version: 66.02
glider: 128
mission: 2
dive: 197
start: 9 13 107 13 51 38
data:
$ID,128
$MISSION,2
$DIVE,197
$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,-63224.332
$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,23
$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,43
$R_STBD_OVSHOOT,46
$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
$GPS1,134550,4805.337,-12221.368,27,1.7,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.5
$GPS2,135037,4805.299,-12221.396,13,1.8,29,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.114,-0.108
$KALMAN_X,14985.8,251.0,-62.7,-12082.8,22.7
$KALMAN_Y,7957.6,-86.4,249.2,-13984.1,-111.2
$MHEAD_RNG_PITCHd_Wd,114.9,740,-10.6,-5.026
$D_GRID,110
$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,19,begin dive
$GC,21,-0.64,-146.6,0.0,0.0,0,83,0.00,0.00,-60.08,0.000,2,0.000,0.000,8,2273,3070
$GC,86,-0.64,-146.6,3.1,-2.8,11,111,10.65,2.35,-6.53,0.000,4,0.216,0.051,2605,843,3400
$GC,415,-0.64,-146.6,28.2,-5.7,56,419,0.00,2.25,0.00,0.000,6,0.000,0.035,2605,2240,3403
$GC,611,-0.64,-146.6,39.0,-5.7,74,615,0.00,2.25,0.00,0.000,4,0.000,0.038,2605,839,3403
$GC,690,-0.64,-146.6,43.4,-5.5,81,694,0.00,2.25,0.00,0.000,6,0.000,0.034,2605,2254,3404
$GC,892,-0.64,-146.6,53.5,-4.9,100,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2254,3404
$GC,1211,-0.64,-146.6,68.1,-4.7,130,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2254,3404
$GC,1529,-0.64,-146.6,84.0,-5.1,160,1533,0.00,2.25,0.00,0.000,4,0.000,0.038,2605,847,3404
$GC,1573,-0.64,-146.6,86.6,-5.6,163,1579,0.00,2.25,0.00,0.000,6,0.000,0.035,2604,2247,3404
$STATE,1748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1748,begin apogee
$GC,1753,-0.22,0.0,95.5,5.0,180,1871,0.45,0.00,111.95,0.768,6,0.102,0.000,2749,2129,2799
$STATE,1871,end apogee,CONTROL_FINISHED_OK
$STATE,1871,begin climb
$GC,1873,0.64,146.6,97.7,0.0,192,1991,0.82,0.00,111.60,0.696,6,0.076,0.000,3021,2129,2201
$GC,2309,0.64,146.6,74.6,6.0,234,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2129,2199
$GC,2627,0.64,146.6,55.2,6.1,264,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2129,2199
$GC,2946,0.64,146.6,34.7,6.2,294,2950,0.00,2.35,0.00,0.000,4,0.000,0.045,3021,3563,2198
$GC,2994,0.64,146.6,31.3,6.7,298,3002,0.00,2.25,0.00,0.000,6,0.000,0.030,3026,2164,2198
$GC,3192,0.64,146.6,20.4,5.1,317,3196,0.00,2.28,0.00,0.000,4,0.000,0.042,3027,747,2198
$GC,3226,0.64,146.6,18.6,5.2,321,3232,0.00,2.25,0.00,0.000,6,0.000,0.033,3027,2158,2198
$GC,3301,0.64,146.6,14.6,5.4,334,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2158,2198
$GC,3375,0.66,166.1,11.2,4.4,347,3398,0.00,2.33,15.77,0.855,4,0.000,0.047,3027,3546,2122
$GC,3448,0.66,166.1,7.6,5.3,360,3455,0.00,2.25,0.00,0.000,6,0.000,0.030,3027,2151,2121
$GC,3523,0.72,213.2,4.9,3.6,373,3564,0.00,2.38,35.25,0.738,4,0.000,0.041,3027,754,1930
$GC,3626,0.86,324.9,3.1,1.6,391,3668,0.20,2.28,36.03,0.678,2,0.059,0.032,3107,2153,1735
$STATE,3669,end climb,SURFACE_DEPTH_REACHED
$STATE,3669,begin surface coast
$FINISH,0.7,1.023682
$STATE,3696,end surface coast,CONTROL_FINISHED_OK
$STATE,3697,begin surface
$SM_CCo,3714,21.75,0.647,0,0,1576,300.00
$SM_GC,1.23,0.00,0.00,21.75,0.000,0.000,0.647,15,2266,1576,-8.77,0.45,300.00
$IRIDIUM_FIX,4745.30,-12222.84,130907,161611
$TT8_MAMPS,0.026078
$HUMID,1849
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,48.1
$24V_AH,24.5,24.020
$10V_AH,10.7,10.950
$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,21.075,32.250,310.600,21.750,0.000,40.550,40.432,106.595,0.250,0.000,0.000,30.684,644.239,1925.957,358.116,818.558,300.115,33.340,768.115,0.000,819.757,0.000,2.519
$DEVICE_MAMPS,216.294,59.059,855.205,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,288.143,312.631,679.746,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19105,403
$CFSIZE,260165632,252170240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130907,145531,4805.165,-12220.844,60,1.4,61,18.3