version: 66.04
glider: 5
mission: 5
dive: 29
start: 11 10 108 20 31 18
data:
$ID,5
$MISSION,5
$DIVE,29
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$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,330
$T_MISSION,360
$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,1001
$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,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-87762.07
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2832
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-23.610077
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$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,0.0043761111
$SEABIRD_T_H,0.00064345129
$SEABIRD_T_I,2.5632376e-05
$SEABIRD_T_J,2.7382036e-06
$SEABIRD_C_G,-10.188265
$SEABIRD_C_H,1.1432956
$SEABIRD_C_I,-0.00020702372
$SEABIRD_C_J,0.00012956691
$GPS1,202607,6241.566,-554.755,24,1.9,24,-7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-60.6
$GPS2,203027,6241.546,-554.657,13,1.9,13,-7.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.255,-0.065
$KALMAN_X,54933.3,-2946.7,-1480.9,-42705.3,15560.6
$KALMAN_Y,-23295.2,-274.8,-315.6,-84869.0,3838.5
$MHEAD_RNG_PITCHd_Wd,112.3,85014,-18.1,-10.000
$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,-1.44,-146.6,0.0,0.0,0,98,0.00,0.00,-80.35,0.000,6,0.000,0.000,424,1967,3431
$GC,102,-1.44,-146.6,4.8,-5.1,4,117,10.07,2.47,0.00,0.000,4,0.138,0.060,2375,599,3432
$GC,370,-1.21,-146.6,61.8,-16.9,15,375,0.30,2.50,0.00,0.000,6,0.094,0.051,2433,2006,3433
$GC,692,-1.16,-146.6,108.7,-14.0,31,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2006,3432
$GC,1003,-1.10,-146.6,152.4,-13.4,46,1008,0.12,2.58,0.00,0.000,4,0.101,0.066,2459,599,3432
$GC,1069,-1.10,-146.6,161.1,-11.9,49,1074,0.00,2.53,0.00,0.000,6,0.000,0.052,2459,2019,3432
$GC,1391,-1.10,-146.6,197.0,-11.3,65,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2020,3432
$GC,1700,-1.10,-146.6,231.4,-11.5,80,1704,0.00,2.60,0.00,0.000,4,0.000,0.066,2459,593,3432
$GC,1727,-1.10,-146.6,234.7,-11.7,81,1731,0.00,2.55,0.00,0.000,6,0.000,0.054,2459,2023,3432
$GC,2043,-1.10,-146.6,272.5,-12.9,96,2048,0.00,2.60,0.00,0.000,4,0.000,0.067,2459,600,3432
$GC,2077,-1.10,-146.6,277.4,-13.9,97,2083,0.00,2.50,0.00,0.000,6,0.000,0.054,2459,2004,3432
$GC,2392,-1.10,-146.6,319.8,-12.8,113,2397,0.00,2.58,0.00,0.000,4,0.000,0.071,2459,597,3432
$GC,2459,-1.10,-146.6,327.8,-11.9,116,2464,0.00,2.47,0.00,0.000,6,0.000,0.054,2459,1986,3432
$STATE,2468,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2469,begin apogee
$GC,2476,-0.33,0.0,329.2,12.0,117,2596,0.77,0.00,117.25,1.025,6,0.079,0.000,2626,2260,2832
$STATE,2597,end apogee,CONTROL_FINISHED_OK
$STATE,2597,begin climb
$GC,2600,1.44,146.6,335.4,0.0,123,2724,1.77,0.00,115.88,0.992,6,0.064,0.000,3013,2260,2233
$GC,3034,1.48,172.4,304.2,8.8,144,3062,0.00,2.67,21.60,0.930,4,0.000,0.064,3013,845,2129
$GC,3159,1.48,172.4,290.4,11.2,149,3165,0.00,2.50,0.00,0.000,6,0.000,0.054,3013,2227,2128
$GC,3475,1.50,181.4,260.0,9.6,165,3489,0.00,2.65,8.80,0.832,4,0.000,0.070,3013,3653,2092
$GC,3529,1.50,181.4,254.3,11.0,167,3534,0.00,2.58,0.00,0.000,6,0.000,0.054,3013,2230,2092
$GC,3845,1.50,181.4,222.5,10.4,182,3850,0.00,2.65,0.00,0.000,4,0.000,0.069,3013,3657,2092
$GC,3889,1.50,181.4,217.7,10.8,184,3893,0.00,2.55,0.00,0.000,6,0.000,0.052,3013,2234,2092
$GC,4210,1.52,193.9,186.4,9.4,200,4231,0.00,2.72,11.48,0.846,4,0.000,0.066,3013,3661,2040
$GC,4248,1.52,196.0,182.5,9.9,201,4254,0.00,2.58,0.00,0.000,6,0.000,0.052,3013,2233,2040
$GC,4565,1.57,203.1,153.3,9.7,217,4576,0.12,0.00,8.90,0.802,6,0.059,0.000,3046,2232,2003
$GC,4874,1.53,203.1,117.9,12.0,232,4878,0.00,2.62,0.00,0.000,4,0.000,0.067,3046,3656,2003
$GC,4907,1.47,203.1,113.5,12.3,233,4914,0.15,2.55,0.00,0.000,6,0.101,0.051,3019,2230,2003
$GC,5225,1.47,203.1,79.2,10.7,249,5229,0.00,2.50,0.00,0.000,4,0.000,0.065,3019,844,2003
$GC,5252,1.47,203.1,75.6,12.2,250,5257,0.00,2.53,0.00,0.000,6,0.000,0.052,3019,2252,2003
$GC,5569,1.52,203.1,37.2,12.4,265,5573,0.00,2.58,0.00,0.000,4,0.000,0.063,3019,842,2003
$GC,5596,1.52,203.1,33.6,12.7,266,5601,0.00,2.53,0.00,0.000,6,0.000,0.054,3020,2248,2003
$STATE,5868,end climb,SURFACE_DEPTH_REACHED
$STATE,5868,begin surface coast
$FINISH,0.7,1.027234
$STATE,5912,end surface coast,CONTROL_FINISHED_OK
$STATE,5912,begin surface
$SM_CCo,5935,24.58,0.792,0,0,1811,250.21
$SM_GC,0.97,0.00,0.00,24.58,0.000,0.000,0.792,425,1975,1811,-10.47,-0.71,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1788
$TCM_TEMP,17.30
$XPDR_PINGS,161
$ALTIM_TOP_PING,19.3,999.0
$ALTIM_BOTTOM_PING,301.2,37.6
$24V_AH,24.0,7.341
$10V_AH,10.1,3.312
$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,24.650,62.525,283.900,24.575,0.000,37.759,33.786,92.837,42.750,0.000,0.000,13.750,572.280,4253.915,402.460,704.303,300.320,33.341,787.962,0.000,689.640,0.000,18.291,0.000
$DEVICE_MAMPS,138.060,71.331,1025.479,792.311,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,205.988,187.847,243.839,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12852,281
$CAP_FILE_SIZE,53301,0
$CFSIZE,254472192,250773504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,101108,221156,6240.656,-549.969,38,1.7,39,-7.9