version: 66.02
glider: 23
mission: 2
dive: 332
start: 10 3 107 1 26 33
data:
$ID,23
$MISSION,2
$DIVE,332
$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,-28323.607
$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,31
$R_STBD_OVSHOOT,45
$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
$GPS1,011953,4739.855,-12252.045,15,6.1,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-69.8
$GPS2,012511,4739.916,-12251.991,11,2.7,30,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,JL0
$TGT_LATLONG,4741.000,-12251.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.087,0.243
$KALMAN_X,21563.2,405.5,305.2,-21085.6,-23.8
$KALMAN_Y,13745.9,258.5,260.1,-14019.6,7.2
$MHEAD_RNG_PITCHd_Wd,1.4,2099,-14.5,-9.048
$D_GRID,121
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.03,-117.3,0.0,0.0,0,99,0.00,0.00,-72.50,0.000,2,0.000,0.000,365,2128,3483
$GC,103,-1.03,-117.3,2.1,-5.0,12,140,11.30,2.42,-17.02,0.000,4,0.150,0.064,2382,3492,3963
$GC,392,-1.03,-117.3,20.5,-7.0,56,396,0.00,2.35,0.00,0.000,6,0.000,0.034,2382,2103,3963
$GC,587,-1.03,-117.3,33.3,-7.2,71,591,0.00,2.42,0.00,0.000,4,0.000,0.049,2382,3497,3963
$GC,687,-1.03,-117.3,40.5,-7.2,78,691,0.00,2.38,0.00,0.000,6,0.000,0.035,2382,2092,3964
$GC,889,-1.03,-117.3,53.4,-6.6,94,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2091,3964
$GC,1080,-1.03,-117.3,65.1,-6.0,109,1085,0.00,2.90,0.00,0.000,4,0.000,0.054,2382,694,3964
$GC,1099,-1.03,-117.3,66.5,-6.6,110,1104,0.00,2.80,0.00,0.000,6,0.000,0.030,2382,2087,3964
$GC,1295,-1.03,-117.3,78.2,-5.7,125,1300,0.00,2.92,0.00,0.000,4,0.000,0.051,2382,687,3964
$GC,1314,-1.03,-117.3,79.4,-6.2,126,1319,0.00,2.85,0.00,0.000,6,0.000,0.031,2382,2101,3963
$GC,1510,-1.03,-117.3,92.8,-7.4,141,1515,0.00,2.95,0.00,0.000,4,0.000,0.050,2382,688,3964
$STATE,1540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1540,begin apogee
$GC,1549,-0.31,0.0,95.4,7.8,143,1643,0.75,0.00,91.10,0.747,6,0.086,0.000,2537,1896,3483
$STATE,1644,end apogee,CONTROL_FINISHED_OK
$STATE,1644,begin climb
$GC,1647,1.03,117.3,99.2,0.0,151,1745,1.38,2.58,88.82,0.729,4,0.067,0.044,2830,3296,3003
$GC,1760,1.04,123.2,92.7,8.9,160,1773,0.00,2.55,4.28,0.775,6,0.000,0.039,2830,1894,2980
$GC,1961,1.08,159.7,75.0,7.9,176,1998,0.00,3.03,26.62,0.721,4,0.000,0.060,2830,469,2832
$GC,2038,1.08,159.7,67.4,10.4,182,2042,0.00,2.78,0.00,0.000,6,0.000,0.028,2830,1901,2832
$GC,2233,1.10,175.6,49.0,8.5,197,2251,0.00,3.00,11.98,0.725,4,0.000,0.059,2830,472,2766
$GC,2310,1.10,177.1,41.9,9.0,202,2317,0.00,2.75,0.00,0.000,6,0.000,0.028,2830,1891,2767
$GC,2506,1.12,197.2,24.8,8.4,218,2531,0.10,3.00,16.05,0.706,4,0.058,0.061,2859,480,2678
$GC,2578,1.12,197.2,17.9,9.8,225,2584,0.00,2.75,0.00,0.000,6,0.000,0.028,2859,1898,2678
$GC,2650,1.12,197.2,10.7,11.5,236,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1901,2678
$STATE,2706,end climb,SURFACE_DEPTH_REACHED
$STATE,2706,begin surface coast
$FINISH,0.7,1.021859
$STATE,2767,end surface coast,CONTROL_FINISHED_OK
$STATE,2767,begin surface
$SM_CCo,2789,74.65,0.657,1,0,2056,350.29
$SM_GC,0.68,0.00,0.00,74.65,0.000,0.000,0.657,368,2131,2056,-10.31,0.88,350.29
$IRIDIUM_FIX,4722.92,-12256.21,031007,040444
$TT8_MAMPS,0.026845
$HUMID,2144
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.0,32.5
$24V_AH,24.0,26.771
$10V_AH,10.2,9.707
$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,24.750,49.300,238.850,74.650,0.000,38.979,34.583,139.398,1.500,0.000,0.000,32.996,493.642,1496.805,413.383,482.734,344.662,33.330,710.653,0.000,451.999,0.000,10.058
$DEVICE_MAMPS,149.565,64.428,775.437,656.552,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,170.389,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6426,254
$CFSIZE,260034560,248881152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031007,021532,4740.210,-12251.708,9,1.9,26,18.3