version: 66.02
glider: 23
mission: 2
dive: 427
start: 10 7 107 4 59 17
data:
$ID,23
$MISSION,2
$DIVE,427
$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,-28222.422
$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,38
$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,1
$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
$GPS1,044729,4746.344,-12250.035,11,2.7,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-55.9
$GPS2,045802,4746.462,-12250.047,14,1.8,31,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP1
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.063,-0.183
$KALMAN_X,22928.7,117.5,-26.0,-19403.6,-82.4
$KALMAN_Y,16675.1,421.4,152.3,-4879.9,117.4
$MHEAD_RNG_PITCHd_Wd,180.7,457,-14.6,-7.037
$D_GRID,149
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.03,-107.5,0.0,0.0,0,132,0.00,0.00,-101.70,0.000,2,0.000,0.000,363,2111,3676
$GC,136,-1.03,-107.5,2.2,-3.7,17,161,11.23,2.42,-7.95,0.000,4,0.147,0.064,2379,3492,3923
$GC,202,-1.03,-107.5,6.9,-6.4,27,208,0.00,2.40,0.00,0.000,6,0.000,0.035,2381,2085,3923
$GC,274,-1.03,-107.5,13.3,-9.9,38,280,0.00,2.47,0.00,0.000,4,0.000,0.047,2379,3506,3924
$GC,301,-1.03,-107.5,15.7,-9.7,42,307,0.00,2.40,0.00,0.000,6,0.000,0.035,2379,2092,3924
$GC,372,-1.03,-107.5,21.5,-7.7,52,377,0.00,2.95,0.00,0.000,4,0.000,0.054,2379,688,3923
$GC,405,-1.03,-107.5,24.7,-9.9,54,410,0.00,2.85,0.00,0.000,6,0.000,0.031,2379,2095,3924
$GC,601,-1.03,-107.5,38.7,-6.0,69,606,0.00,2.97,0.00,0.000,4,0.000,0.050,2379,681,3924
$GC,633,-1.03,-107.5,40.8,-6.5,71,638,0.00,2.88,0.00,0.000,6,0.000,0.031,2380,2102,3924
$GC,830,-1.03,-107.5,53.2,-6.2,86,834,0.00,2.45,0.00,0.000,4,0.000,0.052,2379,3509,3924
$GC,895,-1.03,-107.5,57.6,-7.0,90,901,0.00,2.40,0.00,0.000,6,0.000,0.035,2379,2090,3924
$GC,1091,-1.03,-107.5,69.8,-6.1,106,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2090,3924
$GC,1281,-1.03,-107.5,82.1,-6.6,121,1285,0.00,2.47,0.00,0.000,4,0.000,0.052,2380,3509,3924
$GC,1333,-1.03,-107.5,85.8,-6.8,124,1339,0.00,2.38,0.00,0.000,6,0.000,0.035,2379,2106,3924
$STATE,1501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1501,begin apogee
$GC,1509,-0.31,0.0,95.4,6.0,138,1599,0.80,0.00,83.07,0.749,6,0.086,0.000,2541,1882,3483
$STATE,1612,end apogee,CONTROL_FINISHED_OK
$STATE,1612,begin climb
$GC,1615,1.03,107.5,97.2,0.0,146,1706,1.35,2.95,81.32,0.732,4,0.067,0.060,2830,480,3044
$GC,1719,1.03,107.5,91.7,8.0,155,1724,0.00,2.78,0.00,0.000,6,0.000,0.028,2830,1898,3044
$GC,1915,1.03,107.5,72.6,10.4,170,1919,0.00,2.55,0.00,0.000,4,0.000,0.047,2830,3300,3044
$GC,1948,1.03,107.5,69.3,10.5,172,1952,0.00,2.55,0.00,0.000,6,0.000,0.041,2830,1895,3043
$GC,2143,1.03,107.5,51.9,8.1,187,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1896,3043
$GC,2333,1.03,107.5,36.8,8.0,202,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1896,3043
$GC,2522,1.03,107.5,21.2,8.1,217,2526,0.00,2.90,0.00,0.000,4,0.000,0.060,2830,466,3043
$GC,2548,1.06,129.8,19.7,6.2,219,2572,0.00,2.78,16.23,0.707,6,0.000,0.031,2830,1899,2954
$GC,2639,1.06,129.8,13.6,8.2,233,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1900,2953
$GC,2711,1.06,129.8,7.4,7.4,244,2717,0.00,2.95,0.00,0.000,4,0.000,0.059,2830,466,2952
$STATE,2747,end climb,SURFACE_DEPTH_REACHED
$STATE,2747,begin surface coast
$FINISH,3.1,1.022387
$STATE,2768,end surface coast,CONTROL_FINISHED_OK
$STATE,2768,begin surface
$SM_CCo,2808,152.52,0.645,1,0,1648,450.13
$SM_GC,0.86,0.00,0.00,152.52,0.000,0.000,0.645,364,2105,1648,-10.33,0.11,450.13
$IRIDIUM_FIX,4729.30,-12247.19,071007,070753
$TT8_MAMPS,0.04602
$HUMID,2072
$TCM_TEMP,19.70
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,80.5,999.0
$24V_AH,24.0,35.210
$10V_AH,10.0,12.276
$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,24.675,54.225,180.625,152.525,0.000,39.700,40.555,323.506,5.250,0.000,0.000,33.360,461.006,1570.835,474.172,475.132,636.883,33.340,757.704,0.000,427.095,0.000,7.063
$DEVICE_MAMPS,147.264,64.428,748.592,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,169.195,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,28.482,0.000
$DATA_FILE_SIZE,6449,253
$CFSIZE,260034560,246312960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071007,054939,4746.268,-12250.168,10,1.7,10,18.3