version: 66.02
glider: 128
mission: 2
dive: 224
start: 9 14 107 21 57 38
data:
$ID,128
$MISSION,2
$DIVE,224
$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,-64645.469
$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,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
$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,47
$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
$GPS1,214726,4807.110,-12222.964,5,1.2,11,18.3
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-69.2
$GPS2,215638,4807.114,-12222.950,13,1.4,30,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.131,0.086
$KALMAN_X,17643.0,79.8,110.7,-16662.4,4.4
$KALMAN_Y,10447.4,50.1,-92.1,-12908.8,296.9
$MHEAD_RNG_PITCHd_Wd,284.9,2092,-10.6,-5.026
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.77,-146.6,0.0,0.0,0,89,0.00,0.00,-65.12,0.000,2,0.000,0.000,18,2268,3191
$GC,92,-0.77,-146.6,3.1,-2.8,12,112,10.40,2.38,-4.30,0.000,4,0.216,0.062,2557,3642,3401
$GC,135,-0.77,-146.6,11.2,-17.0,19,141,0.00,2.25,0.00,0.000,6,0.000,0.028,2557,2227,3403
$GC,209,-0.77,-146.6,16.8,-7.2,32,215,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2224,3404
$GC,281,-0.77,-146.6,21.8,-6.7,43,282,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2225,3404
$GC,472,-0.77,-146.6,34.8,-6.6,61,473,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2225,3405
$GC,663,-0.77,-146.6,48.1,-6.7,79,667,0.00,2.35,0.00,0.000,4,0.000,0.048,2552,3641,3405
$GC,686,-0.77,-146.6,49.7,-7.1,81,690,0.00,2.17,0.00,0.000,6,0.000,0.028,2552,2239,3405
$GC,888,-0.77,-146.6,63.1,-6.7,100,892,0.00,2.33,0.00,0.000,4,0.000,0.048,2544,3645,3406
$GC,916,-0.77,-146.6,65.0,-7.1,102,920,0.00,2.17,0.00,0.000,6,0.000,0.028,2545,2248,3405
$GC,1242,-0.77,-146.6,86.9,-6.8,132,1246,0.00,2.20,0.00,0.000,4,0.000,0.038,2544,859,3405
$GC,1292,-0.77,-146.6,90.6,-6.7,136,1297,0.12,2.20,0.00,0.000,6,0.141,0.034,2572,2242,3405
$STATE,1371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1371,begin apogee
$GC,1377,-0.28,0.0,95.4,5.7,143,1494,0.47,0.00,112.10,0.757,6,0.110,0.000,2726,2141,2800
$STATE,1495,end apogee,CONTROL_FINISHED_OK
$STATE,1495,begin climb
$GC,1497,0.77,146.6,98.1,0.0,155,1613,1.02,0.00,111.03,0.699,6,0.079,0.000,3061,2141,2202
$GC,1931,0.77,146.6,70.8,7.1,196,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2141,2200
$GC,2249,0.77,146.6,48.6,6.7,226,2253,0.00,2.33,0.00,0.000,4,0.000,0.045,3062,3560,2199
$GC,2272,0.77,146.6,47.0,7.4,228,2276,0.00,2.22,0.00,0.000,6,0.000,0.030,3069,2167,2199
$GC,2474,0.77,146.6,32.8,6.8,247,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2165,2198
$GC,2665,0.77,146.6,19.8,6.8,265,2671,0.00,2.30,0.00,0.000,4,0.000,0.046,3069,3563,2199
$GC,2711,0.77,146.6,16.5,7.0,273,2718,0.00,2.25,0.00,0.000,6,0.000,0.030,3077,2139,2199
$GC,2786,0.77,146.6,11.5,6.7,286,2792,0.00,2.22,0.00,0.000,4,0.000,0.041,3084,750,2199
$GC,2821,0.77,146.6,9.3,6.2,292,2827,0.00,2.22,0.00,0.000,6,0.000,0.033,3084,2153,2199
$GC,2896,0.77,151.6,5.6,4.9,305,2902,0.00,0.00,4.55,0.617,6,0.000,0.000,3084,2153,2182
$GC,2971,0.83,195.2,2.8,3.7,318,3000,0.00,0.00,27.27,0.769,2,0.000,0.000,3084,2153,2008
$STATE,3000,end climb,SURFACE_DEPTH_REACHED
$STATE,3001,begin surface coast
$FINISH,0.3,1.023406
$STATE,3068,end surface coast,CONTROL_FINISHED_OK
$STATE,3068,begin surface
$SM_CCo,3085,52.85,0.680,0,0,1577,300.00
$SM_GC,1.56,0.00,0.00,52.85,0.000,0.000,0.680,17,2268,1577,-8.76,0.51,300.00
$IRIDIUM_FIX,4751.72,-12226.29,150907,010103
$TT8_MAMPS,0.026078
$HUMID,1846
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.4,40.7
$24V_AH,24.5,26.094
$10V_AH,10.7,12.320
$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,20.825,31.875,254.950,52.850,0.000,79.279,102.981,189.661,0.500,0.000,0.000,31.428,560.653,1621.237,331.876,690.793,509.076,33.357,696.634,0.000,687.586,0.000,2.510
$DEVICE_MAMPS,215.527,62.127,769.301,680.329,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,237.078,260.627,565.477,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15958,335
$CFSIZE,260165632,251396096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140907,225044,4807.416,-12223.350,11,1.4,12,18.3