version: 66.02
glider: 128
mission: 2
dive: 222
start: 9 14 107 19 44 18
data:
$ID,128
$MISSION,2
$DIVE,222
$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,-64599.918
$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,45
$R_STBD_OVSHOOT,41
$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
$GPS1,193901,4806.481,-12222.198,34,1.4,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.1
$GPS2,194315,4806.485,-12222.199,10,1.4,10,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.125,0.094
$KALMAN_X,17617.0,163.6,-31.0,-15654.0,99.1
$KALMAN_Y,10110.1,-123.1,-108.2,-13548.8,116.5
$MHEAD_RNG_PITCHd_Wd,288.7,3581,-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,-0.64,-146.6,0.0,0.0,0,89,0.00,0.00,-65.65,0.000,2,0.000,0.000,17,2265,3188
$GC,92,-0.64,-146.6,3.3,-2.9,12,111,10.55,2.40,-4.25,0.000,4,0.214,0.062,2598,3655,3400
$GC,174,-0.64,-146.6,14.6,-7.7,26,180,0.00,2.28,0.00,0.000,6,0.000,0.028,2598,2229,3402
$GC,248,-0.64,-146.6,19.4,-6.3,39,254,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2227,3403
$GC,325,-0.64,-146.6,23.7,-5.8,47,326,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2227,3403
$GC,515,-0.64,-146.6,34.5,-6.1,65,519,0.00,2.17,0.00,0.000,4,0.000,0.038,2598,860,3403
$GC,543,-0.64,-146.6,36.2,-6.0,67,549,0.00,2.22,0.00,0.000,6,0.000,0.034,2598,2248,3403
$GC,740,-0.64,-146.6,47.0,-5.3,86,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2248,3403
$GC,931,-0.64,-146.6,56.7,-4.5,104,935,0.00,2.22,0.00,0.000,4,0.000,0.038,2598,859,3404
$GC,960,-0.64,-146.6,58.2,-5.5,106,964,0.00,2.22,0.00,0.000,6,0.000,0.034,2599,2250,3403
$GC,1287,-0.64,-146.6,74.9,-5.3,136,1291,0.00,2.30,0.00,0.000,4,0.000,0.049,2594,3660,3403
$GC,1330,-0.64,-146.6,77.5,-5.5,139,1337,0.00,2.22,0.00,0.000,6,0.000,0.028,2594,2247,3403
$GC,1655,-0.64,-146.6,93.9,-5.2,170,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2246,3403
$STATE,1685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1685,begin apogee
$GC,1691,-0.22,0.0,95.5,4.9,173,1808,0.50,0.00,111.60,0.759,6,0.104,0.000,2752,2155,2799
$STATE,1809,end apogee,CONTROL_FINISHED_OK
$STATE,1809,begin climb
$GC,1811,0.64,146.6,97.4,0.0,185,1929,0.80,0.00,111.30,0.699,6,0.077,0.000,3018,2154,2201
$GC,2247,0.64,146.6,73.9,5.8,227,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2154,2199
$GC,2565,0.64,146.6,55.0,5.9,257,2569,0.00,2.30,0.00,0.000,4,0.000,0.045,3018,3555,2198
$GC,2603,0.64,146.6,52.4,6.7,260,2610,0.00,2.25,0.00,0.000,6,0.000,0.030,3025,2158,2198
$GC,2931,0.64,146.6,32.8,5.8,291,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2157,2197
$GC,3119,0.64,146.6,21.9,5.6,309,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2157,2198
$GC,3319,0.64,146.6,11.1,5.3,341,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2157,2197
$GC,3393,0.64,146.6,7.1,5.6,354,3399,0.00,2.25,0.00,0.000,4,0.000,0.041,3028,750,2197
$GC,3434,0.64,148.6,5.2,5.0,361,3440,0.00,2.22,0.00,0.000,6,0.000,0.032,3028,2156,2197
$GC,3508,0.73,216.9,2.8,2.9,374,3549,0.00,0.00,38.00,0.759,2,0.000,0.000,3028,2156,1947
$STATE,3549,end climb,SURFACE_DEPTH_REACHED
$STATE,3549,begin surface coast
$FINISH,0.5,1.000861
$STATE,3639,end surface coast,CONTROL_FINISHED_OK
$STATE,3639,begin surface
$SM_CCo,3656,42.22,0.685,0,0,1576,300.00
$SM_GC,1.46,0.00,0.00,42.22,0.000,0.000,0.685,8,2270,1576,-8.79,0.57,300.00
$IRIDIUM_FIX,4748.51,-12219.12,140907,222245
$TT8_MAMPS,0.026845
$HUMID,1871
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.6,29.3
$24V_AH,24.5,25.942
$10V_AH,10.7,12.232
$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,20.475,27.325,260.900,42.225,0.000,39.367,32.469,100.964,0.750,0.000,0.000,11.477,653.706,1915.984,351.962,760.795,295.512,33.353,735.958,0.000,780.919,0.000,7.037
$DEVICE_MAMPS,213.993,62.127,759.330,684.931,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,286.947,311.823,670.147,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19109,397
$CFSIZE,260165632,251449344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140907,204704,4806.814,-12222.552,11,2.7,31,18.3