version: 66.02
glider: 23
mission: 2
dive: 397
start: 10 5 107 20 9 5
data:
$ID,23
$MISSION,2
$DIVE,397
$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,450
$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,-28301.92
$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,20
$R_STBD_OVSHOOT,25
$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
$GPS1,194908,4746.254,-12250.044,12,1.6,12,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-67.8
$GPS2,200750,4746.314,-12249.992,11,1.5,28,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP1
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.172,-0.089
$KALMAN_X,22011.8,-22.9,1.1,-18304.4,6.1
$KALMAN_Y,13741.9,35.0,-37.9,-1644.1,66.8
$MHEAD_RNG_PITCHd_Wd,224.3,339,-14.7,-7.037
$D_GRID,158
$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,-1.03,-107.5,0.0,0.0,0,116,0.00,0.00,-89.93,0.000,2,0.000,0.000,369,2109,3505
$GC,122,-1.03,-107.5,2.1,-3.3,15,152,11.27,0.00,-13.25,0.000,6,0.150,0.000,2380,2111,3922
$GC,218,-1.03,-107.5,9.8,-8.7,30,225,0.00,3.00,0.00,0.000,4,0.000,0.048,2380,679,3923
$GC,258,-1.03,-107.5,12.6,-7.1,36,264,0.00,2.90,0.00,0.000,6,0.000,0.030,2380,2115,3923
$GC,331,-1.03,-107.5,17.1,-5.8,47,336,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2115,3923
$GC,402,-1.03,-107.5,21.6,-6.2,56,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2115,3923
$GC,594,-1.03,-107.5,33.2,-6.1,71,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2115,3924
$GC,784,-1.03,-107.5,45.0,-6.4,86,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2114,3924
$GC,971,-1.03,-107.5,57.0,-6.3,101,976,0.00,3.00,0.00,0.000,4,0.000,0.050,2380,679,3925
$GC,1018,-1.03,-107.5,60.3,-6.8,104,1022,0.00,2.88,0.00,0.000,6,0.000,0.031,2380,2108,3924
$GC,1214,-1.03,-107.5,72.4,-6.3,119,1218,0.00,2.45,0.00,0.000,4,0.000,0.051,2380,3518,3925
$GC,1253,-1.03,-107.5,74.9,-6.8,121,1260,0.00,2.40,0.00,0.000,6,0.000,0.035,2379,2091,3925
$GC,1449,-1.03,-107.5,87.2,-6.2,137,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2092,3924
$STATE,1572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1572,begin apogee
$GC,1579,-0.31,0.0,95.2,6.5,147,1665,0.77,0.00,82.70,0.749,6,0.085,0.000,2537,1882,3484
$STATE,1666,end apogee,CONTROL_FINISHED_OK
$STATE,1666,begin climb
$GC,1669,1.03,107.5,96.9,0.0,154,1758,1.40,2.67,81.10,0.727,4,0.067,0.045,2832,3297,3044
$GC,1785,1.03,107.5,90.0,8.7,163,1792,0.00,2.58,0.00,0.000,6,0.000,0.039,2832,1902,3044
$GC,1982,1.03,107.5,72.6,9.1,179,1987,0.00,2.92,0.00,0.000,4,0.000,0.060,2832,473,3042
$GC,2014,1.03,107.5,69.6,9.8,181,2019,0.00,2.75,0.00,0.000,6,0.000,0.030,2832,1897,3043
$GC,2210,1.03,107.5,52.7,8.8,196,2214,0.00,2.55,0.00,0.000,4,0.000,0.047,2832,3299,3044
$GC,2243,1.03,107.5,49.8,8.8,198,2247,0.00,2.55,0.00,0.000,6,0.000,0.039,2832,1884,3043
$GC,2438,1.03,107.5,33.4,8.3,213,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1885,3043
$GC,2629,1.03,107.5,17.8,8.0,230,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1885,3043
$GC,2701,1.03,107.5,12.1,7.7,241,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1885,3043
$GC,2773,1.04,114.8,7.0,6.7,252,2786,0.00,2.90,5.22,0.737,4,0.000,0.058,2832,473,3014
$STATE,2803,end climb,SURFACE_DEPTH_REACHED
$STATE,2803,begin surface coast
$FINISH,4.5,1.022032
$STATE,2811,end surface coast,CONTROL_FINISHED_OK
$STATE,2811,begin surface
$SM_CCo,2837,170.07,0.644,0,0,1649,450.13
$SM_GC,0.89,0.00,0.00,170.07,0.000,0.000,0.644,370,2099,1649,-10.30,-0.03,450.13
$IRIDIUM_FIX,4729.30,-12249.89,061007,000004
$TT8_MAMPS,0.026845
$HUMID,2093
$TCM_TEMP,19.70
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,80.1,999.0
$24V_AH,24.0,32.576
$10V_AH,10.2,11.377
$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,24.825,39.225,169.025,170.075,0.000,198.592,387.019,169.970,2.250,0.000,0.000,32.245,501.525,1832.457,459.581,454.250,917.482,33.343,740.074,0.000,430.074,0.000,7.065
$DEVICE_MAMPS,150.332,59.826,749.359,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,173.162,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6463,258
$CFSIZE,260034560,247189504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051007,210037,4746.175,-12250.356,29,1.4,40,18.3