version: 66.02
glider: 128
mission: 2
dive: 172
start: 9 12 107 8 47 58
data:
$ID,128
$MISSION,2
$DIVE,172
$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,-62631.203
$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,37
$R_STBD_OVSHOOT,34
$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
$GPS1,084225,4806.226,-12222.136,23,1.2,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.8
$GPS2,084657,4806.209,-12222.131,10,1.2,10,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.069,-0.141
$KALMAN_X,13071.2,77.8,189.6,-11157.4,25.0
$KALMAN_Y,6909.3,1.6,-208.4,-10880.8,77.9
$MHEAD_RNG_PITCHd_Wd,135.8,2641,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.66,-146.6,0.0,0.0,0,84,0.00,0.00,-60.17,0.000,2,0.000,0.000,5,2267,3085
$GC,87,-0.66,-146.6,3.2,-3.2,11,112,10.60,2.38,-7.20,0.000,4,0.215,0.066,2594,3660,3399
$GC,416,-0.66,-146.6,25.9,-6.0,61,420,0.00,2.28,0.00,0.000,6,0.000,0.029,2595,2235,3402
$GC,612,-0.66,-146.6,36.7,-5.6,79,616,0.00,2.38,0.00,0.000,4,0.000,0.053,2594,3652,3402
$GC,713,-0.66,-146.6,42.4,-5.6,88,718,0.00,2.22,0.00,0.000,6,0.000,0.028,2594,2246,3402
$GC,910,-0.66,-146.6,52.8,-5.3,106,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2245,3402
$GC,1229,-0.66,-146.6,68.5,-4.8,136,1233,0.00,2.35,0.00,0.000,4,0.000,0.053,2593,3657,3402
$GC,1257,-0.66,-146.6,70.0,-4.8,138,1264,0.00,2.22,0.00,0.000,6,0.000,0.029,2594,2242,3402
$GC,1581,-0.66,-146.6,86.6,-5.3,169,1585,0.00,2.35,0.00,0.000,4,0.000,0.054,2594,3650,3402
$GC,1609,-0.66,-146.6,88.2,-5.8,171,1613,0.00,2.20,0.00,0.000,6,0.000,0.029,2594,2251,3402
$STATE,1740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1740,begin apogee
$GC,1746,-0.23,0.0,95.2,5.1,183,1864,0.47,0.00,111.85,0.776,6,0.107,0.000,2744,2140,2799
$STATE,1864,end apogee,CONTROL_FINISHED_OK
$STATE,1865,begin climb
$GC,1866,0.66,146.6,97.3,0.0,195,1986,0.88,0.00,111.32,0.709,6,0.081,0.000,3028,2140,2202
$GC,2304,0.66,146.6,73.2,6.0,237,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2140,2200
$GC,2622,0.66,146.6,53.5,6.4,267,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2140,2199
$GC,2941,0.66,146.6,34.5,5.8,297,2945,0.00,2.35,0.00,0.000,4,0.000,0.051,3028,3561,2198
$GC,2968,0.66,146.6,32.8,6.2,299,2975,0.00,2.22,0.00,0.000,6,0.000,0.032,3032,2168,2198
$GC,3165,0.66,146.6,21.6,5.7,318,3169,0.00,2.30,0.00,0.000,4,0.000,0.046,3035,747,2198
$GC,3210,0.66,146.6,19.1,5.5,322,3217,0.00,2.25,0.00,0.000,6,0.000,0.036,3035,2147,2198
$GC,3284,0.66,146.6,14.8,6.0,335,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2147,2199
$GC,3358,0.66,146.6,10.5,5.9,348,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2147,2198
$GC,3431,0.66,146.8,6.7,5.0,361,3438,0.00,2.33,0.00,0.000,4,0.000,0.051,3035,3562,2198
$GC,3483,0.66,146.8,4.0,5.2,370,3489,0.00,2.28,0.00,0.000,6,0.000,0.033,3036,2140,2198
$STATE,3555,end climb,SURFACE_DEPTH_REACHED
$STATE,3555,begin surface coast
$FINISH,1.4,1.023560
$STATE,3651,end surface coast,CONTROL_FINISHED_OK
$STATE,3651,begin surface
$SM_CCo,3668,69.62,0.725,0,0,1576,300.00
$SM_GC,1.48,0.00,0.00,69.62,0.000,0.000,0.725,23,2264,1576,-8.74,0.40,300.00
$IRIDIUM_FIX,4751.72,-12319.95,120907,111102
$TT8_MAMPS,0.026078
$HUMID,1865
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,44.7
$24V_AH,24.4,22.137
$10V_AH,10.8,9.705
$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,20.500,32.425,223.175,69.625,0.000,41.123,46.120,105.351,0.250,0.000,0.000,12.328,665.474,1925.459,340.844,799.162,303.779,33.339,740.100,0.000,819.513,0.000,2.524
$DEVICE_MAMPS,214.760,65.962,776.204,724.815,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,284.884,322.591,674.923,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19096,400
$CFSIZE,260165632,252891136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120907,095123,4805.949,-12221.920,11,2.1,31,18.3