version: 66.02
glider: 23
mission: 2
dive: 55
start: 9 22 107 12 27 38
data:
$ID,23
$MISSION,2
$DIVE,55
$D_SURF,2
$D_FLARE,2
$D_TGT,85
$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,-28902.105
$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,21
$R_STBD_OVSHOOT,27
$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
$GPS1,122202,4740.470,-12250.269,9,1.6,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-72.1
$GPS2,122633,4740.499,-12250.209,15,1.3,15,18.3
$SPEED_LIMITS,0.123,0.178
$TGT_NAME,W3
$TGT_LATLONG,4746.257,-12250.251
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.133,0.156
$KALMAN_X,5326.0,107.8,70.3,-2091.4,313.8
$KALMAN_Y,5888.0,606.3,675.0,-5817.5,850.6
$MHEAD_RNG_PITCHd_Wd,301.2,10663,-13.6,-7.083
$D_GRID,91
$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,-0.96,-97.8,0.0,0.0,0,76,0.00,0.00,-55.62,0.000,2,0.000,0.000,366,2162,3196
$GC,78,-0.96,-97.8,2.1,-3.0,9,128,11.27,2.95,-27.92,0.000,4,0.143,0.059,2398,734,3884
$GC,246,-0.96,-97.8,12.0,-6.8,35,253,0.00,2.80,0.00,0.000,6,0.000,0.031,2398,2157,3886
$GC,318,-0.96,-97.8,15.9,-5.3,46,325,0.00,2.45,0.00,0.000,4,0.000,0.051,2398,3567,3886
$GC,363,-0.96,-97.8,18.4,-5.7,53,370,0.00,2.42,0.00,0.000,6,0.000,0.035,2398,2150,3886
$GC,433,-0.96,-97.8,22.1,-5.2,61,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2150,3886
$GC,625,-0.96,-97.8,31.9,-5.3,76,629,0.00,2.88,0.00,0.000,4,0.000,0.053,2398,735,3887
$GC,675,-0.96,-97.8,35.2,-6.0,79,683,0.00,2.80,0.00,0.000,6,0.000,0.030,2398,2151,3887
$GC,872,-0.96,-97.8,45.6,-5.1,95,876,0.00,2.90,0.00,0.000,4,0.000,0.051,2398,725,3887
$GC,922,-0.96,-97.8,48.4,-5.4,98,930,0.00,2.83,0.00,0.000,6,0.000,0.031,2398,2152,3887
$GC,1119,-0.96,-97.8,57.7,-4.6,114,1123,0.00,2.45,0.00,0.000,4,0.000,0.051,2398,3568,3887
$GC,1158,-0.96,-97.8,59.7,-5.3,117,1163,0.00,2.42,0.00,0.000,6,0.000,0.035,2399,2127,3887
$GC,1361,-0.96,-97.8,70.3,-5.3,133,1365,0.00,2.83,0.00,0.000,4,0.000,0.054,2398,737,3887
$GC,1398,-0.96,-97.8,72.4,-5.4,135,1406,0.00,2.80,0.00,0.000,6,0.000,0.031,2398,2152,3887
$GC,1595,-0.96,-97.8,82.3,-4.8,151,1599,0.00,2.88,0.00,0.000,4,0.000,0.051,2398,736,3887
$STATE,1744,end dive,NO_VERTICAL_VELOCITY
$STATE,1744,begin apogee
$GC,1750,-0.31,0.0,82.5,0.0,162,1829,0.65,0.00,75.88,0.729,6,0.071,0.000,2537,2056,3484
$STATE,1830,end apogee,CONTROL_FINISHED_OK
$STATE,1830,begin climb
$GC,1832,0.96,97.8,82.2,0.0,169,1917,1.33,2.55,74.10,0.704,4,0.068,0.046,2817,3468,3084
$GC,2022,0.96,97.8,68.7,8.8,184,2026,0.00,2.47,0.00,0.000,6,0.000,0.039,2817,2056,3083
$GC,2224,0.96,97.8,51.6,8.3,200,2228,0.00,2.92,0.00,0.000,4,0.000,0.060,2817,638,3083
$GC,2321,0.96,97.8,42.8,8.7,207,2330,0.00,2.78,0.00,0.000,6,0.000,0.030,2817,2041,3083
$GC,2518,0.96,97.8,27.5,7.5,223,2522,0.00,2.92,0.00,0.000,4,0.000,0.057,2817,632,3083
$GC,2570,0.96,97.8,23.2,7.9,227,2575,0.00,2.80,0.00,0.000,6,0.000,0.031,2817,2057,3083
$GC,2773,0.98,114.3,8.8,6.5,254,2791,0.00,0.00,12.20,0.696,6,0.000,0.000,2817,2057,3017
$GC,2857,1.04,175.4,4.4,4.9,267,2906,0.00,3.03,40.12,0.672,4,0.000,0.054,2817,644,2768
$STATE,2916,end climb,SURFACE_DEPTH_REACHED
$STATE,2916,begin surface coast
$FINISH,0.3,1.011897
$STATE,2971,end surface coast,CONTROL_FINISHED_OK
$STATE,2971,begin surface
$SM_CCo,2992,81.97,0.650,0,0,2057,350.04
$SM_GC,0.93,0.00,0.00,81.97,0.000,0.000,0.650,365,2161,2057,-10.33,0.34,350.04
$IRIDIUM_FIX,4722.92,-12251.79,220907,151510
$TT8_MAMPS,0.026845
$HUMID,2115
$TCM_TEMP,20.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,10.0,10.9
$ALTIM_BOTTOM_PING,70.3,17.1
$24V_AH,23.9,7.082
$10V_AH,10.2,3.486
$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,24.400,60.550,202.300,81.975,0.000,40.925,38.932,87.673,1.250,0.000,0.000,17.204,533.710,1640.213,406.328,527.200,268.982,33.371,728.514,0.000,514.562,0.000,5.619
$DEVICE_MAMPS,143.429,59.826,728.650,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,191.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9567,285
$CFSIZE,260034560,256225280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,132002,4740.724,-12250.176,12,1.8,29,18.3