version: 66.02
glider: 23
mission: 2
dive: 402
start: 10 6 107 2 11 22
data:
$ID,23
$MISSION,2
$DIVE,402
$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,-28263.645
$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,21
$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,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
$GPS1,015026,4745.941,-12248.600,12,1.6,12,18.3
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-69.5
$GPS2,021007,4745.906,-12248.652,42,1.0,42,18.3
$SPEED_LIMITS,0.193,0.203
$TGT_NAME,GP3
$TGT_LATLONG,4746.023,-12248.687
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.031,0.191
$KALMAN_X,21981.4,30.5,0.0,-16651.3,4.8
$KALMAN_Y,13445.2,54.9,5.0,-2159.1,-89.5
$MHEAD_RNG_PITCHd_Wd,332.4,221,-14.7,-7.037
$D_GRID,133
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.03,-107.5,0.0,0.0,0,118,0.00,0.00,-89.03,0.000,2,0.000,0.000,369,2132,3493
$GC,123,-1.03,-107.5,2.2,-3.5,15,155,11.25,2.38,-13.50,0.000,4,0.149,0.061,2380,3497,3923
$GC,391,-1.03,-107.5,23.0,-7.2,53,398,0.00,2.40,0.00,0.000,6,0.000,0.034,2381,2098,3924
$GC,589,-1.03,-107.5,35.5,-6.2,69,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2099,3924
$GC,779,-1.03,-107.5,47.5,-6.6,84,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2098,3925
$GC,967,-1.03,-107.5,59.4,-5.9,99,971,0.00,2.92,0.00,0.000,4,0.000,0.052,2380,693,3925
$GC,992,-1.03,-107.5,61.3,-6.8,100,999,0.00,2.83,0.00,0.000,6,0.000,0.030,2380,2095,3925
$GC,1188,-1.03,-107.5,73.4,-6.1,116,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2095,3925
$GC,1381,-1.03,-107.5,85.1,-6.2,131,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2095,3925
$STATE,1538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1538,begin apogee
$GC,1545,-0.31,0.0,95.4,6.1,144,1631,0.77,0.00,82.60,0.747,6,0.086,0.000,2538,1874,3484
$STATE,1632,end apogee,CONTROL_FINISHED_OK
$STATE,1632,begin climb
$GC,1635,1.03,107.5,96.3,0.0,151,1720,1.40,0.00,81.25,0.729,6,0.071,0.000,2832,1874,3045
$GC,1904,1.03,107.5,77.2,8.7,173,1908,0.00,2.88,0.00,0.000,4,0.000,0.058,2832,476,3044
$GC,1944,1.03,107.5,73.5,9.7,175,1950,0.00,2.75,0.00,0.000,6,0.000,0.028,2832,1899,3044
$GC,2139,1.03,107.5,57.1,8.3,191,2143,0.00,2.55,0.00,0.000,4,0.000,0.046,2832,3304,3044
$GC,2185,1.03,107.5,53.1,8.7,194,2190,0.00,2.53,0.00,0.000,6,0.000,0.038,2832,1903,3044
$GC,2381,1.03,107.5,36.9,8.2,209,2386,0.00,2.92,0.00,0.000,4,0.000,0.059,2832,465,3043
$GC,2406,1.03,107.5,34.6,8.8,210,2413,0.00,2.75,0.00,0.000,6,0.000,0.029,2832,1892,3044
$GC,2603,1.03,107.5,18.9,8.0,227,2609,0.00,2.55,0.00,0.000,4,0.000,0.046,2832,3304,3044
$GC,2636,1.03,107.5,16.2,8.1,232,2642,0.00,2.55,0.00,0.000,6,0.000,0.038,2832,1886,3043
$GC,2709,1.03,107.5,10.7,7.3,243,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1887,3043
$GC,2781,1.05,121.1,6.0,6.5,254,2799,0.00,2.62,9.73,0.716,4,0.000,0.045,2832,3292,2989
$STATE,2803,end climb,SURFACE_DEPTH_REACHED
$STATE,2803,begin surface coast
$FINISH,0.3,1.021977
$STATE,2910,end surface coast,CONTROL_FINISHED_OK
$STATE,2910,begin surface
$SM_CCo,2935,282.20,0.631,0,0,579,712.35
$SM_GC,0.86,0.00,0.00,282.20,0.000,0.000,0.631,364,2079,579,-10.33,-0.59,712.35
$IRIDIUM_FIX,4729.30,-12249.89,061007,060658
$TT8_MAMPS,0.026845
$HUMID,2094
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,50.6,25.2
$24V_AH,24.0,33.090
$10V_AH,10.2,11.530
$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,24.650,37.200,173.575,282.200,0.000,191.144,230.941,305.010,1.500,0.000,0.000,43.807,520.672,1894.935,580.817,478.183,960.704,33.336,854.238,0.000,441.800,0.000,5.426
$DEVICE_MAMPS,148.798,60.593,747.058,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,184.006,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6441,274
$CFSIZE,260034560,247046144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061007,030556,4746.140,-12248.714,10,1.6,11,18.3