version: 66.02
glider: 23
mission: 2
dive: 325
start: 10 2 107 18 50 38
data:
$ID,23
$MISSION,2
$DIVE,325
$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,-28337.338
$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,2100
$C_ROLL_CLIMB,1890
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,30
$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,540
$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,0
$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
$GPS1,184114,4739.483,-12252.148,12,1.9,17,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-61.3
$GPS2,184916,4739.610,-12251.969,14,2.8,33,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.229,-0.121
$KALMAN_X,19865.4,295.2,-72.5,-18873.9,74.3
$KALMAN_Y,12399.0,245.3,-75.3,-12892.3,55.7
$MHEAD_RNG_PITCHd_Wd,223.8,602,-14.5,-9.048
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.03,-117.3,0.0,0.0,0,97,0.00,0.00,-72.55,0.000,2,0.000,0.000,366,2076,3480
$GC,101,-1.03,-117.3,2.1,-4.9,12,138,11.25,2.92,-16.50,0.000,4,0.149,0.058,2379,691,3963
$GC,193,-1.03,-117.3,8.4,-9.0,26,199,0.00,2.83,0.00,0.000,6,0.000,0.030,2381,2102,3964
$GC,265,-1.03,-117.3,12.6,-5.6,37,272,0.00,2.95,0.00,0.000,4,0.000,0.048,2379,685,3964
$GC,285,-1.03,-117.3,13.8,-6.1,40,291,0.00,2.85,0.00,0.000,6,0.000,0.031,2379,2105,3964
$GC,358,-1.03,-117.3,20.0,-8.7,51,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2105,3964
$GC,427,-1.03,-117.3,25.6,-8.1,57,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2105,3964
$GC,620,-1.03,-117.3,38.6,-6.4,72,625,0.00,2.95,0.00,0.000,4,0.000,0.050,2379,690,3965
$GC,659,-1.03,-117.3,41.5,-6.8,74,666,0.00,2.85,0.00,0.000,6,0.000,0.031,2379,2115,3964
$GC,855,-1.03,-117.3,53.1,-6.0,90,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2114,3965
$GC,1047,-1.03,-117.3,65.5,-7.0,105,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2113,3964
$GC,1235,-1.03,-117.3,77.5,-5.9,120,1240,0.00,2.97,0.00,0.000,4,0.000,0.050,2379,680,3964
$GC,1274,-1.03,-117.3,80.3,-7.1,122,1281,0.00,2.85,0.00,0.000,6,0.000,0.030,2379,2109,3965
$GC,1470,-1.03,-117.3,92.6,-6.0,138,1474,0.00,2.45,0.00,0.000,4,0.000,0.053,2379,3515,3964
$STATE,1506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1506,begin apogee
$GC,1515,-0.31,0.0,95.1,6.2,140,1609,0.75,0.00,90.88,0.746,6,0.087,0.000,2534,1882,3484
$STATE,1610,end apogee,CONTROL_FINISHED_OK
$STATE,1610,begin climb
$GC,1613,1.03,117.3,96.7,0.0,148,1706,1.40,0.00,89.10,0.723,6,0.069,0.000,2830,1881,3005
$GC,1893,1.03,117.3,73.8,9.5,171,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1882,3004
$GC,2084,1.05,131.6,56.7,8.6,186,2100,0.00,2.95,10.25,0.730,4,0.000,0.060,2830,476,2947
$GC,2140,1.05,131.6,50.9,9.6,190,2148,0.00,2.75,0.00,0.000,6,0.000,0.028,2830,1887,2946
$GC,2337,1.05,131.6,32.7,9.1,206,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1889,2946
$GC,2528,1.07,150.5,15.9,8.4,224,2547,0.00,3.00,13.95,0.704,4,0.000,0.057,2830,473,2869
$STATE,2637,end climb,SURFACE_DEPTH_REACHED
$STATE,2637,begin surface coast
$FINISH,3.6,1.022348
$STATE,2645,end surface coast,CONTROL_FINISHED_OK
$STATE,2645,begin surface
$SM_CCo,2670,102.50,0.657,1,0,2056,350.04
$SM_GC,0.81,0.00,0.00,102.50,0.000,0.000,0.657,365,2103,2056,-10.33,0.08,350.04
$IRIDIUM_FIX,4722.92,-12253.53,021007,222254
$TT8_MAMPS,0.026845
$HUMID,2125
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,90.3,34.8
$24V_AH,24.0,26.240
$10V_AH,10.2,9.545
$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,24.775,40.475,204.175,102.500,0.000,77.801,73.092,155.409,2.500,0.000,0.000,35.681,473.966,1543.202,423.054,420.709,444.481,33.333,675.265,0.000,392.144,0.000,12.156
$DEVICE_MAMPS,148.798,59.826,746.291,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,162.013,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6432,242
$CFSIZE,260034560,249053184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021007,193807,4739.569,-12252.146,27,1.2,27,18.3