version: 66.02
glider: 128
mission: 2
dive: 52
start: 9 7 107 10 33 5
data:
$ID,128
$MISSION,2
$DIVE,52
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,1090
$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,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51503
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.4
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-60205.012
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,145
$ROLL_MAX,4014
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-10.508845
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,102804,4806.430,-12222.249,12,2.2,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-68.4
$GPS2,103209,4806.409,-12222.239,15,1.3,15,18.3
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.148,0.184
$KALMAN_X,3745.2,7.0,-69.2,-1637.7,71.1
$KALMAN_Y,911.0,110.5,5.3,-4835.7,-54.8
$MHEAD_RNG_PITCHd_Wd,302.8,3664,-14.0,-7.500
$D_GRID,108
$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,-0.82,-146.6,0.0,0.0,0,93,0.00,0.00,-71.72,0.000,2,0.000,0.000,5,2073,3151
$GC,95,-0.82,-146.6,3.0,-4.3,13,120,10.50,2.35,-5.22,0.000,4,0.219,0.058,2550,692,3401
$GC,170,-0.82,-146.6,13.4,-8.4,26,177,0.00,2.35,0.00,0.000,6,0.000,0.037,2550,2100,3402
$GC,244,-0.82,-146.6,19.2,-7.7,39,250,0.00,2.38,0.00,0.000,4,0.000,0.053,2545,3510,3402
$GC,271,-0.82,-146.6,21.3,-7.7,42,278,0.00,2.33,0.00,0.000,6,0.000,0.029,2545,2083,3403
$GC,469,-0.82,-146.6,36.2,-7.3,61,473,0.00,2.40,0.00,0.000,4,0.000,0.051,2545,3508,3403
$GC,513,-0.82,-146.6,39.6,-7.6,65,517,0.00,2.25,0.00,0.000,6,0.000,0.029,2545,2102,3403
$GC,710,-0.82,-146.6,54.0,-7.2,83,713,0.00,2.35,0.00,0.000,4,0.000,0.052,2544,3511,3403
$GC,758,-0.82,-146.6,57.7,-7.4,87,766,0.00,2.28,0.00,0.000,6,0.000,0.029,2543,2099,3403
$GC,1086,-0.82,-146.6,80.5,-7.2,118,1090,0.00,2.35,0.00,0.000,4,0.000,0.052,2543,3511,3403
$GC,1162,-0.82,-146.6,86.2,-7.3,124,1170,0.00,2.28,0.00,0.000,6,0.000,0.030,2543,2095,3403
$STATE,1220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1220,begin apogee
$GC,1224,-0.23,0.0,90.3,7.0,130,1344,0.65,0.00,113.40,0.827,6,0.117,0.000,2744,2094,2799
$STATE,1344,end apogee,CONTROL_FINISHED_OK
$STATE,1345,begin climb
$GC,1346,0.82,146.6,93.1,0.0,142,1465,1.02,2.45,111.55,0.700,4,0.083,0.045,3082,686,2202
$GC,1497,0.84,166.7,86.3,6.8,156,1519,0.00,2.38,16.98,0.788,6,0.000,0.034,3082,2078,2119
$GC,1838,0.84,166.7,59.6,7.8,188,1842,0.00,2.35,0.00,0.000,4,0.000,0.050,3082,3484,2118
$GC,1916,0.84,166.7,53.0,8.3,195,1921,0.00,2.28,0.00,0.000,6,0.000,0.032,3090,2084,2117
$GC,2242,0.84,166.7,28.1,7.6,225,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2084,2117
$GC,2435,0.86,178.1,15.0,7.1,249,2453,0.00,2.40,9.98,0.808,4,0.000,0.051,3090,3482,2073
$GC,2493,0.86,178.1,10.5,8.2,259,2499,0.00,2.28,0.00,0.000,6,0.000,0.033,3093,2074,2073
$GC,2567,0.89,201.3,5.1,6.7,272,2591,0.00,2.40,18.40,0.834,4,0.000,0.047,3093,668,1978
$GC,2619,0.97,267.1,2.1,5.2,281,2627,0.12,2.33,2.90,0.404,2,0.064,0.035,3153,2088,1966
$STATE,2628,end climb,SURFACE_DEPTH_REACHED
$STATE,2628,begin surface coast
$FINISH,0.5,1.001655
$STATE,2667,end surface coast,CONTROL_FINISHED_OK
$STATE,2667,begin surface
$SM_CCo,2683,67.20,0.697,0,0,1372,350.04
$SM_GC,1.07,0.00,0.00,67.20,0.000,0.000,0.697,7,2091,1372,-8.80,-0.25,350.04
$IRIDIUM_FIX,4751.72,-12226.29,070907,131346
$TT8_MAMPS,0.026845
$HUMID,1862
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.5,47.7
$24V_AH,24.4,12.643
$10V_AH,10.8,4.597
$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,21.325,42.150,273.200,67.200,0.000,38.819,44.213,90.100,0.250,0.000,0.000,16.808,485.145,1288.881,378.001,616.744,248.732,33.342,729.991,0.000,624.383,0.000,2.517
$DEVICE_MAMPS,218.595,58.292,834.496,697.203,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,207.286,221.746,487.576,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12817,289
$CFSIZE,260165632,256237568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070907,111939,4806.638,-12222.388,10,1.7,10,18.3