version: 66.02
glider: 128
mission: 2
dive: 145
start: 9 11 107 2 37 8
data:
$ID,128
$MISSION,2
$DIVE,145
$D_SURF,2
$D_FLARE,3
$D_TGT,95
$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,63
$T_MISSION,70
$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,0.0043390002
$HD_B,0.013382
$HD_C,5.8987e-05
$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,300
$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,-62124.191
$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,2210
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,53
$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
$GPS1,023120,4806.596,-12222.392,11,1.3,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.5
$GPS2,023607,4806.588,-12222.396,31,1.6,31,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.042,-0.151
$KALMAN_X,11955.6,-18.6,-47.5,-10035.2,247.6
$KALMAN_Y,4399.2,168.2,41.9,-8087.0,-122.3
$MHEAD_RNG_PITCHd_Wd,146.1,3410,-10.6,-5.026
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.66,-146.6,0.0,0.0,0,89,0.00,0.00,-66.43,0.000,2,0.000,0.000,7,2227,3187
$GC,91,-0.66,-146.6,3.1,-2.7,12,116,10.70,2.38,-4.47,0.000,4,0.219,0.061,2592,3608,3401
$GC,375,-0.66,-146.6,25.3,-6.1,55,379,0.00,2.22,0.00,0.000,6,0.000,0.028,2592,2203,3403
$GC,572,-0.66,-146.6,36.2,-5.2,73,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2200,3404
$GC,763,-0.66,-146.6,46.1,-5.3,91,767,0.00,2.30,0.00,0.000,4,0.000,0.048,2592,3595,3404
$GC,791,-0.66,-146.6,47.7,-5.3,93,797,0.00,2.17,0.00,0.000,6,0.000,0.028,2592,2201,3404
$GC,987,-0.66,-146.6,58.2,-5.4,112,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2200,3404
$GC,1306,-0.66,-146.6,74.9,-5.1,142,1310,0.00,2.30,0.00,0.000,4,0.000,0.048,2591,3596,3404
$GC,1367,-0.66,-146.6,78.3,-5.8,147,1371,0.00,2.15,0.00,0.000,6,0.000,0.028,2591,2203,3404
$STATE,1684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1685,begin apogee
$GC,1689,-0.23,0.0,95.6,5.5,177,1807,0.50,0.00,112.50,0.780,6,0.107,0.000,2748,2199,2800
$STATE,1808,end apogee,CONTROL_FINISHED_OK
$STATE,1808,begin climb
$GC,1810,0.66,146.6,97.7,0.0,189,1928,0.85,0.00,112.00,0.704,6,0.081,0.000,3026,2199,2201
$GC,2245,0.66,146.6,74.5,5.9,231,2249,0.00,2.35,0.00,0.000,4,0.000,0.041,3032,759,2200
$GC,2278,0.66,146.6,72.5,5.7,234,2282,0.00,2.22,0.00,0.000,6,0.000,0.032,3032,2138,2200
$GC,2603,0.66,146.6,53.3,5.5,264,2607,0.00,2.33,0.00,0.000,4,0.000,0.046,3032,3555,2199
$GC,2657,0.66,146.6,49.6,6.7,268,2664,0.00,2.25,0.00,0.000,6,0.000,0.030,3040,2164,2199
$GC,2855,0.66,146.6,37.8,5.7,287,2859,0.00,2.28,0.00,0.000,4,0.000,0.042,3041,745,2199
$GC,2892,0.66,146.6,35.5,5.8,290,2900,0.00,2.28,0.00,0.000,6,0.000,0.032,3041,2152,2199
$GC,3090,0.66,146.6,23.9,6.2,309,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2152,2199
$GC,3288,0.66,146.6,12.1,5.8,338,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2152,2198
$GC,3363,0.66,146.6,8.1,5.3,351,3369,0.00,2.28,0.00,0.000,4,0.000,0.046,3041,3552,2199
$GC,3404,0.66,146.6,5.6,6.0,358,3410,0.00,2.22,0.00,0.000,6,0.000,0.030,3041,2144,2199
$GC,3478,0.70,175.8,2.1,4.1,371,3485,0.00,0.00,5.30,0.673,2,0.000,0.000,3041,2141,2173
$STATE,3486,end climb,SURFACE_DEPTH_REACHED
$STATE,3486,begin surface coast
$FINISH,0.6,1.024580
$STATE,3536,end surface coast,CONTROL_FINISHED_OK
$STATE,3536,begin surface
$SM_CCo,3552,68.65,0.725,0,0,1577,300.00
$SM_GC,1.50,0.00,0.00,68.65,0.000,0.000,0.725,4,2240,1577,-8.80,0.85,300.00
$IRIDIUM_FIX,4745.30,-12302.11,110907,050547
$TT8_MAMPS,0.026078
$HUMID,1849
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.5,49.4
$24V_AH,24.4,20.082
$10V_AH,10.8,8.425
$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,20.600,31.850,229.800,68.650,0.000,40.631,40.550,108.017,0.500,0.000,0.000,32.468,634.744,1877.513,357.761,771.093,291.407,33.342,732.066,0.000,770.196,0.000,2.520
$DEVICE_MAMPS,218.595,62.127,780.039,724.815,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,274.112,304.160,642.918,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19110,381
$CFSIZE,260165632,253661184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110907,033835,4806.170,-12222.157,10,2.2,30,18.3