.181,31,1.6,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-72.8
$GPS2,121508,4740.193,-12249.150,15,1.9,15,18.3
$SPEED_LIMITS,0.101,0.167
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.052,0.158
$KALMAN_X,2882.4,144.3,107.2,1598.9,239.0
$KALMAN_Y,1141.7,-113.5,-132.5,-138.1,-36.0
$MHEAD_RNG_PITCHd_Wd,323.7,599,-13.3,-5.833
$D_GRID,87
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.94,-97.8,0.0,0.0,0,77,0.00,0.00,-56.33,0.000,2,0.000,0.000,366,2136,3210
$GC,79,-0.94,-97.8,2.1,-2.4,9,123,11.38,2.88,-24.60,0.000,4,0.146,0.061,2402,728,3884
$GC,201,-0.94,-97.8,9.6,-7.6,28,208,0.00,2.83,0.00,0.000,6,0.000,0.031,2402,2153,3885
$GC,273,-0.94,-97.8,13.5,-5.0,39,280,0.00,2.47,0.00,0.000,4,0.000,0.050,2402,3572,3886
$GC,365,-0.94,-97.8,19.1,-6.3,53,372,0.00,2.42,0.00,0.000,6,0.000,0.035,2402,2144,3887
$GC,434,-0.94,-97.8,23.1,-5.5,60,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2144,3886
$GC,624,-0.94,-97.8,33.4,-5.5,75,628,0.00,2.85,0.00,0.000,4,0.000,0.054,2402,739,3887
$GC,643,-0.94,-97.8,34.5,-5.8,76,647,0.00,2.78,0.00,0.000,6,0.000,0.031,2402,2162,3887
$GC,844,-0.94,-97.8,46.9,-6.2,92,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2162,3888
$GC,1034,-0.94,-97.8,57.9,-5.5,107,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2161,3888
$GC,1224,-0.94,-97.8,68.1,-5.6,122,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2161,3888
$STATE,1259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1259,begin apogee
$GC,1263,-0.31,0.0,70.0,5.1,125,1346,0.68,0.00,75.97,0.710,6,0.083,0.000,2539,2161,3483
$STATE,1347,end apogee,CONTROL_FINISHED_OK
$STATE,1347,begin climb
$GC,1348,0.94,97.8,71.2,0.0,132,1426,1.27,0.00,73.75,0.693,6,0.065,0.000,2811,2161,3086
$GC,1609,0.94,97.8,54.1,7.5,153,1613,0.00,2.97,0.00,0.000,4,0.000,0.057,2811,732,3084
$GC,1693,0.94,97.8,47.1,8.6,159,1701,0.00,2.83,0.00,0.000,6,0.000,0.031,2811,2153,3084
$GC,1890,0.94,97.8,34.0,6.5,175,1895,0.00,2.92,0.00,0.000,4,0.000,0.055,2811,737,3083
$GC,1940,0.94,97.8,30.6,6.7,178,1949,0.00,2.80,0.00,0.000,6,0.000,0.031,2811,2149,3083
$GC,2138,0.94,97.8,18.0,6.3,196,2145,0.00,2.90,0.00,0.000,4,0.000,0.055,2811,740,3084
$GC,2190,0.94,97.8,14.5,7.1,204,2198,0.00,2.78,0.00,0.000,6,0.000,0.031,2811,2153,3084
$GC,2264,0.94,97.8,9.6,6.7,215,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2152,3084
$GC,2335,0.97,125.2,5.8,4.7,226,2360,0.00,0.00,20.23,0.691,6,0.000,0.000,2811,2152,2972
$GC,2425,1.04,195.1,2.8,3.0,240,2451,0.12,0.00,23.35,0.675,2,0.057,0.000,2844,2152,2800
$STATE,2452,end climb,SURFACE_DEPTH_REACHED
$STATE,2452,begin surface coast
$FINISH,0.3,1.010059
$STATE,2523,end surface coast,CONTROL_FINISHED_OK
$STATE,2523,begin surface
$SM_CCo,2541,85.35,0.649,0,0,2056,350.04
$SM_GC,0.96,0.00,0.00,85.35,0.000,0.000,0.649,367,2154,2056,-10.32,0.11,350.04
$IRIDIUM_FIX,4722.92,-12251.79,210907,151526
$TT8_MAMPS,0.026845
$HUMID,2168
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.9,7.8
$ALTIM_BOTTOM_PING,55.1,8.5
$24V_AH,23.9,5.171
$10V_AH,10.2,2.892
$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,24.725,33.425,193.300,85.350,0.000,39.779,36.503,78.750,1.250,0.000,0.000,17.106,471.785,1383.835,386.537,423.389,214.399,33.362,651.256,0.000,413.875,0.000,5.596
$DEVICE_MAMPS,145.730,61.360,710.242,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.779,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6442,255
$CFSIZE,260034560,256950272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,130107,4740.424,-12248.987,12,1.6,28,18.3