version: 66.02
glider: 23
mission: 2
dive: 130
start: 9 24 107 23 29 2
data:
$ID,23
$MISSION,2
$DIVE,130
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,18
$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,-28949.363
$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,26
$R_STBD_OVSHOOT,44
$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,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,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
$GPS1,232355,4739.928,-12251.387,30,0.8,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.7
$GPS2,232739,4739.957,-12251.356,10,1.6,10,18.3
$SPEED_LIMITS,0.228,0.238
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.231,0.058
$KALMAN_X,6316.6,24.8,-116.3,-4240.1,11.2
$KALMAN_Y,6526.4,-57.7,-50.5,-6095.1,59.3
$MHEAD_RNG_PITCHd_Wd,57.5,3106,-11.6,-7.407
$D_GRID,118
$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,-0.82,-88.0,0.0,0.0,0,77,0.00,0.00,-55.95,0.000,2,0.000,0.000,367,2167,3231
$GC,80,-0.82,-88.0,2.1,-3.5,9,123,11.52,2.40,-24.98,0.000,4,0.149,0.063,2427,3545,3842
$GC,374,-0.82,-88.0,11.7,-3.9,54,381,0.00,2.35,0.00,0.000,6,0.000,0.033,2427,2152,3845
$GC,446,-0.82,-88.0,14.0,-3.3,65,452,0.00,2.42,0.00,0.000,4,0.000,0.049,2427,3541,3845
$GC,591,-0.82,-88.0,19.6,-3.4,87,597,0.00,2.35,0.00,0.000,6,0.000,0.034,2427,2151,3846
$GC,666,-0.82,-88.0,22.0,-3.0,94,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2151,3846
$GC,856,-0.82,-88.0,28.4,-3.6,109,861,0.00,2.88,0.00,0.000,4,0.000,0.053,2427,738,3847
$GC,901,-0.82,-88.0,30.1,-4.1,112,906,0.00,2.75,0.00,0.000,6,0.000,0.030,2427,2140,3847
$GC,1097,-0.82,-88.0,36.7,-3.4,127,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2140,3848
$GC,1288,-0.82,-88.0,44.9,-4.7,142,1293,0.00,2.88,0.00,0.000,4,0.000,0.051,2427,730,3848
$GC,1339,-0.82,-88.0,47.5,-4.8,145,1347,0.00,2.80,0.00,0.000,6,0.000,0.031,2427,2146,3848
$GC,1535,-0.82,-88.0,56.2,-4.5,161,1539,0.00,2.45,0.00,0.000,4,0.000,0.052,2427,3556,3848
$GC,1593,-0.82,-88.0,58.6,-4.0,165,1601,0.00,2.40,0.00,0.000,6,0.000,0.035,2427,2152,3848
$GC,1790,-0.82,-88.0,66.2,-4.0,181,1794,0.00,2.88,0.00,0.000,4,0.000,0.054,2427,730,3848
$GC,1908,-0.82,-88.0,71.7,-5.0,189,1915,0.00,2.78,0.00,0.000,6,0.000,0.031,2427,2152,3848
$GC,2104,-0.82,-88.0,79.7,-3.7,205,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2152,3848
$GC,2293,-0.82,-88.0,87.0,-3.9,220,2297,0.00,2.88,0.00,0.000,4,0.000,0.051,2427,735,3847
$GC,2423,-0.82,-88.0,92.6,-4.5,229,2430,0.00,2.80,0.00,0.000,6,0.000,0.031,2427,2148,3847
$STATE,2605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2605,begin apogee
$GC,2609,-0.31,0.0,100.0,4.1,244,2681,0.55,0.00,68.45,0.747,6,0.085,0.000,2538,2017,3483
$STATE,2682,end apogee,CONTROL_FINISHED_OK
$STATE,2682,begin climb
$GC,2684,0.82,88.0,100.6,0.0,250,2758,1.15,2.88,66.22,0.736,4,0.068,0.055,2783,660,3123
$GC,2829,0.86,119.2,93.1,6.6,261,2861,0.00,2.80,23.48,0.736,6,0.000,0.031,2783,2054,2997
$GC,3050,0.95,204.2,81.4,5.1,279,3124,0.15,3.00,63.92,0.713,4,0.053,0.059,2822,663,2650
$GC,3229,0.95,204.2,65.7,9.9,293,3234,0.00,2.75,0.00,0.000,6,0.000,0.029,2823,2057,2649
$GC,3424,0.95,204.2,46.8,9.6,308,3428,0.00,2.95,0.00,0.000,4,0.000,0.060,2822,651,2649
$GC,3516,0.95,204.2,36.6,11.2,315,3520,0.00,2.78,0.00,0.000,6,0.000,0.030,2822,2058,2649
$GC,3713,0.95,204.2,18.3,8.4,332,3719,0.00,2.95,0.00,0.000,4,0.000,0.060,2823,649,2649
$GC,3811,0.95,204.2,9.6,9.0,347,3818,0.00,2.78,0.00,0.000,6,0.000,0.030,2823,2058,2649
$GC,3883,0.95,205.7,3.3,7.4,358,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2061,2650
$STATE,3927,end climb,SURFACE_DEPTH_REACHED
$STATE,3927,begin surface coast
$FINISH,0.3,1.009476
$STATE,4014,end surface coast,CONTROL_FINISHED_OK
$STATE,4014,begin surface
$SM_CCo,4034,78.50,0.661,0,0,2056,350.04
$SM_GC,1.39,0.00,0.00,78.50,0.000,0.000,0.661,368,2169,2056,-10.31,0.54,350.04
$IRIDIUM_FIX,4722.92,-12249.11,250907,020258
$TT8_MAMPS,0.026845
$HUMID,2175
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.2,36.4
$24V_AH,24.0,11.930
$10V_AH,10.2,4.952
$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,24.450,60.225,222.075,78.500,0.000,39.436,31.430,82.501,1.750,0.000,0.000,12.151,713.816,2322.211,414.946,680.644,252.058,33.344,810.493,0.000,668.029,0.000,10.072
$DEVICE_MAMPS,148.798,62.894,747.058,661.154,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,255.426,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9566,378
$CFSIZE,260034560,254423040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,003827,4740.032,-12250.795,11,1.6,11,18.3