version: 66.02
glider: 128
mission: 2
dive: 173
start: 9 12 107 9 56 57
data:
$ID,128
$MISSION,2
$DIVE,173
$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,-62664.438
$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,35
$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
$GPS1,095123,4805.949,-12221.920,11,2.1,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-69.0
$GPS2,095556,4805.927,-12221.921,14,1.7,31,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.080,-0.135
$KALMAN_X,13108.9,95.1,136.1,-10898.1,-37.2
$KALMAN_Y,6899.8,-52.6,-132.2,-11415.3,107.0
$MHEAD_RNG_PITCHd_Wd,130.9,2061,-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,21,-0.66,-146.6,0.0,0.0,0,89,0.00,0.00,-65.78,0.000,2,0.000,0.000,23,2264,3207
$GC,91,-0.66,-146.6,3.2,-3.3,12,111,10.48,2.42,-4.32,0.000,4,0.214,0.054,2600,840,3400
$GC,414,-0.66,-146.6,26.1,-6.0,60,421,0.00,2.33,0.00,0.000,6,0.000,0.039,2600,2243,3403
$GC,611,-0.66,-146.6,36.6,-5.5,79,615,0.00,2.28,0.00,0.000,4,0.000,0.044,2600,845,3403
$GC,728,-0.66,-146.6,43.1,-5.5,89,735,0.00,2.30,0.00,0.000,6,0.000,0.038,2600,2247,3404
$GC,925,-0.66,-146.6,53.7,-5.6,108,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2247,3403
$GC,1244,-0.66,-146.6,71.1,-5.8,138,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2247,3404
$GC,1563,-0.66,-146.6,88.5,-5.3,168,1567,0.00,2.33,0.00,0.000,4,0.000,0.054,2594,3658,3404
$GC,1602,-0.66,-146.6,90.6,-5.6,171,1606,0.00,2.25,0.00,0.000,6,0.000,0.029,2594,2227,3404
$STATE,1680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1680,begin apogee
$GC,1685,-0.23,0.0,95.0,5.6,178,1803,0.47,0.00,111.90,0.772,6,0.107,0.000,2744,2138,2799
$STATE,1804,end apogee,CONTROL_FINISHED_OK
$STATE,1804,begin climb
$GC,1806,0.66,146.6,97.2,0.0,190,1926,0.90,2.53,111.43,0.709,4,0.079,0.050,3039,3555,2202
$GC,1942,0.66,146.6,91.1,6.9,203,1949,0.00,2.38,0.00,0.000,6,0.000,0.031,3040,2164,2201
$GC,2270,0.66,146.6,70.0,6.2,234,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2164,2199
$GC,2585,0.66,146.6,50.0,5.9,264,2589,0.00,2.30,0.00,0.000,4,0.000,0.045,3040,746,2199
$GC,2623,0.66,146.6,47.7,5.6,267,2630,0.00,2.33,0.00,0.000,6,0.000,0.036,3040,2157,2199
$GC,2821,0.66,146.6,35.9,6.0,286,2825,0.00,2.33,0.00,0.000,4,0.000,0.052,3040,3568,2198
$GC,2865,0.66,146.6,32.9,6.9,290,2869,0.00,2.28,0.00,0.000,6,0.000,0.032,3042,2149,2198
$GC,3062,0.66,146.6,21.1,5.8,308,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2149,2198
$GC,3264,0.66,146.6,9.7,5.7,342,3270,0.00,2.28,0.00,0.000,4,0.000,0.045,3045,742,2198
$GC,3299,0.66,146.6,7.8,5.6,348,3305,0.00,2.28,0.00,0.000,6,0.000,0.037,3045,2157,2198
$GC,3373,0.66,146.6,3.6,5.5,361,3379,0.00,2.30,0.00,0.000,4,0.000,0.051,3045,3558,2198
$STATE,3406,end climb,SURFACE_DEPTH_REACHED
$STATE,3406,begin surface coast
$FINISH,1.3,1.023438
$STATE,3446,end surface coast,CONTROL_FINISHED_OK
$STATE,3447,begin surface
$SM_CCo,3465,74.68,0.723,0,0,1577,300.00
$SM_GC,1.62,0.00,0.00,74.68,0.000,0.000,0.723,5,2235,1577,-8.80,-0.42,300.00
$IRIDIUM_FIX,4745.30,-12224.57,120907,121259
$TT8_MAMPS,0.026845
$HUMID,1856
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.5,47.5
$24V_AH,24.4,22.208
$10V_AH,10.8,9.752
$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,20.450,37.100,223.325,74.675,0.000,38.935,39.563,95.670,0.750,0.000,0.000,32.607,623.456,1806.379,351.187,779.274,276.319,33.341,730.131,0.000,775.985,0.000,2.520
$DEVICE_MAMPS,213.993,66.729,771.602,722.514,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,263.857,296.725,630.998,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19123,374
$CFSIZE,260165632,252862464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120907,105705,4805.769,-12221.601,12,2.6,32,18.3