version: 66.02
glider: 23
mission: 2
dive: 434
start: 10 7 107 13 14 32
data:
$ID,23
$MISSION,2
$DIVE,434
$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,712.3512
$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,-28172.541
$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,32
$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,3
$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
$GPS1,125537,4746.342,-12249.730,27,1.8,27,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-59.5
$GPS2,131317,4746.507,-12249.746,10,3.1,29,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP1
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.147,-0.140
$KALMAN_X,23144.3,3.5,50.8,-19206.4,-71.3
$KALMAN_Y,18506.3,362.6,33.2,-6455.3,38.3
$MHEAD_RNG_PITCHd_Wd,208.2,781,-13.6,-7.037
$D_GRID,152
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-0.97,-107.5,0.0,0.0,0,128,0.00,0.00,-95.82,0.000,2,0.000,0.000,364,2118,3548
$GC,132,-0.97,-107.5,2.1,-3.3,16,163,11.30,3.00,-13.18,0.000,4,0.147,0.057,2394,692,3923
$GC,197,-0.97,-107.5,5.9,-7.0,26,203,0.00,2.85,0.00,0.000,6,0.000,0.030,2394,2092,3924
$GC,269,-0.97,-107.5,11.6,-8.0,37,275,0.00,2.95,0.00,0.000,4,0.000,0.049,2394,696,3923
$GC,368,-0.97,-107.5,19.7,-7.6,52,374,0.00,2.88,0.00,0.000,6,0.000,0.031,2394,2110,3924
$GC,438,-0.97,-107.5,24.8,-7.2,58,442,0.00,2.42,0.00,0.000,4,0.000,0.049,2394,3515,3923
$GC,556,-0.97,-107.5,32.4,-6.0,66,562,0.00,2.38,0.00,0.000,6,0.000,0.034,2394,2103,3924
$GC,752,-0.97,-107.5,43.8,-6.0,82,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2104,3924
$GC,942,-0.97,-107.5,54.3,-5.7,97,947,0.00,2.97,0.00,0.000,4,0.000,0.052,2394,680,3924
$GC,1035,-0.97,-107.5,59.5,-5.2,103,1041,0.00,2.88,0.00,0.000,6,0.000,0.031,2394,2106,3924
$GC,1231,-0.97,-107.5,68.9,-4.9,119,1235,0.00,2.42,0.00,0.000,4,0.000,0.052,2394,3506,3924
$GC,1278,-0.97,-107.5,71.7,-6.2,122,1282,0.00,2.38,0.00,0.000,6,0.000,0.035,2394,2095,3924
$GC,1474,-0.97,-107.5,81.8,-5.2,137,1479,0.00,2.95,0.00,0.000,4,0.000,0.052,2394,683,3924
$GC,1526,-0.97,-107.5,84.6,-5.7,140,1532,0.00,2.88,0.00,0.000,6,0.000,0.031,2394,2105,3924
$GC,1723,-0.97,-107.5,94.5,-5.0,156,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2105,3924
$STATE,1732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1732,begin apogee
$GC,1739,-0.31,0.0,95.1,4.9,157,1825,0.73,0.00,83.00,0.755,6,0.083,0.000,2541,1881,3484
$STATE,1829,end apogee,CONTROL_FINISHED_OK
$STATE,1829,begin climb
$GC,1832,0.97,107.5,95.9,0.0,164,1923,1.30,2.97,80.93,0.733,4,0.065,0.058,2818,483,3045
$GC,1942,0.97,107.5,88.3,9.1,173,1949,0.00,2.78,0.00,0.000,6,0.000,0.028,2818,1897,3045
$GC,2138,0.97,107.5,71.7,7.6,189,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1898,3044
$GC,2328,0.97,107.5,56.7,8.2,204,2333,0.00,2.92,0.00,0.000,4,0.000,0.058,2818,484,3044
$GC,2366,0.97,107.5,53.2,9.0,206,2373,0.00,2.75,0.00,0.000,6,0.000,0.029,2818,1891,3044
$GC,2563,0.97,107.5,37.0,7.8,222,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1893,3044
$GC,2752,0.99,128.0,22.9,6.3,237,2776,0.00,2.62,14.77,0.713,4,0.000,0.045,2818,3299,2961
$GC,2843,0.99,130.7,16.6,6.9,247,2850,0.00,2.50,1.65,0.798,6,0.000,0.039,2818,1903,2950
$GC,2917,1.02,152.4,11.9,6.3,258,2941,0.00,3.00,16.30,0.701,4,0.000,0.059,2818,482,2861
$STATE,3018,end climb,SURFACE_DEPTH_REACHED
$STATE,3018,begin surface coast
$FINISH,3.8,1.022312
$STATE,3035,end surface coast,CONTROL_FINISHED_OK
$STATE,3035,begin surface
$SM_CCo,3069,270.90,0.628,2,0,579,712.35
$SM_GC,0.57,0.00,0.00,270.90,0.000,0.000,0.628,369,2101,579,-10.31,0.03,712.35
$IRIDIUM_FIX,4729.30,-12248.15,071007,171756
$TT8_MAMPS,0.04602
$HUMID,2061
$TCM_TEMP,19.80
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,50.0,7.9
$24V_AH,24.0,35.909
$10V_AH,10.0,12.654
$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,24.600,56.200,196.650,270.900,0.000,200.920,397.415,0.000,3.750,0.000,0.000,31.722,495.172,1980.660,606.519,528.669,819.474,33.351,917.182,0.000,481.245,0.000,5.375
$DEVICE_MAMPS,147.264,59.059,798.447,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,184.722,0.000,0.000,0.000,0.000,0.000,3759.460,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,28.975,0.000
$DATA_FILE_SIZE,6444,276
$CFSIZE,260034560,245923840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,071007,141137,4746.400,-12249.937,28,1.1,28,18.3