version: 66.02
glider: 128
mission: 2
dive: 253
start: 9 16 107 3 23 52
data:
$ID,128
$MISSION,2
$DIVE,253
$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,-65300.652
$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,39
$R_STBD_OVSHOOT,28
$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
$GPS1,031837,4805.576,-12221.303,18,1.4,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.3
$GPS2,032251,4805.547,-12221.284,12,1.6,12,18.3
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.107,0.115
$KALMAN_X,18522.7,-158.0,-195.9,-14942.6,188.0
$KALMAN_Y,9702.2,213.3,221.3,-15543.5,-138.5
$MHEAD_RNG_PITCHd_Wd,298.6,5649,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.77,-146.6,0.0,0.0,0,91,0.00,0.00,-65.03,0.000,2,0.000,0.000,12,2242,3176
$GC,94,-0.77,-146.6,3.0,-2.6,12,112,10.40,0.00,-4.75,0.000,6,0.214,0.000,2564,2241,3399
$GC,180,-0.77,-146.6,13.6,-7.5,27,187,0.00,2.30,0.00,0.000,4,0.000,0.041,2564,838,3402
$GC,210,-0.77,-146.6,15.8,-7.2,32,216,0.00,2.33,0.00,0.000,6,0.000,0.038,2564,2254,3402
$GC,284,-0.77,-146.6,20.8,-6.9,44,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2255,3403
$GC,475,-0.77,-146.6,33.6,-6.4,62,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2254,3403
$GC,666,-0.77,-146.6,46.6,-6.9,80,670,0.00,2.33,0.00,0.000,4,0.000,0.054,2560,3654,3403
$GC,711,-0.77,-146.6,49.7,-7.1,84,715,0.00,2.25,0.00,0.000,6,0.000,0.028,2560,2230,3403
$GC,908,-0.77,-146.6,62.6,-6.3,102,912,0.00,2.20,0.00,0.000,4,0.000,0.041,2560,850,3404
$GC,936,-0.77,-146.6,64.5,-6.7,104,942,0.00,2.28,0.00,0.000,6,0.000,0.038,2560,2259,3404
$GC,1262,-0.77,-146.6,84.9,-6.3,135,1266,0.00,2.30,0.00,0.000,4,0.000,0.053,2553,3658,3404
$GC,1283,-0.77,-146.6,86.5,-6.5,136,1289,0.00,2.22,0.00,0.000,6,0.000,0.028,2552,2251,3404
$STATE,1415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1415,begin apogee
$GC,1421,-0.28,0.0,95.1,6.5,149,1538,0.52,0.00,111.75,0.760,6,0.112,0.000,2720,2142,2799
$STATE,1539,end apogee,CONTROL_FINISHED_OK
$STATE,1539,begin climb
$GC,1541,0.77,146.6,97.8,0.0,161,1662,1.05,2.40,110.72,0.698,4,0.082,0.044,3068,773,2201
$GC,1680,0.77,146.6,91.3,6.6,174,1686,0.00,2.33,0.00,0.000,6,0.000,0.035,3068,2150,2201
$GC,2007,0.77,146.6,67.1,7.3,205,2011,0.00,2.35,0.00,0.000,4,0.000,0.051,3068,3556,2199
$GC,2040,0.77,146.6,64.3,7.6,207,2047,0.00,2.28,0.00,0.000,6,0.000,0.031,3077,2173,2199
$GC,2367,0.77,146.6,40.8,7.3,238,2371,0.00,2.33,0.00,0.000,4,0.000,0.045,3079,744,2199
$GC,2407,0.77,146.6,37.8,7.1,241,2411,0.00,2.30,0.00,0.000,6,0.000,0.036,3079,2163,2199
$GC,2604,0.77,146.6,24.0,7.0,259,2608,0.00,2.30,0.00,0.000,4,0.000,0.051,3079,3558,2199
$GC,2632,0.77,146.6,21.9,8.2,261,2636,0.00,2.28,0.00,0.000,6,0.000,0.032,3083,2137,2198
$GC,2839,0.77,146.6,8.0,5.7,295,2846,0.00,2.25,0.00,0.000,4,0.000,0.047,3088,747,2198
$GC,2886,0.77,146.6,5.4,5.6,303,2892,0.00,2.28,0.00,0.000,6,0.000,0.036,3088,2160,2198
$GC,2961,0.78,157.5,2.1,4.7,316,2968,0.00,0.00,5.30,0.659,2,0.000,0.000,3088,2160,2172
$STATE,2969,end climb,SURFACE_DEPTH_REACHED
$STATE,2969,begin surface coast
$FINISH,0.4,1.024552
$STATE,3013,end surface coast,CONTROL_FINISHED_OK
$STATE,3013,begin surface
$SM_CCo,3031,67.95,0.696,0,0,1576,300.00
$SM_GC,1.51,0.00,0.00,67.95,0.000,0.000,0.696,8,2273,1576,-8.79,0.65,300.00
$IRIDIUM_FIX,4745.30,-12215.68,160907,060622
$TT8_MAMPS,0.026845
$HUMID,1869
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.3,45.0
$24V_AH,24.5,28.246
$10V_AH,10.7,13.603
$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,20.625,41.550,227.775,67.950,0.000,40.034,37.824,90.551,0.250,0.000,0.000,13.706,557.183,1519.734,345.114,664.914,291.023,33.329,703.695,0.000,676.794,0.000,2.514
$DEVICE_MAMPS,213.993,60.593,760.097,695.669,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,231.933,252.223,548.393,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15929,325
$CFSIZE,260165632,250580992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160907,041637,4805.809,-12221.442,28,1.5,29,18.3