version: 66.02
glider: 23
mission: 2
dive: 127
start: 9 24 107 20 29 0
data:
$ID,23
$MISSION,2
$DIVE,127
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,80
$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,20
$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,-28977.842
$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,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,28
$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
$GPS1,202337,4739.599,-12252.376,39,1.4,50,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-68.7
$GPS2,202738,4739.596,-12252.365,14,1.4,14,18.3
$SPEED_LIMITS,0.206,0.216
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.191,0.102
$KALMAN_X,6380.9,52.1,-68.9,-5636.4,-53.5
$KALMAN_Y,6429.5,54.7,-105.6,-6723.5,-83.1
$MHEAD_RNG_PITCHd_Wd,43.6,4519,-13.9,-7.500
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.97,-97.8,0.0,0.0,0,84,0.00,0.00,-61.90,0.000,2,0.000,0.000,366,2150,3318
$GC,87,-0.97,-97.8,2.0,-2.9,10,125,11.30,2.95,-20.70,0.000,4,0.146,0.060,2394,735,3883
$GC,375,-0.97,-97.8,18.8,-5.8,54,382,0.00,2.78,0.00,0.000,6,0.000,0.031,2393,2152,3887
$GC,446,-0.97,-97.8,22.0,-4.6,62,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2152,3887
$GC,637,-0.97,-97.8,30.2,-4.5,77,641,0.00,2.45,0.00,0.000,4,0.000,0.052,2393,3557,3887
$GC,684,-0.97,-97.8,32.8,-5.9,80,688,0.00,2.38,0.00,0.000,6,0.000,0.035,2394,2150,3887
$GC,878,-0.97,-97.8,42.7,-4.8,95,883,0.00,2.88,0.00,0.000,4,0.000,0.053,2393,734,3888
$GC,930,-0.97,-97.8,45.4,-5.4,98,937,0.00,2.80,0.00,0.000,6,0.000,0.031,2394,2149,3888
$GC,1126,-0.97,-97.8,54.3,-4.0,114,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2147,3888
$GC,1316,-0.97,-97.8,62.2,-4.1,129,1321,0.00,2.88,0.00,0.000,4,0.000,0.051,2393,737,3888
$GC,1361,-0.97,-97.8,64.3,-4.9,132,1366,0.00,2.78,0.00,0.000,6,0.000,0.031,2393,2157,3888
$GC,1557,-0.97,-97.8,73.8,-5.0,147,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2156,3888
$GC,1746,-0.97,-97.8,83.2,-4.7,162,1750,0.00,2.45,0.00,0.000,4,0.000,0.053,2393,3565,3888
$GC,1838,-0.97,-97.8,88.3,-5.8,169,1842,0.00,2.38,0.00,0.000,6,0.000,0.036,2394,2151,3888
$STATE,1877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1877,begin apogee
$GC,1882,-0.31,0.0,90.2,5.0,172,1962,0.73,0.00,75.80,0.745,6,0.085,0.000,2540,2034,3484
$STATE,1963,end apogee,CONTROL_FINISHED_OK
$STATE,1963,begin climb
$GC,1964,0.97,97.8,91.0,0.0,179,2047,1.35,2.92,73.47,0.728,4,0.067,0.058,2822,651,3084
$GC,2072,0.97,97.8,84.2,8.5,188,2077,0.00,2.78,0.00,0.000,6,0.000,0.030,2822,2050,3084
$GC,2274,0.97,97.8,69.3,7.6,204,2279,0.00,2.90,0.00,0.000,4,0.000,0.057,2822,650,3083
$GC,2305,0.97,97.8,66.6,8.8,206,2313,0.00,2.78,0.00,0.000,6,0.000,0.030,2822,2044,3084
$GC,2502,0.97,97.8,50.2,8.3,222,2506,0.00,2.88,0.00,0.000,4,0.000,0.057,2822,657,3084
$GC,2533,0.97,97.8,47.4,8.8,224,2541,0.00,2.78,0.00,0.000,6,0.000,0.030,2822,2051,3083
$GC,2730,0.97,97.8,31.7,7.9,240,2734,0.00,2.90,0.00,0.000,4,0.000,0.057,2822,650,3083
$GC,2809,0.97,97.8,24.7,9.0,246,2813,0.00,2.78,0.00,0.000,6,0.000,0.031,2822,2069,3083
$GC,3011,1.02,141.1,9.6,6.0,272,3049,0.00,3.00,31.88,0.689,4,0.000,0.057,2823,649,2906
$GC,3081,1.02,141.1,4.1,8.0,283,3088,0.00,2.78,0.00,0.000,6,0.000,0.030,2822,2054,2906
$STATE,3145,end climb,SURFACE_DEPTH_REACHED
$STATE,3145,begin surface coast
$FINISH,0.3,1.002287
$STATE,3194,end surface coast,CONTROL_FINISHED_OK
$STATE,3194,begin surface
$SM_CCo,3213,101.47,0.650,0,0,2056,350.04
$SM_GC,0.99,0.00,0.00,101.47,0.000,0.000,0.650,365,2173,2056,-10.33,0.68,350.04
$IRIDIUM_FIX,4719.74,-12251.79,240907,232312
$TT8_MAMPS,0.026845
$HUMID,2168
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,10.0,7.8
$ALTIM_BOTTOM_PING,90.2,31.9
$24V_AH,24.0,11.736
$10V_AH,10.2,4.881
$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,24.550,55.525,181.150,101.475,0.000,39.377,43.045,84.367,1.500,0.000,0.000,15.578,584.821,1844.870,389.443,529.275,255.597,33.350,706.972,0.000,516.589,0.000,11.676
$DEVICE_MAMPS,146.497,59.826,744.757,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,202.309,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9590,300
$CFSIZE,260034560,254517248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,212508,4739.696,-12252.072,11,1.6,11,18.3