version: 66.02
glider: 23
mission: 2
dive: 36
start: 9 21 107 20 20 37
data:
$ID,23
$MISSION,2
$DIVE,36
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,40
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,350
$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,-28919.424
$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,2150
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$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,720
$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,10
$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,2
$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
$GPS1,201531,4739.624,-12251.431,37,1.0,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-70.0
$GPS2,201933,4739.646,-12251.393,12,1.1,12,18.3
$SPEED_LIMITS,0.144,0.187
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.182,-0.043
$KALMAN_X,3355.2,39.0,-195.5,-1259.6,73.8
$KALMAN_Y,1327.6,-46.6,93.6,-1626.8,49.1
$MHEAD_RNG_PITCHd_Wd,238.5,2282,-19.8,-8.333
$D_GRID,122
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.34,-97.8,0.0,0.0,0,76,0.00,0.00,-55.40,0.000,2,0.000,0.000,366,2161,3178
$GC,78,-1.34,-97.8,2.1,-3.9,9,122,10.90,2.90,-25.55,0.000,4,0.147,0.061,2313,735,3881
$GC,154,-1.34,-97.8,7.1,-10.5,21,161,0.00,2.78,0.00,0.000,6,0.000,0.031,2314,2148,3884
$GC,226,-1.34,-97.8,13.7,-7.6,32,231,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2148,3884
$GC,298,-1.34,-97.8,18.7,-7.1,43,304,0.00,2.47,0.00,0.000,4,0.000,0.049,2313,3571,3885
$GC,349,-1.34,-97.8,22.9,-8.2,49,354,0.00,2.45,0.00,0.000,6,0.000,0.035,2313,2149,3885
$GC,551,-1.34,-97.8,38.6,-7.7,65,556,0.00,2.47,0.00,0.000,4,0.000,0.050,2313,3559,3887
$GC,630,-1.34,-97.8,45.7,-9.5,71,635,0.00,2.45,0.00,0.000,6,0.000,0.035,2313,2143,3887
$GC,832,-1.34,-97.8,62.5,-8.2,87,836,0.00,2.50,0.00,0.000,4,0.000,0.051,2313,3571,3887
$GC,890,-1.34,-97.8,67.8,-9.1,91,898,0.00,2.47,0.00,0.000,6,0.000,0.036,2313,2142,3888
$GC,1086,-1.34,-97.8,84.3,-7.9,107,1091,0.00,2.50,0.00,0.000,4,0.000,0.052,2314,3569,3888
$GC,1138,-1.34,-97.8,88.9,-8.6,111,1143,0.00,2.45,0.00,0.000,6,0.000,0.038,2313,2148,3888
$STATE,1276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1276,begin apogee
$GC,1280,-0.31,0.0,100.1,8.4,122,1363,1.12,0.00,76.07,0.732,6,0.092,0.000,2538,2029,3483
$STATE,1364,end apogee,CONTROL_FINISHED_OK
$STATE,1364,begin climb
$GC,1365,1.34,97.8,102.0,0.0,129,1451,1.70,2.95,73.75,0.718,4,0.065,0.060,2899,655,3084
$GC,1476,1.34,97.8,92.6,13.9,138,1481,0.00,2.78,0.00,0.000,6,0.000,0.028,2900,2049,3084
$GC,1678,1.34,97.8,66.2,12.4,154,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2053,3084
$GC,1870,1.34,97.8,44.1,12.0,169,1874,0.00,2.45,0.00,0.000,4,0.000,0.046,2900,3458,3083
$GC,1893,1.34,97.8,40.8,12.3,170,1902,0.00,2.47,0.00,0.000,6,0.000,0.038,2900,2061,3083
$GC,2090,1.34,97.8,18.6,11.4,186,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2061,3083
$GC,2160,1.34,97.8,10.3,11.7,197,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2061,3083
$GC,2227,1.39,138.4,4.6,6.0,207,2264,0.00,2.55,27.80,0.672,4,0.000,0.047,2899,3456,2917
$STATE,2268,end climb,SURFACE_DEPTH_REACHED
$STATE,2268,begin surface coast
$FINISH,0.3,1.000540
$STATE,2295,end surface coast,CONTROL_FINISHED_OK
$STATE,2295,begin surface
$SM_CCo,2315,99.65,0.640,0,0,2057,350.04
$SM_GC,0.90,0.00,0.00,99.65,0.000,0.000,0.640,368,2131,2057,-10.32,-0.54,350.04
$IRIDIUM_FIX,4722.92,-12251.79,210907,232305
$TT8_MAMPS,0.026845
$HUMID,2160
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.5,8.0
$ALTIM_BOTTOM_PING,85.3,33.0
$24V_AH,23.9,5.816
$10V_AH,10.2,3.088
$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,25.250,41.150,177.625,99.650,0.000,38.026,35.412,103.495,1.250,0.000,0.000,14.233,416.469,1260.981,387.579,388.071,235.193,33.352,641.802,0.000,381.420,0.000,7.154
$DEVICE_MAMPS,147.264,60.593,731.718,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,145.588,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6449,218
$CFSIZE,260034560,256704512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,210202,4739.631,-12251.655,12,1.2,29,18.3