version: 66.04
glider: 5
mission: 7
dive: 203
start: 10 2 109 18 50 16
data:
$ID,5
$MISSION,7
$DIVE,203
$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,412.5
$T_MISSION,440
$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,-104090.58
$T_RSLEEP,27
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,22
$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
$GPS1,184407,6403.212,-1314.000,72,1.3,73,-12.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-48.4
$GPS2,184928,6403.268,-1313.996,12,2.6,31,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.243,0.033
$KALMAN_X,-46534.7,-391.8,9.3,-194486.2,26445.2
$KALMAN_Y,-31691.6,158.4,667.6,302430.4,-29401.2
$MHEAD_RNG_PITCHd_Wd,290.3,25703,-14.8,-8.000
$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,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-61.03,0.000,2,0.000,0.000,419,2142,2766
$GC,82,-1.22,-146.6,2.1,-1.1,3,126,11.38,2.58,-22.30,0.000,4,0.161,0.077,2471,3538,3429
$GC,378,-1.13,-146.6,40.5,-13.3,16,384,0.12,2.53,0.00,0.000,6,0.106,0.048,2496,2118,3429
$GC,702,-1.13,-146.6,78.6,-13.6,32,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2101,3430
$GC,1011,-1.10,-146.6,122.9,-15.5,47,1015,0.00,2.62,0.00,0.000,4,0.000,0.064,2496,3544,3429
$GC,1089,-1.10,-146.6,135.1,-14.4,50,1095,0.00,2.50,0.00,0.000,6,0.000,0.049,2496,2134,3430
$GC,1417,-1.10,-146.6,174.8,-11.5,70,1421,0.00,2.53,0.00,0.000,4,0.000,0.061,2496,715,3429
$GC,1444,-1.10,-146.6,177.7,-9.7,71,1450,0.00,2.53,0.00,0.000,6,0.000,0.049,2496,2137,3429
$STATE,1604,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1604,begin apogee
$GC,1612,-0.33,0.0,195.8,11.3,82,1743,0.82,0.00,122.82,0.920,6,0.077,0.000,2675,1836,2831
$STATE,1743,end apogee,CONTROL_FINISHED_OK
$STATE,1743,begin climb
$GC,1746,1.22,146.6,200.6,0.0,91,1876,1.52,2.55,121.38,0.887,4,0.059,0.064,3008,449,2232
$GC,2023,1.13,152.5,186.2,7.8,108,2035,0.00,2.53,6.35,0.696,6,0.000,0.048,3009,1881,2209
$GC,2348,1.22,213.4,164.6,5.8,129,2404,0.00,2.67,51.33,0.866,4,0.000,0.067,3008,452,1959
$GC,2545,1.18,213.4,150.4,8.5,140,2549,0.00,2.42,0.00,0.000,6,0.000,0.048,3008,1816,1959
$GC,2863,1.18,213.4,122.3,8.7,155,2868,0.00,2.58,0.00,0.000,4,0.000,0.058,3008,3257,1958
$GC,2919,1.18,213.4,116.8,9.2,157,2926,0.00,2.55,0.00,0.000,6,0.000,0.053,3008,1841,1958
$GC,3236,1.18,213.4,82.0,12.1,173,3240,0.00,2.58,0.00,0.000,4,0.000,0.058,3008,3255,1959
$GC,3269,1.18,213.4,77.6,12.8,174,3275,0.00,2.55,0.00,0.000,6,0.000,0.051,3008,1830,1959
$GC,3586,1.18,213.4,40.3,11.9,190,3591,0.00,2.60,0.00,0.000,4,0.000,0.057,3008,3264,1958
$GC,3637,1.22,213.4,34.6,11.4,192,3641,0.00,2.50,0.00,0.000,6,0.000,0.050,3008,1864,1958
$GC,3956,1.29,257.8,8.5,6.4,207,3999,0.00,2.60,35.90,0.796,4,0.000,0.064,3008,442,1780
$GC,4023,1.29,257.8,3.3,8.9,210,4027,0.00,2.55,0.00,0.000,6,0.000,0.048,3008,1884,1780
$STATE,4031,end climb,SURFACE_DEPTH_REACHED
$STATE,4031,begin surface coast
$FINISH,0.5,1.027158
$STATE,4121,end surface coast,CONTROL_FINISHED_OK
$STATE,4122,begin surface
$SM_CCo,4146,25.70,0.777,0,0,1608,300.00
$SM_GC,1.27,0.00,0.00,25.70,0.000,0.000,0.777,421,2150,1608,-10.69,0.57,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1819
$TCM_TEMP,17.10
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,171.0,33.6
$24V_AH,24.0,35.596
$10V_AH,10.1,16.303
$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,25.325,46.900,337.775,25.700,0.000,37.758,30.962,129.625,3.750,0.000,0.000,31.967,436.153,2670.719,424.892,639.725,332.003,33.355,777.305,0.000,607.472,0.000,9.864,0.000
$DEVICE_MAMPS,161.070,76.700,919.633,776.971,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,144.658,159.495,253.396,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9682,215
$CAP_FILE_SIZE,42748,0
$CFSIZE,254472192,240402432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021009,200106,6404.243,-1313.463,38,1.1,39,-12.6