version: 66.04
glider: 5
mission: 7
dive: 67
start: 9 9 109 3 34 42
data:
$ID,5
$MISSION,7
$DIVE,67
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$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,550
$T_MISSION,560
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-101526.52
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.2
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2831
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.674383
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,9
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,032707,6208.386,-940.823,26,1.2,26,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-58.9
$GPS2,033350,6208.355,-940.789,14,1.3,14,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.207,-0.079
$KALMAN_X,-98480.9,1427.3,1309.5,42035.6,-2844.0
$KALMAN_Y,49253.4,-2524.2,-1624.1,13752.8,29323.9
$MHEAD_RNG_PITCHd_Wd,258.9,48340,-11.0,-6.000
$D_GRID,990
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.97,-146.6,0.0,0.0,0,79,0.00,0.00,-61.10,0.000,2,0.000,0.000,417,2141,2706
$GC,83,-0.97,-146.6,2.9,-3.8,3,126,11.52,2.50,-24.10,0.000,4,0.160,0.074,2531,3528,3429
$GC,155,0.04,-146.6,9.0,-9.9,6,160,1.02,2.50,0.00,0.000,6,0.070,0.044,2752,2117,3429
$GC,477,-3.01,-146.6,28.7,-6.8,22,486,2.88,2.60,0.00,0.000,4,0.043,0.058,2062,3531,3430
$GC,606,-3.01,-146.6,73.2,-40.8,27,613,0.12,2.45,0.00,0.000,6,0.123,0.046,2085,2141,3430
$GC,936,-3.01,-146.6,187.1,-34.0,45,940,0.00,2.50,0.00,0.000,4,0.000,0.056,2085,725,3431
$GC,1158,-3.01,-146.6,265.0,-34.4,58,1163,0.00,2.47,0.00,0.000,6,0.000,0.047,2085,2124,3431
$GC,1483,-3.01,-146.6,376.1,-33.6,79,1488,0.00,2.53,0.00,0.000,4,0.000,0.059,2085,726,3430
$GC,1590,-3.01,-146.6,412.2,-32.6,85,1597,0.00,2.45,0.00,0.000,6,0.000,0.048,2085,2113,3431
$GC,1912,-3.01,-146.6,511.6,-29.9,106,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2113,3430
$GC,2223,-3.01,-146.6,600.5,-25.9,126,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2113,3430
$STATE,2484,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2484,begin apogee
$GC,2492,-0.33,0.0,680.7,29.6,143,2627,2.97,0.00,129.18,1.246,6,0.123,0.000,2666,1901,2831
$STATE,2627,end apogee,CONTROL_FINISHED_OK
$STATE,2627,begin climb
$GC,2631,0.97,146.6,688.4,0.0,152,2772,1.30,2.65,128.65,1.216,4,0.058,0.072,2952,529,2233
$GC,2837,0.17,157.0,685.3,5.7,164,2860,0.82,2.53,10.82,1.056,6,0.081,0.054,2782,1940,2190
$GC,3174,2.66,170.6,669.5,5.6,186,3195,2.38,2.58,13.10,1.107,4,0.044,0.069,3343,3307,2135
$GC,3449,2.66,170.6,608.6,23.9,202,3455,0.00,2.70,0.00,0.000,6,0.000,0.068,3343,1857,2134
$GC,3769,2.66,170.6,541.7,18.9,223,3773,0.00,2.70,0.00,0.000,4,0.000,0.067,3343,3311,2132
$GC,3869,2.66,170.6,521.6,20.7,229,3874,0.00,2.72,0.00,0.000,6,0.000,0.067,3343,1844,2132
$GC,4189,2.66,170.6,458.7,20.0,249,4193,0.00,2.70,0.00,0.000,4,0.000,0.064,3343,3308,2131
$GC,4268,2.66,170.6,442.5,19.7,254,4273,0.00,2.65,0.00,0.000,6,0.000,0.062,3343,1863,2131
$GC,4593,2.66,170.6,376.6,20.5,275,4596,0.00,2.40,0.00,0.000,4,0.000,0.070,3343,529,2130
$GC,4638,2.66,170.6,366.6,21.9,277,4644,0.00,2.30,0.00,0.000,6,0.000,0.050,3343,1823,2130
$GC,4957,2.66,170.6,298.9,21.7,298,4961,0.00,2.40,0.00,0.000,4,0.000,0.068,3343,520,2130
$GC,4997,2.66,170.6,289.5,23.1,300,5003,0.00,2.30,0.00,0.000,6,0.000,0.049,3343,1819,2130
$GC,5317,2.66,170.6,218.9,22.6,321,5321,0.00,2.38,0.00,0.000,4,0.000,0.067,3343,523,2130
$GC,5373,2.66,170.6,205.0,23.4,324,5379,0.00,2.28,0.00,0.000,6,0.000,0.047,3343,1816,2130
$GC,5697,2.66,170.6,129.9,23.3,344,5701,0.00,2.35,0.00,0.000,4,0.000,0.064,3343,529,2130
$GC,5725,2.66,170.6,122.7,24.8,345,5729,0.00,2.25,0.00,0.000,6,0.000,0.047,3343,1809,2130
$GC,6042,2.66,170.6,47.7,23.6,360,6046,0.00,2.35,0.00,0.000,4,0.000,0.064,3343,519,2130
$STATE,6240,end climb,SURFACE_DEPTH_REACHED
$STATE,6240,begin surface coast
$FINISH,1.5,1.026723
$STATE,6247,end surface coast,CONTROL_FINISHED_OK
$STATE,6247,begin surface
$SM_CCo,6274,72.30,0.781,1,0,1607,300.00
$SM_GC,1.51,0.00,0.00,72.30,0.000,0.000,0.781,425,2142,1607,-10.67,0.34,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1838
$TCM_TEMP,19.10
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,622.9,64.2
$24V_AH,23.8,14.052
$10V_AH,10.1,6.350
$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,Compass2
$DEVICE_SECS,35.725,65.450,281.750,72.300,0.000,37.759,38.495,198.772,8.250,0.000,0.000,14.611,723.169,4184.732,460.810,934.674,449.281,33.360,949.442,0.000,904.596,0.000,40.707,0.000
$DEVICE_MAMPS,159.536,74.399,1246.375,780.806,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,251.170,267.184,220.286,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19126,369
$CAP_FILE_SIZE,65558,0
$CFSIZE,254472192,248123392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090909,052154,6207.678,-941.883,41,1.2,41,-9.8