version: 66.02
glider: 23
mission: 2
dive: 428
start: 10 7 107 5 56 36
data:
$ID,23
$MISSION,2
$DIVE,428
$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,-28209.703
$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,16
$R_STBD_OVSHOOT,26
$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
$GPS1,054939,4746.268,-12250.168,10,1.7,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-56.8
$GPS2,055521,4746.321,-12250.188,10,1.7,10,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP3
$TGT_LATLONG,4746.023,-12248.687
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.184,-0.086
$KALMAN_X,23000.8,79.0,-74.2,-19563.5,0.2
$KALMAN_Y,16880.7,431.9,155.0,-5359.2,87.1
$MHEAD_RNG_PITCHd_Wd,96.8,1948,-13.6,-7.037
$D_GRID,154
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.97,-107.5,0.0,0.0,0,126,0.00,0.00,-95.57,0.000,2,0.000,0.000,364,2104,3550
$GC,130,-0.97,-107.5,2.1,-3.5,16,161,11.32,2.53,-14.07,0.000,4,0.147,0.064,2394,3509,3922
$GC,267,-0.97,-107.5,10.3,-8.3,37,273,0.00,2.42,0.00,0.000,6,0.000,0.035,2394,2081,3923
$GC,339,-0.97,-107.5,16.5,-8.8,48,345,0.00,2.50,0.00,0.000,4,0.000,0.050,2394,3512,3924
$GC,418,-0.97,-107.5,23.0,-8.4,58,422,0.00,2.40,0.00,0.000,6,0.000,0.035,2394,2093,3924
$GC,614,-0.97,-107.5,34.5,-6.0,73,618,0.00,2.47,0.00,0.000,4,0.000,0.051,2394,3508,3924
$GC,701,-0.97,-107.5,40.5,-7.4,79,705,0.00,2.40,0.00,0.000,6,0.000,0.035,2394,2095,3925
$GC,897,-0.97,-107.5,52.6,-5.5,94,902,0.00,2.95,0.00,0.000,4,0.000,0.053,2394,684,3924
$GC,949,-0.97,-107.5,55.6,-6.3,97,955,0.00,2.88,0.00,0.000,6,0.000,0.031,2394,2106,3924
$GC,1145,-0.97,-107.5,66.4,-5.9,113,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2105,3924
$GC,1334,-0.97,-107.5,77.2,-5.9,128,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2105,3924
$GC,1524,-0.97,-107.5,87.9,-5.2,143,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2105,3924
$STATE,1671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1671,begin apogee
$GC,1679,-0.31,0.0,95.6,4.9,155,1765,0.73,0.00,82.85,0.749,6,0.086,0.000,2540,1886,3484
$STATE,1788,end apogee,CONTROL_FINISHED_OK
$STATE,1788,begin climb
$GC,1791,0.97,107.5,96.7,0.0,162,1882,1.30,2.95,81.50,0.730,4,0.071,0.057,2817,477,3044
$GC,1901,0.97,107.5,89.5,8.4,171,1907,0.00,2.78,0.00,0.000,6,0.000,0.028,2817,1897,3044
$GC,2097,0.97,107.5,73.5,8.0,187,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1899,3044
$GC,2287,0.97,107.5,58.4,8.4,202,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1899,3045
$GC,2475,0.97,107.5,43.2,7.9,217,2480,0.00,2.90,0.00,0.000,4,0.000,0.058,2817,479,3044
$GC,2521,0.97,107.5,39.2,9.0,220,2526,0.00,2.72,0.00,0.000,6,0.000,0.030,2817,1890,3044
$GC,2717,0.97,107.5,23.2,8.2,235,2721,0.00,2.55,0.00,0.000,4,0.000,0.047,2817,3297,3044
$GC,2742,0.97,107.5,20.4,10.9,236,2749,0.00,2.50,0.00,0.000,6,0.000,0.039,2817,1902,3043
$GC,2949,1.01,142.2,7.4,5.8,267,2980,0.00,2.60,25.35,0.694,4,0.000,0.048,2817,3301,2903
$STATE,2991,end climb,SURFACE_DEPTH_REACHED
$STATE,2991,begin surface coast
$FINISH,0.1,1.011674
$STATE,3071,end surface coast,CONTROL_FINISHED_OK
$STATE,3071,begin surface
$SM_CCo,3109,144.75,0.644,0,0,1648,450.13
$SM_GC,0.69,0.00,0.00,144.75,0.000,0.000,0.644,366,2079,1648,-10.32,-0.57,450.13
$IRIDIUM_FIX,4732.49,-12251.62,071007,080859
$TT8_MAMPS,0.04602
$HUMID,2103
$TCM_TEMP,19.90
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,70.6,9.1
$24V_AH,24.0,35.288
$10V_AH,10.0,12.325
$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,24.450,42.150,189.700,144.750,0.000,38.909,40.645,137.542,3.500,0.000,0.000,11.660,502.752,1789.393,455.009,477.423,389.742,33.345,745.210,0.000,469.694,0.000,6.901
$DEVICE_MAMPS,147.264,64.428,748.592,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,192.194,0.000,0.000,0.000,0.000,0.000,3195.830,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,28.482,0.000
$DATA_FILE_SIZE,6431,286
$CFSIZE,260034560,246300672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,065225,4746.350,-12249.720,32,1.0,49,18.3