version: 66.02
glider: 23
mission: 2
dive: 134
start: 9 25 107 4 41 37
data:
$ID,23
$MISSION,2
$DIVE,134
$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,45
$T_MISSION,90
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,18
$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,-28883.422
$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,42
$R_STBD_OVSHOOT,24
$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,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,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
$GPS1,043537,4740.258,-12250.079,40,0.9,47,18.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-72.0
$GPS2,044015,4740.275,-12250.028,9,1.5,9,18.3
$SPEED_LIMITS,0.228,0.238
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.224,-0.082
$KALMAN_X,7368.7,38.4,198.0,-3967.0,226.1
$KALMAN_Y,6879.3,-78.5,117.0,-6006.2,78.4
$MHEAD_RNG_PITCHd_Wd,231.6,4233,-11.6,-7.407
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.82,-88.0,0.0,0.0,0,95,0.00,0.00,-72.72,0.000,2,0.000,0.000,364,2149,3610
$GC,98,-0.82,-88.0,2.0,-1.0,12,123,11.50,2.88,-7.65,0.000,4,0.146,0.059,2425,760,3842
$GC,170,-0.82,-88.0,5.6,-4.2,23,176,0.00,2.78,0.00,0.000,6,0.000,0.030,2425,2167,3843
$GC,242,-0.82,-88.0,8.2,-3.5,34,248,0.00,2.42,0.00,0.000,4,0.000,0.051,2425,3560,3843
$GC,499,-0.82,-88.0,16.6,-3.6,73,506,0.00,2.35,0.00,0.000,6,0.000,0.033,2425,2161,3846
$GC,571,-0.82,-88.0,18.8,-2.8,84,577,0.00,2.45,0.00,0.000,4,0.000,0.050,2425,3568,3846
$GC,636,-0.82,-88.0,21.4,-4.0,92,640,0.00,2.40,0.00,0.000,6,0.000,0.034,2425,2150,3846
$GC,838,-0.82,-88.0,28.9,-4.1,108,843,0.00,2.88,0.00,0.000,4,0.000,0.052,2425,736,3847
$GC,884,-0.82,-88.0,30.7,-4.0,111,889,0.00,2.80,0.00,0.000,6,0.000,0.031,2425,2161,3847
$GC,1079,-0.82,-88.0,37.8,-3.6,126,1084,0.00,2.90,0.00,0.000,4,0.000,0.051,2425,732,3847
$GC,1117,-0.82,-88.0,39.5,-4.5,128,1125,0.00,2.83,0.00,0.000,6,0.000,0.031,2425,2154,3847
$GC,1314,-0.82,-88.0,47.2,-4.2,144,1318,0.00,2.45,0.00,0.000,4,0.000,0.053,2425,3564,3847
$GC,1358,-0.82,-88.0,49.1,-4.6,147,1366,0.00,2.40,0.00,0.000,6,0.000,0.035,2425,2154,3847
$GC,1555,-0.82,-88.0,57.2,-4.0,163,1559,0.00,2.90,0.00,0.000,4,0.000,0.054,2425,734,3847
$GC,1600,-0.82,-88.0,59.2,-4.5,166,1605,0.00,2.80,0.00,0.000,6,0.000,0.032,2425,2160,3847
$GC,1796,-0.82,-88.0,66.9,-4.2,181,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2160,3847
$GC,1986,-0.82,-88.0,74.0,-3.6,196,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2159,3847
$GC,2174,-0.82,-88.0,81.4,-4.1,211,2178,0.00,2.45,0.00,0.000,4,0.000,0.053,2425,3568,3847
$GC,2219,-0.82,-88.0,83.5,-4.6,214,2227,0.00,2.42,0.00,0.000,6,0.000,0.035,2425,2146,3847
$GC,2415,-0.82,-88.0,91.0,-4.1,230,2420,0.00,2.53,0.00,0.000,3,0.000,0.052,2425,925,3847
$STATE,2420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2420,begin apogee
$GC,2427,-0.31,0.0,91.3,4.1,230,2498,0.52,0.00,68.25,0.744,6,0.083,0.000,2534,2065,3483
$STATE,2499,end apogee,CONTROL_FINISHED_OK
$STATE,2499,begin climb
$GC,2501,0.82,88.0,92.6,0.0,236,2574,1.17,0.00,66.38,0.725,6,0.069,0.000,2781,2064,3124
$GC,2763,0.86,120.2,78.1,6.5,257,2792,0.00,3.03,24.30,0.725,4,0.000,0.055,2782,627,2991
$GC,2884,0.87,132.4,69.6,7.1,266,2898,0.00,2.83,8.65,0.742,6,0.000,0.030,2782,2058,2944
$GC,3086,0.91,164.7,56.2,6.5,282,3116,0.12,3.03,23.85,0.715,4,0.055,0.058,2814,633,2811
$GC,3195,0.91,164.7,46.5,9.5,290,3199,0.00,2.80,0.00,0.000,6,0.000,0.030,2813,2053,2811
$GC,3390,0.91,164.7,28.4,9.5,305,3394,0.00,2.95,0.00,0.000,4,0.000,0.059,2814,639,2810
$GC,3495,0.91,164.7,17.6,10.2,314,3502,0.00,2.80,0.00,0.000,6,0.000,0.030,2814,2062,2810
$GC,3567,0.91,164.7,11.1,8.2,325,3574,0.00,2.42,0.00,0.000,4,0.000,0.048,2814,3455,2811
$GC,3586,0.91,164.7,9.5,8.6,328,3593,0.00,2.47,0.00,0.000,6,0.000,0.039,2814,2023,2809
$GC,3658,0.95,202.5,4.5,6.4,339,3695,0.00,2.95,27.83,0.684,4,0.000,0.058,2814,642,2658
$STATE,3713,end climb,SURFACE_DEPTH_REACHED
$STATE,3713,begin surface coast
$FINISH,0.3,1.000737
$STATE,3760,end surface coast,CONTROL_FINISHED_OK
$STATE,3760,begin surface
$SM_CCo,3783,70.28,0.653,0,0,2057,350.04
$SM_GC,1.11,0.00,0.00,70.28,0.000,0.000,0.653,364,2154,2057,-10.33,0.11,350.04
$IRIDIUM_FIX,4722.92,-12251.79,250907,070719
$TT8_MAMPS,0.026845
$HUMID,2159
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.5,28.3
$24V_AH,24.0,12.223
$10V_AH,10.2,5.065
$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,24.475,75.275,219.250,70.275,0.000,39.718,32.626,134.530,1.250,0.000,0.000,10.597,681.602,2147.768,414.390,624.419,307.256,33.340,791.761,0.000,613.860,0.000,10.051
$DEVICE_MAMPS,146.497,59.059,743.990,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,239.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9607,355
$CFSIZE,260034560,254279680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,054639,4740.258,-12250.327,7,1.9,7,18.3