version: 66.02
glider: 23
mission: 2
dive: 429
start: 10 7 107 7 4 37
data:
$ID,23
$MISSION,2
$DIVE,429
$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,-28199.473
$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,26
$R_STBD_OVSHOOT,28
$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
$GPS1,065225,4746.350,-12249.720,32,1.0,49,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-54.5
$GPS2,070320,4746.451,-12249.688,12,1.4,12,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP3
$TGT_LATLONG,4746.023,-12248.687
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.152,-0.135
$KALMAN_X,23121.2,66.3,-71.8,-19052.1,35.1
$KALMAN_Y,17287.7,444.5,160.8,-5548.2,85.8
$MHEAD_RNG_PITCHd_Wd,113.4,1478,-13.6,-7.037
$D_GRID,159
$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,-0.97,-107.5,0.0,0.0,0,126,0.00,0.00,-95.85,0.000,2,0.000,0.000,366,2080,3548
$GC,130,-0.97,-107.5,2.0,-3.4,16,161,11.32,2.50,-13.30,0.000,4,0.148,0.063,2393,3510,3923
$GC,412,-0.97,-107.5,23.9,-8.9,56,418,0.00,2.42,0.00,0.000,6,0.000,0.035,2393,2101,3923
$GC,609,-0.97,-107.5,35.9,-5.9,72,613,0.00,2.45,0.00,0.000,4,0.000,0.050,2392,3504,3924
$GC,662,-0.97,-107.5,39.2,-6.4,76,666,0.00,2.38,0.00,0.000,6,0.000,0.035,2393,2091,3924
$GC,864,-0.97,-107.5,50.8,-5.5,92,869,0.00,2.92,0.00,0.000,4,0.000,0.053,2392,696,3923
$GC,925,-0.97,-107.5,54.6,-6.1,96,930,0.00,2.85,0.00,0.000,6,0.000,0.031,2393,2105,3924
$GC,1121,-0.97,-107.5,65.5,-5.6,111,1125,0.00,2.45,0.00,0.000,4,0.000,0.052,2393,3515,3924
$GC,1167,-0.97,-107.5,68.2,-5.7,114,1171,0.00,2.40,0.00,0.000,6,0.000,0.035,2393,2094,3924
$GC,1363,-0.97,-107.5,78.8,-5.8,129,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2095,3924
$GC,1554,-0.97,-107.5,89.5,-5.5,144,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2095,3925
$STATE,1662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1662,begin apogee
$GC,1670,-0.31,0.0,95.5,5.6,153,1756,0.73,0.00,82.78,0.755,6,0.086,0.000,2539,1885,3484
$STATE,1768,end apogee,CONTROL_FINISHED_OK
$STATE,1768,begin climb
$GC,1771,0.97,107.5,96.8,0.0,160,1856,1.30,0.00,81.28,0.735,6,0.068,0.000,2815,1885,3045
$GC,2045,0.97,107.5,77.9,8.0,182,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1885,3044
$GC,2234,0.97,107.5,63.2,7.5,197,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1885,3044
$GC,2424,0.97,107.5,48.2,7.8,212,2429,0.00,2.88,0.00,0.000,4,0.000,0.061,2815,474,3044
$GC,2449,0.97,107.5,46.1,7.8,213,2456,0.00,2.78,0.00,0.000,6,0.000,0.030,2815,1904,3044
$GC,2645,0.97,107.5,32.0,7.0,229,2646,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1905,3044
$GC,2837,0.99,126.5,18.1,6.4,246,2855,0.00,0.00,13.60,0.716,6,0.000,0.000,2815,1905,2968
$GC,2921,1.03,168.4,13.1,5.5,259,2958,0.00,2.58,31.15,0.692,4,0.000,0.047,2814,3299,2796
$GC,2985,1.09,219.8,9.9,5.2,269,3033,0.15,2.55,38.20,0.679,6,0.051,0.038,2853,1893,2586
$STATE,3050,end climb,SURFACE_DEPTH_REACHED
$STATE,3050,begin surface coast
$FINISH,0.2,1.022345
$STATE,3123,end surface coast,CONTROL_FINISHED_OK
$STATE,3124,begin surface
$SM_CCo,3155,109.43,0.641,0,0,1649,450.13
$SM_GC,0.76,0.00,0.00,109.43,0.000,0.000,0.641,363,2122,1649,-10.34,0.65,450.13
$IRIDIUM_FIX,4729.30,-12249.89,071007,090951
$TT8_MAMPS,0.052923
$HUMID,2108
$TCM_TEMP,19.70
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,80.4,8.3
$24V_AH,24.0,35.384
$10V_AH,10.0,12.382
$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,24.625,32.050,247.000,109.425,0.000,40.654,35.956,357.912,4.750,0.000,0.000,13.982,496.151,1819.930,452.689,506.081,666.747,33.347,751.134,0.000,471.401,0.000,8.318
$DEVICE_MAMPS,148.031,62.894,754.728,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,194.737,0.000,0.000,0.000,0.000,0.000,3529.380,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,28.482,0.000
$DATA_FILE_SIZE,6444,291
$CFSIZE,260034560,246222848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071007,080014,4746.322,-12249.255,10,1.9,27,18.3