version: 66.03
glider: 128
mission: 2
dive: 712
start: 10 4 107 7 15 37
data:
$ID,128
$MISSION,2
$DIVE,712
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$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,67
$T_MISSION,80
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$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,475
$N_FILEKB,8
$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,-75829.117
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2740
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,145
$ROLL_MAX,4014
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$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,2400
$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,150
$AH0_10V,100
$PRESSURE_YINT,-10.508845
$PRESSURE_SLOPE,0.0001162386
$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,32
$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
$GPS1,070953,4806.058,-12222.250,12,2.8,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-64.4
$GPS2,071441,4806.137,-12222.326,11,2.3,30,18.3
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.138,-0.167
$KALMAN_X,-41585.7,-212.3,-275.9,43591.8,-191.1
$KALMAN_Y,-13711.5,380.0,238.4,10274.4,206.7
$MHEAD_RNG_PITCHd_Wd,122.0,2670,-11.0,-5.970
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,33,-0.79,-146.6,0.0,0.0,0,73,0.00,0.00,-37.12,0.000,2,0.000,0.000,14,2332,1500
$GC,78,-0.79,-146.6,3.0,-1.9,7,146,9.80,2.47,-53.40,0.000,4,0.197,0.059,2471,3759,3000
$GC,172,-0.79,-146.6,6.6,-5.0,23,178,0.00,2.22,0.00,0.000,6,0.000,0.026,2471,2336,3002
$GC,248,-0.79,-146.6,13.4,-9.6,36,255,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2336,3002
$GC,324,-0.79,-146.6,21.2,-9.8,49,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2336,3002
$GC,535,-0.79,-146.6,39.7,-9.3,86,541,0.00,2.17,0.00,0.000,4,0.000,0.032,2471,965,3002
$GC,606,-0.79,-146.6,46.3,-9.3,98,612,0.00,2.25,0.00,0.000,6,0.000,0.034,2471,2359,3002
$GC,813,-0.79,-146.6,64.1,-8.6,121,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2359,3002
$GC,1131,-0.79,-146.6,92.6,-9.0,151,1135,0.00,2.30,0.00,0.000,4,0.000,0.050,2468,3755,3002
$GC,1190,-0.79,-146.6,97.9,-9.4,156,1194,0.00,2.17,0.00,0.000,6,0.000,0.026,2468,2344,3003
$STATE,1268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1268,begin apogee
$GC,1278,-0.28,0.0,105.0,8.4,163,1395,0.55,0.00,112.78,0.744,6,0.109,0.000,2642,2191,2399
$STATE,1396,end apogee,CONTROL_FINISHED_OK
$STATE,1396,begin climb
$GC,1400,0.79,146.6,109.6,0.0,175,1517,1.08,0.00,111.88,0.700,6,0.082,0.000,2991,2190,1802
$GC,1837,0.79,146.6,82.3,7.5,217,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2190,1800
$GC,2155,0.79,146.6,60.0,7.2,247,2159,0.00,2.35,0.00,0.000,4,0.000,0.045,2992,3605,1800
$GC,2242,0.79,146.6,53.1,7.9,254,2248,0.00,2.20,0.00,0.000,6,0.000,0.027,3000,2202,1799
$GC,2586,0.79,146.6,29.7,6.5,311,2593,0.00,2.35,0.00,0.000,4,0.000,0.045,3000,3605,1799
$GC,2634,0.79,146.6,26.5,6.7,319,2641,0.00,2.20,0.00,0.000,6,0.000,0.027,3008,2199,1799
$GC,2847,0.79,146.6,13.0,6.1,356,2854,0.00,2.22,0.00,0.000,4,0.000,0.036,3014,801,1799
$GC,2896,0.83,175.2,10.5,5.2,364,2925,0.00,2.25,23.20,0.759,6,0.000,0.031,3014,2219,1684
$GC,2995,0.90,236.6,5.6,4.3,381,3047,0.00,2.40,45.92,0.687,4,0.000,0.044,3014,3607,1435
$GC,3100,1.14,430.7,3.4,0.6,399,3180,0.20,2.28,73.68,0.659,2,0.041,0.026,3130,2196,919
$STATE,3181,end climb,SURFACE_DEPTH_REACHED
$STATE,3181,begin surface coast
$FINISH,1.6,1.022077
$STATE,3192,end surface coast,CONTROL_FINISHED_OK
$STATE,3192,begin surface
$SM_CCo,3216,65.43,0.643,0,0,462,475.15
$SM_GC,2.35,0.00,0.00,65.43,0.000,0.000,0.643,19,2346,462,-8.51,-0.11,475.15
$IRIDIUM_FIX,4748.51,-12221.84,041007,101034
$TT8_MAMPS,0.026078
$HUMID,1864
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,17.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.4,44.2
$24V_AH,24.3,64.234
$10V_AH,10.7,32.478
$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,20.675,32.275,367.450,65.425,0.000,27.929,16.128,106.137,1.000,0.000,0.000,32.963,628.938,1316.207,456.827,814.270,365.685,33.363,882.206,0.000,816.341,0.000,2.515
$DEVICE_MAMPS,197.119,59.059,759.330,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,297.661,314.975,700.416,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19151,415
$CFSIZE,260165632,238002176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041007,081134,4805.887,-12222.114,13,2.7,32,18.3