version: 66.02
glider: 128
mission: 2
dive: 164
start: 9 11 107 23 56 38
data:
$ID,128
$MISSION,2
$DIVE,164
$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,-62489.703
$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,39
$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
$GPS1,235053,4807.455,-12223.411,11,3.2,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.8
$GPS2,235537,4807.449,-12223.413,14,1.4,25,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.118,0.104
$KALMAN_X,12615.5,-15.6,-122.7,-11878.6,29.0
$KALMAN_Y,6008.1,193.8,189.1,-8275.2,194.4
$MHEAD_RNG_PITCHd_Wd,293.0,1253,-10.6,-5.026
$D_GRID,103
$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,-66.05,0.000,2,0.000,0.000,14,2262,3198
$GC,91,-0.66,-146.6,3.2,-3.1,12,111,10.60,2.40,-4.12,0.000,4,0.217,0.054,2604,846,3401
$GC,258,-0.66,-146.6,18.1,-6.0,41,264,0.00,2.30,0.00,0.000,6,0.000,0.038,2604,2248,3404
$GC,335,-0.66,-146.6,22.4,-5.5,51,336,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2248,3404
$GC,526,-0.66,-146.6,32.1,-4.9,69,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2248,3404
$GC,718,-0.66,-146.6,41.7,-4.9,87,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2248,3405
$GC,909,-0.66,-146.6,51.2,-5.0,105,913,0.00,2.28,0.00,0.000,4,0.000,0.040,2604,840,3405
$GC,941,-0.66,-146.6,53.1,-5.4,107,948,0.00,2.30,0.00,0.000,6,0.000,0.036,2604,2248,3404
$GC,1267,-0.66,-146.6,69.1,-4.8,138,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2249,3405
$GC,1586,-0.66,-146.6,84.8,-5.0,168,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2249,3405
$STATE,1795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1795,begin apogee
$GC,1800,-0.23,0.0,95.3,5.0,188,1918,0.45,0.00,112.10,0.772,6,0.103,0.000,2748,2131,2799
$STATE,1919,end apogee,CONTROL_FINISHED_OK
$STATE,1919,begin climb
$GC,1921,0.66,146.6,97.4,0.0,200,2039,0.88,0.00,111.70,0.702,6,0.078,0.000,3035,2131,2201
$GC,2356,0.66,146.6,73.2,6.1,242,2360,0.00,2.40,0.00,0.000,4,0.000,0.050,3035,3555,2199
$GC,2413,0.66,146.6,69.2,7.2,247,2417,0.00,2.25,0.00,0.000,6,0.000,0.031,3037,2168,2199
$GC,2738,0.66,146.6,48.2,6.3,277,2742,0.00,2.33,0.00,0.000,4,0.000,0.044,3039,740,2198
$GC,2765,0.66,146.6,46.4,6.4,279,2769,0.00,2.30,0.00,0.000,6,0.000,0.035,3039,2158,2198
$GC,2962,0.66,146.6,34.3,5.9,297,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2158,2198
$GC,3153,0.66,146.6,23.1,5.9,315,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2159,2198
$GC,3352,0.66,146.6,12.0,5.3,345,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2158,2198
$GC,3427,0.66,146.6,8.2,5.2,358,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2158,2198
$GC,3501,0.66,149.5,4.4,4.9,371,3507,0.00,2.30,0.00,0.000,4,0.000,0.044,3039,745,2198
$GC,3519,0.67,157.5,3.7,4.8,374,3532,0.00,2.28,8.60,0.789,6,0.000,0.035,3039,2162,2156
$STATE,3589,end climb,SURFACE_DEPTH_REACHED
$STATE,3589,begin surface coast
$FINISH,0.3,1.013391
$STATE,3689,end surface coast,CONTROL_FINISHED_OK
$STATE,3689,begin surface
$SM_CCo,3706,68.45,0.708,0,0,1577,300.00
$SM_GC,1.30,0.00,0.00,68.45,0.000,0.000,0.708,17,2272,1577,-8.76,0.62,300.00
$IRIDIUM_FIX,4751.72,-12226.29,120907,020232
$TT8_MAMPS,0.026845
$HUMID,1871
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.0,46.4
$24V_AH,24.4,21.550
$10V_AH,10.8,9.331
$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,20.500,23.425,232.400,68.450,0.000,38.472,53.848,100.556,0.750,0.000,0.000,26.667,663.147,1985.652,350.526,783.203,299.530,33.348,724.227,0.000,790.034,0.000,2.517
$DEVICE_MAMPS,217.061,63.661,789.243,707.941,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,288.349,321.722,681.894,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19123,404
$CFSIZE,260165632,253120512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120907,010037,4807.794,-12223.811,29,1.3,30,18.3