version: 66.02
glider: 128
mission: 2
dive: 169
start: 9 12 107 5 28 29
data:
$ID,128
$MISSION,2
$DIVE,169
$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,-62566.766
$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,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,40
$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
$GPS1,052307,4807.151,-12222.926,39,0.9,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-69.4
$GPS2,052727,4807.167,-12222.953,14,0.9,14,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.050,-0.149
$KALMAN_X,12818.7,-5.4,29.9,-11679.2,174.8
$KALMAN_Y,6723.1,136.5,-88.4,-9179.5,-43.5
$MHEAD_RNG_PITCHd_Wd,143.0,4684,-10.6,-5.026
$D_GRID,105
$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,21,-0.66,-146.6,0.0,0.0,0,83,0.00,0.00,-60.17,0.000,2,0.000,0.000,8,2264,3057
$GC,86,-0.66,-146.6,3.0,-2.7,11,111,10.55,2.38,-7.47,0.000,4,0.213,0.054,2603,834,3399
$GC,358,-0.66,-146.6,23.1,-5.8,55,362,0.00,2.30,0.00,0.000,6,0.000,0.037,2604,2243,3401
$GC,554,-0.66,-146.6,33.6,-5.2,73,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2243,3402
$GC,745,-0.66,-146.6,43.5,-5.1,91,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2243,3402
$GC,937,-0.66,-146.6,52.7,-4.9,109,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2243,3402
$GC,1255,-0.66,-146.6,68.6,-4.8,139,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2243,3402
$GC,1574,-0.66,-146.6,84.6,-5.2,169,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2244,3402
$STATE,1784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1784,begin apogee
$GC,1789,-0.23,0.0,95.5,5.2,189,1907,0.45,0.00,111.75,0.772,6,0.103,0.000,2747,2129,2799
$STATE,1908,end apogee,CONTROL_FINISHED_OK
$STATE,1908,begin climb
$GC,1910,0.66,146.6,97.6,0.0,201,2028,0.85,0.00,111.68,0.711,6,0.077,0.000,3026,2130,2202
$GC,2345,0.66,146.6,73.6,6.3,243,2349,0.00,2.40,0.00,0.000,4,0.000,0.049,3027,3554,2199
$GC,2383,0.66,146.6,71.0,7.4,246,2390,0.00,2.28,0.00,0.000,6,0.000,0.031,3034,2170,2199
$GC,2711,0.66,146.6,50.5,6.0,277,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2169,2199
$GC,3026,0.66,146.6,31.6,6.0,307,3030,0.00,2.30,0.00,0.000,4,0.000,0.046,3038,745,2199
$GC,3060,0.66,146.6,29.8,5.2,310,3064,0.00,2.28,0.00,0.000,6,0.000,0.036,3038,2156,2199
$GC,3259,0.66,146.6,17.9,6.0,331,3265,0.00,2.30,0.00,0.000,4,0.000,0.051,3038,3554,2199
$GC,3310,0.66,146.6,14.8,6.0,340,3316,0.00,2.25,0.00,0.000,6,0.000,0.032,3040,2142,2199
$GC,3384,0.66,146.6,10.6,5.7,353,3390,0.00,2.28,0.00,0.000,4,0.000,0.046,3041,737,2199
$GC,3413,0.66,146.6,9.0,5.6,358,3420,0.00,2.28,0.00,0.000,6,0.000,0.036,3041,2157,2199
$GC,3487,0.66,146.6,4.9,5.4,371,3493,0.00,2.30,0.00,0.000,4,0.000,0.051,3041,3558,2199
$GC,3505,0.66,146.6,3.9,5.2,374,3511,0.00,2.25,0.00,0.000,6,0.000,0.032,3041,2148,2199
$STATE,3555,end climb,SURFACE_DEPTH_REACHED
$STATE,3555,begin surface coast
$FINISH,1.0,1.023871
$STATE,3607,end surface coast,CONTROL_FINISHED_OK
$STATE,3607,begin surface
$SM_CCo,3624,74.72,0.720,0,0,1577,300.00
$SM_GC,1.69,0.00,0.00,74.72,0.000,0.000,0.720,17,2260,1577,-8.76,0.28,300.00
$IRIDIUM_FIX,4748.51,-12224.57,120907,080848
$TT8_MAMPS,0.026845
$HUMID,1843
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,15.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.1,52.1
$24V_AH,24.4,21.924
$10V_AH,10.8,9.564
$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,20.425,27.900,223.425,74.725,0.000,38.521,41.245,98.651,0.500,0.000,0.000,15.473,642.789,1955.640,355.318,745.033,285.210,33.346,716.960,0.000,764.001,0.000,2.525
$DEVICE_MAMPS,213.226,55.224,771.602,720.213,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,282.715,314.479,661.575,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19072,392
$CFSIZE,260165632,252981248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120907,063051,4806.816,-12222.560,8,1.5,8,18.3