version: 66.02
glider: 23
mission: 2
dive: 309
start: 10 2 107 4 16 9
data:
$ID,23
$MISSION,2
$DIVE,309
$D_SURF,5
$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,35
$T_MISSION,120
$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,120
$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,-28381.844
$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,2035
$C_ROLL_CLIMB,1890
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,50
$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,1
$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
$GPS1,040037,4739.433,-12253.427,40,1.7,40,18.3
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-64.6
$GPS2,041447,4739.560,-12253.343,11,2.4,30,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.106,-0.225
$KALMAN_X,17372.8,54.3,-41.9,-17879.7,43.2
$KALMAN_Y,10106.0,70.5,16.7,-10608.0,116.1
$MHEAD_RNG_PITCHd_Wd,136.4,246,-15.3,-9.048
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.09,-117.3,0.0,0.0,0,96,0.00,0.00,-66.55,0.000,2,0.000,0.000,368,2068,3388
$GC,99,-1.09,-117.3,2.1,-4.6,11,137,11.15,2.45,-20.45,0.000,4,0.147,0.061,2372,3425,3963
$GC,209,-1.09,-117.3,8.9,-8.0,28,215,0.00,2.42,0.00,0.000,6,0.000,0.035,2372,2017,3963
$GC,282,-1.09,-117.3,14.3,-7.6,39,288,0.00,2.90,0.00,0.000,4,0.000,0.054,2372,618,3963
$GC,327,-1.09,-117.3,18.4,-9.2,46,333,0.00,2.75,0.00,0.000,6,0.000,0.030,2372,2004,3964
$GC,397,-1.09,-117.3,24.2,-7.9,53,398,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2003,3964
$GC,586,-1.09,-117.3,37.5,-7.0,68,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2003,3964
$GC,776,-1.09,-117.3,50.8,-7.0,83,780,0.00,2.58,0.00,0.000,4,0.000,0.050,2371,3464,3964
$GC,814,-1.09,-117.3,53.8,-7.6,85,821,0.00,2.47,0.00,0.000,6,0.000,0.035,2372,2031,3965
$GC,1010,-1.09,-117.3,68.2,-7.3,101,1015,0.00,2.50,0.00,0.000,4,0.000,0.049,2372,3461,3965
$GC,1128,-1.09,-117.3,77.9,-8.5,109,1135,0.00,2.45,0.00,0.000,6,0.000,0.036,2372,2025,3965
$GC,1324,-1.09,-117.3,92.4,-7.4,125,1329,0.00,2.53,0.00,0.000,4,0.000,0.051,2372,3462,3965
$STATE,1354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1354,begin apogee
$GC,1363,-0.31,0.0,95.0,8.0,127,1457,0.80,0.00,90.82,0.743,6,0.090,0.000,2536,1894,3484
$STATE,1460,end apogee,CONTROL_FINISHED_OK
$STATE,1460,begin climb
$GC,1463,1.09,117.3,97.3,0.0,135,1559,1.45,0.00,88.72,0.723,6,0.067,0.000,2844,1894,3004
$GC,1752,1.09,117.3,73.6,9.8,158,1756,0.00,2.60,0.00,0.000,4,0.000,0.044,2843,3319,3004
$GC,1789,1.09,117.3,69.5,9.8,160,1796,0.00,2.65,0.00,0.000,6,0.000,0.041,2844,1884,3003
$GC,1986,1.09,117.3,51.8,9.3,176,1990,0.00,2.62,0.00,0.000,4,0.000,0.044,2844,3321,3003
$GC,2020,1.09,117.3,48.7,10.0,178,2024,0.00,2.62,0.00,0.000,6,0.000,0.041,2844,1882,3003
$GC,2215,1.09,124.8,30.9,8.8,193,2227,0.00,2.65,5.25,0.743,4,0.000,0.044,2844,3322,2975
$GC,2240,1.10,128.4,28.7,8.9,195,2252,0.00,2.62,2.55,0.769,6,0.000,0.041,2843,1884,2960
$GC,2446,1.13,154.8,11.1,8.1,219,2471,0.00,2.95,19.45,0.693,4,0.000,0.061,2844,476,2852
$STATE,2515,end climb,SURFACE_DEPTH_REACHED
$STATE,2515,begin surface coast
$FINISH,3.6,1.022013
$STATE,2529,end surface coast,CONTROL_FINISHED_OK
$STATE,2529,begin surface
$SM_CCo,2559,97.70,0.655,1,0,2057,350.04
$SM_GC,0.93,0.00,0.00,97.70,0.000,0.000,0.655,368,2050,2057,-10.31,0.42,350.04
$IRIDIUM_FIX,4722.92,-12251.79,021007,080848
$TT8_MAMPS,0.04602
$HUMID,2096
$TCM_TEMP,19.80
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,80.2,36.2
$24V_AH,24.0,25.048
$10V_AH,10.0,9.156
$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,24.850,47.725,206.800,97.700,0.000,112.933,98.606,351.843,4.000,0.000,0.000,32.618,429.278,1544.024,415.763,435.300,717.126,33.330,681.716,0.000,403.176,0.000,5.548
$DEVICE_MAMPS,147.264,61.360,769.301,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,155.043,0.000,0.000,0.000,0.000,0.000,3119.860,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,17.954,0.000
$DATA_FILE_SIZE,6419,232
$CFSIZE,260034560,249491456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021007,050155,4739.402,-12253.084,39,1.7,39,18.3