version: 66.04
glider: 5
mission: 7
dive: 230
start: 10 5 109 14 13 25
data:
$ID,5
$MISSION,7
$DIVE,230
$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,-104621.79
$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,22
$R_STBD_OVSHOOT,24
$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
$GPS1,140407,6406.364,-1320.416,33,1.0,34,-12.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-60.8
$GPS2,141233,6406.269,-1320.281,12,1.7,12,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.055,0.239
$KALMAN_X,-43262.5,1132.4,277.5,-205088.9,-7344.8
$KALMAN_Y,-34907.0,2664.5,1466.3,307911.6,-59538.2
$MHEAD_RNG_PITCHd_Wd,25.5,30600,-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,15,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-61.50,0.000,2,0.000,0.000,423,2135,2803
$GC,82,-1.22,-146.6,2.7,-3.4,3,126,11.38,2.60,-23.12,0.000,4,0.166,0.078,2470,3539,3430
$GC,278,-1.15,-146.6,26.7,-14.0,11,285,0.12,2.53,0.00,0.000,6,0.106,0.050,2496,2125,3430
$GC,596,-1.11,-146.6,63.3,-11.5,27,600,0.00,2.53,0.00,0.000,4,0.000,0.062,2495,715,3430
$GC,719,-1.11,-146.6,78.8,-12.5,32,725,0.00,2.50,0.00,0.000,6,0.000,0.051,2495,2119,3430
$GC,1038,-1.05,-146.6,119.0,-13.2,48,1043,0.10,2.58,0.00,0.000,4,0.102,0.067,2517,718,3430
$GC,1088,-1.09,-146.6,124.4,-10.2,50,1093,0.00,2.50,0.00,0.000,6,0.000,0.052,2517,2115,3430
$GC,1410,-1.09,-146.6,157.5,-11.2,67,1415,0.00,2.55,0.00,0.000,4,0.000,0.064,2517,716,3430
$GC,1456,-1.14,-146.6,163.1,-11.4,70,1461,0.00,2.50,0.00,0.000,6,0.000,0.052,2517,2116,3430
$GC,1782,-1.14,-146.6,194.3,-11.6,91,1786,0.00,2.55,0.00,0.000,4,0.000,0.061,2517,707,3430
$STATE,1812,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1812,begin apogee
$GC,1822,-0.33,0.0,199.6,16.9,93,1948,0.68,0.00,122.32,0.935,6,0.071,0.000,2669,1877,2831
$STATE,1949,end apogee,CONTROL_FINISHED_OK
$STATE,1949,begin climb
$GC,1952,1.22,146.6,206.3,0.0,101,2081,1.52,2.70,120.43,0.899,4,0.057,0.071,3007,448,2233
$GC,2339,1.15,146.6,162.7,15.5,124,2345,0.00,2.53,0.00,0.000,6,0.000,0.051,3007,1858,2233
$GC,2667,1.22,189.5,130.9,6.4,142,2710,0.00,2.67,36.17,0.859,4,0.000,0.067,3007,437,2057
$GC,2851,1.15,189.5,118.8,8.8,150,2856,0.00,2.53,0.00,0.000,6,0.000,0.051,3007,1846,2057
$GC,3174,1.18,207.6,95.3,7.3,166,3196,0.00,2.62,16.42,0.825,4,0.000,0.066,3007,442,1983
$GC,3275,1.15,207.6,85.8,8.9,170,3280,0.00,2.50,0.00,0.000,6,0.000,0.051,3007,1837,1983
$GC,3592,1.15,209.7,60.3,7.9,185,3596,0.00,2.58,0.00,0.000,4,0.000,0.065,3007,436,1983
$GC,3648,1.11,209.7,55.1,9.0,187,3655,0.00,2.47,0.00,0.000,6,0.000,0.050,3007,1830,1983
$GC,3965,1.11,210.0,29.5,8.0,203,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1845,1983
$STATE,4271,end climb,SURFACE_DEPTH_REACHED
$STATE,4271,begin surface coast
$FINISH,0.5,1.027343
$STATE,4313,end surface coast,CONTROL_FINISHED_OK
$STATE,4313,begin surface
$SM_CCo,4337,48.92,0.797,0,0,1608,300.00
$SM_GC,1.43,0.00,0.00,48.92,0.000,0.000,0.797,422,2157,1608,-10.69,0.76,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1835
$TCM_TEMP,16.70
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,171.0,38.5
$24V_AH,24.0,39.493
$10V_AH,10.1,17.734
$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,25.075,46.000,295.350,48.925,0.000,75.520,58.403,204.457,6.750,0.000,0.000,12.664,453.106,2907.240,411.270,656.327,477.725,33.346,765.259,0.000,642.382,0.000,13.711,0.000
$DEVICE_MAMPS,166.439,78.234,934.973,796.913,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,148.794,163.668,285.757,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9744,220
$CAP_FILE_SIZE,47051,0
$CFSIZE,254472192,239296512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,051009,152743,6405.902,-1319.862,24,1.9,32,-12.7