version: 66.02
glider: 128
mission: 2
dive: 150
start: 9 11 107 8 32 16
data:
$ID,128
$MISSION,2
$DIVE,150
$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,75
$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,-62218.668
$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,46
$R_STBD_OVSHOOT,41
$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
$GPS1,082027,4805.342,-12221.242,11,1.6,12,18.3
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.7
$GPS2,083115,4805.344,-12221.250,12,1.6,12,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.039,-0.152
$KALMAN_X,12493.4,-23.9,-6.8,-9192.4,95.2
$KALMAN_Y,4567.4,-130.8,-66.9,-10149.9,71.4
$MHEAD_RNG_PITCHd_Wd,147.2,709,-10.6,-5.026
$D_GRID,110
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.66,-146.6,0.0,0.0,0,96,0.00,0.00,-72.12,0.000,2,0.000,0.000,7,2218,3338
$GC,98,-0.66,-146.6,3.1,-2.8,13,117,10.68,2.33,-1.27,0.000,4,0.216,0.050,2600,803,3399
$GC,134,-0.66,-146.6,9.8,-15.2,19,141,0.00,2.30,0.00,0.000,6,0.000,0.033,2597,2207,3400
$GC,209,-0.66,-146.6,14.2,-5.7,32,214,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2207,3400
$GC,282,-0.66,-146.6,18.1,-5.4,45,288,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2207,3401
$GC,359,-0.66,-146.6,22.7,-6.1,55,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2207,3401
$GC,550,-0.66,-146.6,33.7,-5.3,73,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2207,3401
$GC,741,-0.66,-146.6,43.0,-5.1,91,745,0.00,2.33,0.00,0.000,4,0.000,0.049,2597,3617,3401
$GC,779,-0.66,-146.6,45.1,-5.3,94,784,0.00,2.22,0.00,0.000,6,0.000,0.028,2597,2198,3401
$GC,976,-0.66,-146.6,56.0,-5.5,112,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2196,3401
$GC,1295,-0.66,-146.6,72.8,-5.5,142,1299,0.00,2.35,0.00,0.000,4,0.000,0.048,2594,3621,3401
$GC,1338,-0.66,-146.6,75.1,-5.3,145,1345,0.00,2.22,0.00,0.000,6,0.000,0.028,2594,2210,3401
$GC,1666,-0.66,-146.6,91.4,-4.7,176,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2208,3401
$STATE,1746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1746,begin apogee
$GC,1750,-0.23,0.0,95.5,5.0,184,1869,0.47,0.00,113.03,0.811,6,0.109,0.000,2743,2207,2799
$STATE,1870,end apogee,CONTROL_FINISHED_OK
$STATE,1870,begin climb
$GC,1871,0.66,146.6,97.2,0.0,196,1989,0.90,0.00,111.95,0.697,6,0.081,0.000,3030,2206,2202
$GC,2307,0.66,146.6,72.5,6.0,238,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2206,2200
$GC,2625,0.66,146.6,52.9,6.3,268,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2206,2199
$GC,2944,0.66,146.6,33.9,5.8,298,2945,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2206,2199
$GC,3135,0.66,146.6,23.1,5.5,316,3139,0.00,2.30,0.00,0.000,4,0.000,0.040,3038,761,2199
$GC,3169,0.66,146.6,21.2,5.7,319,3173,0.00,2.22,0.00,0.000,6,0.000,0.032,3038,2158,2199
$GC,3375,0.66,146.6,10.0,5.5,353,3381,0.00,2.28,0.00,0.000,4,0.000,0.047,3038,3558,2199
$GC,3420,0.66,146.6,7.3,5.9,361,3427,0.00,2.20,0.00,0.000,6,0.000,0.030,3041,2165,2198
$GC,3495,0.67,156.6,3.6,4.7,374,3508,0.00,2.33,7.80,0.765,4,0.000,0.040,3043,751,2160
$STATE,3541,end climb,SURFACE_DEPTH_REACHED
$STATE,3541,begin surface coast
$FINISH,0.6,1.024500
$STATE,3604,end surface coast,CONTROL_FINISHED_OK
$STATE,3604,begin surface
$SM_CCo,3623,68.90,0.735,0,0,1577,300.00
$SM_GC,1.45,0.00,0.00,68.90,0.000,0.000,0.735,4,2215,1577,-8.80,0.14,300.00
$IRIDIUM_FIX,4748.51,-12217.40,110907,121206
$TT8_MAMPS,0.026845
$HUMID,1835
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,15.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.5,44.3
$24V_AH,24.4,20.479
$10V_AH,10.8,8.672
$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,20.625,27.450,232.775,68.900,0.000,113.397,197.275,137.926,0.500,0.000,0.000,13.512,645.766,2055.664,363.127,744.967,554.858,33.342,732.716,0.000,769.469,0.000,2.519
$DEVICE_MAMPS,216.294,49.855,811.486,734.786,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,282.511,313.514,663.183,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19111,393
$CFSIZE,260165632,253517824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110907,093450,4805.036,-12221.164,26,1.6,27,18.3