version: 66.02
glider: 128
mission: 2
dive: 171
start: 9 12 107 7 42 0
data:
$ID,128
$MISSION,2
$DIVE,171
$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,-62618.246
$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,41
$R_STBD_OVSHOOT,33
$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
$GPS1,073623,4806.485,-12222.437,10,2.8,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.7
$GPS2,074059,4806.490,-12222.429,13,2.8,32,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.054,-0.147
$KALMAN_X,12952.6,54.1,171.9,-11362.2,109.0
$KALMAN_Y,6857.2,47.6,-240.5,-10323.2,67.1
$MHEAD_RNG_PITCHd_Wd,141.6,3277,-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,-66.07,0.000,2,0.000,0.000,14,2237,3219
$GC,91,-0.66,-146.6,3.4,-3.4,12,111,10.52,2.35,-3.75,0.000,4,0.214,0.054,2601,847,3401
$GC,415,-0.66,-146.6,27.6,-5.6,57,421,0.00,2.30,0.00,0.000,6,0.000,0.038,2601,2258,3404
$GC,611,-0.66,-146.6,38.2,-5.2,76,615,0.00,2.30,0.00,0.000,4,0.000,0.041,2601,844,3405
$GC,655,-0.66,-146.6,40.8,-5.3,79,662,0.00,2.30,0.00,0.000,6,0.000,0.038,2601,2248,3405
$GC,853,-0.66,-146.6,51.2,-5.3,98,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2248,3405
$GC,1171,-0.66,-146.6,67.8,-5.1,128,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2248,3405
$GC,1490,-0.66,-146.6,84.2,-5.2,158,1494,0.00,2.33,0.00,0.000,4,0.000,0.052,2598,3661,3405
$GC,1540,-0.66,-146.6,86.9,-5.4,162,1544,0.00,2.25,0.00,0.000,6,0.000,0.029,2598,2231,3405
$STATE,1692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1692,begin apogee
$GC,1697,-0.23,0.0,95.1,5.2,176,1815,0.47,0.00,112.45,0.786,6,0.105,0.000,2748,2141,2800
$STATE,1816,end apogee,CONTROL_FINISHED_OK
$STATE,1816,begin climb
$GC,1818,0.66,146.6,97.2,0.0,188,1936,0.88,0.00,111.90,0.712,6,0.079,0.000,3029,2141,2202
$GC,2254,0.66,146.6,73.3,6.5,230,2258,0.00,2.40,0.00,0.000,4,0.000,0.050,3029,3559,2199
$GC,2287,0.66,146.6,71.0,7.0,233,2291,0.00,2.28,0.00,0.000,6,0.000,0.031,3038,2161,2199
$GC,2612,0.66,146.6,49.8,6.2,263,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2161,2199
$GC,2803,0.66,146.6,37.7,6.2,281,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2161,2198
$GC,2994,0.66,146.6,26.6,6.0,299,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2161,2198
$GC,3189,0.66,146.6,15.1,5.9,324,3195,0.00,2.30,0.00,0.000,4,0.000,0.046,3040,746,2198
$GC,3224,0.66,146.6,13.2,5.7,330,3230,0.00,2.28,0.00,0.000,6,0.000,0.038,3040,2155,2198
$GC,3298,0.66,146.6,9.0,5.5,343,3304,0.00,2.33,0.00,0.000,4,0.000,0.052,3040,3565,2198
$GC,3338,0.66,146.6,6.6,5.9,350,3344,0.00,2.28,0.00,0.000,6,0.000,0.033,3040,2142,2198
$GC,3413,0.68,158.5,3.0,4.7,363,3431,0.00,2.33,9.05,0.802,4,0.000,0.045,3040,747,2153
$STATE,3446,end climb,SURFACE_DEPTH_REACHED
$STATE,3446,begin surface coast
$FINISH,1.4,1.023728
$STATE,3464,end surface coast,CONTROL_FINISHED_OK
$STATE,3464,begin surface
$SM_CCo,3483,64.88,0.704,0,0,1576,300.00
$SM_GC,1.53,0.00,0.00,64.88,0.000,0.000,0.704,5,2266,1576,-8.80,0.45,300.00
$IRIDIUM_FIX,4748.51,-12224.57,120907,101023
$TT8_MAMPS,0.026078
$HUMID,1856
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.5,41.5
$24V_AH,24.4,22.066
$10V_AH,10.8,9.656
$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,20.525,32.600,233.400,64.875,0.000,39.544,41.992,93.048,0.500,0.000,0.000,35.229,614.889,1846.859,357.386,752.968,277.129,33.344,719.922,0.000,748.779,0.000,2.510
$DEVICE_MAMPS,213.993,65.962,802.282,704.106,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,267.432,295.114,627.757,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19125,372
$CFSIZE,260165632,252923904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120907,084225,4806.226,-12222.136,23,1.2,41,18.3