version: 66.02
glider: 23
mission: 2
dive: 329
start: 10 2 107 22 39 55
data:
$ID,23
$MISSION,2
$DIVE,329
$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,35
$T_MISSION,120
$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,120
$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,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,-28326.924
$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,28
$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,0
$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
$GPS1,222933,4739.583,-12252.104,10,2.0,10,18.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-63.2
$GPS2,223833,4739.684,-12251.972,12,1.7,12,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.209,-0.153
$KALMAN_X,21131.0,365.1,226.1,-20509.2,174.1
$KALMAN_Y,13296.7,227.8,207.7,-13917.6,122.5
$MHEAD_RNG_PITCHd_Wd,215.5,670,-14.5,-9.048
$D_GRID,123
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.03,-117.3,0.0,0.0,0,100,0.00,0.00,-73.25,0.000,2,0.000,0.000,369,2080,3529
$GC,104,-1.03,-117.3,2.1,-4.7,12,136,11.25,2.90,-13.68,0.000,4,0.149,0.059,2380,694,3963
$GC,222,-1.03,-117.3,10.8,-7.1,30,228,0.00,2.83,0.00,0.000,6,0.000,0.031,2380,2100,3964
$GC,295,-1.03,-117.3,15.6,-6.2,41,301,0.00,2.45,0.00,0.000,4,0.000,0.051,2380,3510,3964
$GC,360,-1.03,-117.3,20.0,-7.4,51,364,0.00,2.38,0.00,0.000,6,0.000,0.034,2380,2103,3964
$GC,562,-1.03,-117.3,33.4,-6.3,67,567,0.00,2.92,0.00,0.000,4,0.000,0.052,2380,693,3965
$GC,627,-1.03,-117.3,37.9,-7.2,71,634,0.00,2.85,0.00,0.000,6,0.000,0.031,2380,2111,3965
$GC,824,-1.03,-117.3,51.1,-6.5,87,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2110,3965
$GC,1015,-1.03,-117.3,63.3,-6.8,102,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2110,3965
$GC,1204,-1.03,-117.3,77.5,-7.1,117,1209,0.00,2.97,0.00,0.000,4,0.000,0.051,2380,686,3963
$GC,1277,-1.03,-117.3,83.0,-7.4,122,1282,0.00,2.85,0.00,0.000,6,0.000,0.031,2380,2107,3965
$STATE,1457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1457,begin apogee
$GC,1464,-0.31,0.0,95.6,6.5,136,1558,0.77,0.00,91.20,0.746,6,0.087,0.000,2537,1871,3484
$STATE,1559,end apogee,CONTROL_FINISHED_OK
$STATE,1559,begin climb
$GC,1562,1.03,117.3,97.4,0.0,144,1659,1.38,2.90,89.00,0.728,4,0.067,0.057,2830,482,3005
$GC,1677,1.03,117.3,89.8,9.4,153,1684,0.00,2.78,0.00,0.000,6,0.000,0.028,2830,1890,3004
$GC,1874,1.05,131.4,72.0,8.6,169,1890,0.00,2.95,10.12,0.742,4,0.000,0.058,2830,495,2947
$GC,1912,1.05,131.4,68.5,9.5,172,1916,0.00,2.72,0.00,0.000,6,0.000,0.029,2830,1894,2947
$GC,2107,1.09,164.9,52.6,8.0,187,2138,0.00,2.95,24.83,0.713,4,0.000,0.058,2830,485,2810
$GC,2156,1.09,164.9,48.2,9.1,190,2163,0.00,2.78,0.00,0.000,6,0.000,0.029,2830,1895,2810
$GC,2353,1.10,174.4,30.7,8.7,206,2366,0.00,2.92,6.60,0.731,4,0.000,0.059,2830,492,2773
$GC,2411,1.10,174.4,25.0,9.9,210,2418,0.00,2.75,0.00,0.000,6,0.000,0.029,2830,1892,2773
$GC,2614,1.10,174.4,5.8,10.0,237,2620,0.00,2.92,0.00,0.000,4,0.000,0.063,2830,484,2772
$STATE,2624,end climb,SURFACE_DEPTH_REACHED
$STATE,2624,begin surface coast
$FINISH,0.8,1.021646
$STATE,2672,end surface coast,CONTROL_FINISHED_OK
$STATE,2672,begin surface
$SM_CCo,2697,87.82,0.653,0,0,2057,350.04
$SM_GC,0.80,0.00,0.00,87.82,0.000,0.000,0.653,365,2093,2057,-10.33,-0.20,350.04
$IRIDIUM_FIX,4722.92,-12253.53,031007,020214
$TT8_MAMPS,0.026845
$HUMID,2121
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.7,34.5
$24V_AH,24.0,26.551
$10V_AH,10.2,9.638
$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,24.550,51.525,221.750,87.825,0.000,78.424,147.967,166.529,1.500,0.000,0.000,14.097,480.583,1517.839,415.170,431.979,525.034,33.336,689.377,0.000,422.380,0.000,10.066
$DEVICE_MAMPS,148.798,62.894,745.524,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.840,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6434,246
$CFSIZE,260034560,248954880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,232735,4739.563,-12252.234,11,2.3,30,18.3