version: 66.02
glider: 23
mission: 2
dive: 410
start: 10 6 107 10 45 18
data:
$ID,23
$MISSION,2
$DIVE,410
$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,-28238.361
$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,18
$R_STBD_OVSHOOT,40
$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
$GPS1,103204,4746.215,-12249.914,11,2.1,30,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-69.6
$GPS2,104403,4746.220,-12249.923,11,1.9,11,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP3
$TGT_LATLONG,4746.023,-12248.687
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.195,-0.059
$KALMAN_X,22024.3,2.1,13.0,-18266.8,18.3
$KALMAN_Y,13457.2,-63.0,55.0,-1526.5,31.7
$MHEAD_RNG_PITCHd_Wd,88.6,1582,-13.6,-7.037
$D_GRID,164
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.97,-107.5,0.0,0.0,0,114,0.00,0.00,-84.72,0.000,2,0.000,0.000,365,2113,3388
$GC,118,-0.97,-107.5,2.1,-3.0,14,155,11.38,2.42,-18.60,0.000,4,0.150,0.060,2393,3503,3924
$GC,407,-0.97,-107.5,22.9,-6.7,55,411,0.00,2.40,0.00,0.000,6,0.000,0.033,2393,2080,3924
$GC,603,-0.97,-107.5,34.8,-6.1,70,607,0.00,2.47,0.00,0.000,4,0.000,0.048,2393,3501,3924
$GC,681,-0.97,-107.5,40.2,-6.9,75,688,0.00,2.38,0.00,0.000,6,0.000,0.034,2393,2100,3925
$GC,878,-0.97,-107.5,52.1,-5.8,91,883,0.00,2.95,0.00,0.000,4,0.000,0.053,2393,684,3925
$GC,911,-0.97,-107.5,54.1,-6.4,93,916,0.00,2.85,0.00,0.000,6,0.000,0.030,2393,2095,3925
$GC,1107,-0.97,-107.5,66.2,-6.3,108,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2094,3925
$GC,1299,-0.97,-107.5,77.9,-6.2,123,1304,0.00,2.95,0.00,0.000,4,0.000,0.051,2393,686,3925
$GC,1324,-0.97,-107.5,79.8,-6.5,124,1332,0.00,2.85,0.00,0.000,6,0.000,0.030,2393,2101,3925
$GC,1521,-0.97,-107.5,91.3,-5.7,140,1526,0.00,2.97,0.00,0.000,4,0.000,0.050,2393,682,3926
$GC,1559,-0.97,-107.5,93.8,-6.3,142,1566,0.00,2.88,0.00,0.000,6,0.000,0.030,2393,2113,3926
$STATE,1589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1589,begin apogee
$GC,1596,-0.31,0.0,95.7,6.3,145,1683,0.73,0.00,82.93,0.752,6,0.087,0.000,2538,1876,3484
$STATE,1683,end apogee,CONTROL_FINISHED_OK
$STATE,1684,begin climb
$GC,1686,0.97,107.5,97.3,0.0,152,1772,1.33,0.00,80.68,0.739,6,0.071,0.000,2817,1878,3045
$GC,1961,0.97,107.5,78.4,7.8,174,1965,0.00,2.88,0.00,0.000,4,0.000,0.058,2816,477,3045
$GC,1986,0.97,107.5,76.3,8.5,175,1993,0.00,2.75,0.00,0.000,6,0.000,0.028,2816,1900,3045
$GC,2182,0.97,107.5,60.7,8.0,191,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1901,3045
$GC,2374,0.97,107.5,45.9,7.6,206,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1901,3045
$GC,2565,0.97,107.5,31.1,7.6,221,2569,0.00,2.90,0.00,0.000,4,0.000,0.056,2817,482,3044
$GC,2597,0.97,107.5,28.3,7.9,223,2602,0.00,2.72,0.00,0.000,6,0.000,0.029,2816,1891,3044
$GC,2796,0.97,107.5,13.4,7.1,244,2802,0.00,2.55,0.00,0.000,4,0.000,0.046,2816,3299,3044
$GC,2829,0.97,107.5,11.1,7.1,249,2835,0.00,2.53,0.00,0.000,6,0.000,0.037,2816,1893,3044
$GC,2902,1.03,161.3,6.9,5.1,260,2946,0.00,1.85,39.33,0.696,3,0.000,0.041,2816,2856,2826
$STATE,2947,end climb,SURFACE_DEPTH_REACHED
$STATE,2947,begin surface coast
$FINISH,0.2,1.004178
$STATE,3063,end surface coast,CONTROL_FINISHED_OK
$STATE,3064,begin surface
$SM_CCo,3088,137.38,0.645,0,0,1649,450.13
$SM_GC,0.88,0.00,0.00,137.38,0.000,0.000,0.645,368,2073,1649,-10.31,-0.76,450.13
$IRIDIUM_FIX,4729.30,-12252.58,061007,141417
$TT8_MAMPS,0.026845
$HUMID,2107
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.1,999.0
$24V_AH,24.0,33.784
$10V_AH,10.2,11.738
$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,24.575,47.175,202.925,137.375,0.000,116.946,283.354,102.775,2.000,0.000,0.000,13.328,539.826,1842.610,452.466,488.460,657.750,33.355,756.827,0.000,479.546,0.000,7.074
$DEVICE_MAMPS,149.565,59.826,752.427,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,191.247,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6449,285
$CFSIZE,260034560,246845440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,114020,4746.134,-12249.501,13,1.9,31,18.3