version: 66.02
glider: 23
mission: 2
dive: 382
start: 10 5 107 3 40 49
data:
$ID,23
$MISSION,2
$DIVE,382
$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,45
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$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,712.3512
$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,-28244.969
$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,19
$R_STBD_OVSHOOT,33
$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
$GPS1,032045,4746.062,-12249.463,12,1.8,12,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-60.3
$GPS2,033932,4745.989,-12249.521,16,2.0,16,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP3
$TGT_LATLONG,4746.023,-12248.687
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.202,0.022
$KALMAN_X,22519.8,-23.3,-11.2,-18210.2,-8.9
$KALMAN_Y,14256.1,-86.7,-56.9,-2613.2,-28.1
$MHEAD_RNG_PITCHd_Wd,65.6,1041,-13.6,-7.037
$D_GRID,167
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.97,-107.5,0.0,0.0,0,167,0.00,0.00,-139.65,0.000,2,0.000,0.000,367,2110,3450
$GC,170,-0.97,-107.5,2.1,-3.2,23,207,11.32,3.00,-16.27,0.000,4,0.148,0.056,2396,687,3924
$GC,266,-0.97,-107.5,9.1,-9.2,38,273,0.00,2.83,0.00,0.000,6,0.000,0.030,2396,2097,3925
$GC,339,-0.97,-107.5,14.6,-6.9,49,345,0.00,2.95,0.00,0.000,4,0.000,0.048,2396,682,3926
$GC,366,-0.97,-107.5,16.3,-6.3,53,372,0.00,2.85,0.00,0.000,6,0.000,0.030,2396,2100,3926
$GC,445,-0.97,-107.5,20.8,-5.9,64,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2100,3926
$GC,636,-0.97,-107.5,32.2,-6.2,79,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2100,3927
$GC,825,-0.97,-107.5,43.4,-5.9,94,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2100,3928
$GC,1015,-0.97,-107.5,54.3,-5.8,109,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2099,3928
$GC,1204,-0.97,-107.5,65.1,-5.6,124,1208,0.00,2.95,0.00,0.000,4,0.000,0.048,2396,686,3928
$GC,1269,-0.97,-107.5,69.2,-6.3,128,1276,0.00,2.85,0.00,0.000,6,0.000,0.030,2396,2109,3928
$GC,1466,-0.97,-107.5,80.4,-5.9,144,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2106,3929
$GC,1657,-0.97,-107.5,90.9,-5.6,159,1662,0.00,2.97,0.00,0.000,4,0.000,0.050,2396,679,3928
$GC,1696,-0.97,-107.5,93.5,-6.4,161,1702,0.00,2.88,0.00,0.000,6,0.000,0.031,2396,2111,3929
$STATE,1725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1725,begin apogee
$GC,1732,-0.31,0.0,95.3,6.0,164,1816,0.70,0.00,80.50,0.736,6,0.084,0.000,2538,1876,3485
$STATE,1817,end apogee,CONTROL_FINISHED_OK
$STATE,1817,begin climb
$GC,1820,0.97,107.5,96.8,0.0,171,1910,1.30,0.00,82.25,0.734,6,0.065,0.000,2815,1875,3045
$GC,2099,0.97,107.5,77.6,8.1,194,2104,0.00,2.85,0.00,0.000,4,0.000,0.057,2815,485,3048
$GC,2124,0.97,107.5,75.4,8.4,195,2132,0.00,2.75,0.00,0.000,6,0.000,0.029,2815,1893,3049
$GC,2321,0.97,107.5,60.0,7.9,211,2325,0.00,2.88,0.00,0.000,4,0.000,0.055,2815,489,3049
$GC,2353,0.97,107.5,57.4,8.4,213,2358,0.00,2.72,0.00,0.000,6,0.000,0.030,2815,1896,3049
$GC,2549,0.97,107.5,42.4,7.6,228,2553,0.00,2.53,0.00,0.000,4,0.000,0.046,2815,3293,3049
$GC,2582,0.97,107.5,39.7,8.0,230,2586,0.00,2.53,0.00,0.000,6,0.000,0.038,2815,1897,3049
$GC,2777,0.97,107.5,25.0,7.5,245,2782,0.00,2.90,0.00,0.000,4,0.000,0.058,2815,470,3048
$GC,2802,0.97,107.5,22.9,7.8,246,2809,0.00,2.72,0.00,0.000,6,0.000,0.029,2815,1889,3049
$GC,3007,1.02,156.1,8.8,5.3,274,3049,0.00,2.95,35.47,0.693,4,0.000,0.055,2815,474,2847
$STATE,3082,end climb,SURFACE_DEPTH_REACHED
$STATE,3082,begin surface coast
$FINISH,4.2,1.022003
$STATE,3094,end surface coast,CONTROL_FINISHED_OK
$STATE,3094,begin surface
$SM_CCo,3120,271.90,0.637,1,0,579,712.35
$SM_GC,0.71,0.00,0.00,271.90,0.000,0.000,0.637,365,2098,579,-10.32,-0.06,712.35
$IRIDIUM_FIX,4726.11,-12255.26,051007,070720
$TT8_MAMPS,0.026845
$HUMID,2111
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,80.4,999.0
$24V_AH,24.0,31.246
$10V_AH,10.2,10.970
$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,24.625,51.825,198.225,271.900,0.000,201.766,481.125,96.902,2.250,0.000,0.000,19.778,527.864,1966.217,645.078,480.739,943.233,33.349,951.701,0.000,467.938,0.000,7.063
$DEVICE_MAMPS,148.031,58.292,735.553,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,192.111,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6448,288
$CFSIZE,260034560,247578624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051007,043837,4746.005,-12249.101,24,1.2,25,18.3