version: 66.04
glider: 5
mission: 5
dive: 33
start: 11 11 108 4 7 12
data:
$ID,5
$MISSION,5
$DIVE,33
$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,-87844.266
$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,23
$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
$GPS1,040205,6239.718,-541.121,8,4.2,27,-7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-63.3
$GPS2,040621,6239.703,-541.104,15,1.2,15,-7.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.255,0.067
$KALMAN_X,37954.8,343.0,-134.4,-19269.6,-16731.9
$KALMAN_Y,-30057.9,-1101.1,636.8,-81667.4,-9423.5
$MHEAD_RNG_PITCHd_Wd,83.1,74173,-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,-79.95,0.000,6,0.000,0.000,426,1981,3430
$GC,102,-1.44,-146.6,5.0,-5.8,4,117,10.05,2.53,0.00,0.000,4,0.137,0.064,2378,596,3432
$GC,271,-1.22,-146.6,39.7,-17.5,10,278,0.28,2.50,0.00,0.000,6,0.094,0.052,2432,2001,3432
$GC,589,-1.16,-146.6,83.4,-13.1,26,593,0.00,2.58,0.00,0.000,4,0.000,0.064,2433,586,3432
$GC,633,-1.11,-146.6,90.0,-13.8,28,638,0.12,2.50,0.00,0.000,6,0.100,0.052,2457,1991,3432
$GC,955,-1.11,-146.6,127.7,-11.3,44,959,0.00,2.55,0.00,0.000,4,0.000,0.067,2458,594,3432
$GC,1017,-1.11,-146.6,135.9,-13.4,47,1021,0.00,2.47,0.00,0.000,6,0.000,0.053,2457,1984,3432
$GC,1344,-1.11,-146.6,177.2,-12.1,63,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1985,3432
$GC,1653,-1.11,-146.6,213.1,-11.3,78,1657,0.00,2.55,0.00,0.000,4,0.000,0.068,2458,590,3431
$GC,1696,-1.11,-146.6,218.5,-11.8,80,1701,0.00,2.40,0.00,0.000,6,0.000,0.052,2458,1943,3432
$GC,2018,-1.11,-146.6,253.4,-10.3,96,2022,0.00,2.47,0.00,0.000,4,0.000,0.071,2458,596,3432
$GC,2058,-1.11,-146.6,257.5,-10.0,98,2062,0.00,2.38,0.00,0.000,6,0.000,0.054,2458,1930,3431
$GC,2384,-1.11,-146.6,292.6,-11.5,114,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1930,3432
$GC,2694,-1.11,-146.6,328.4,-10.8,129,2698,0.00,2.67,0.00,0.000,4,0.000,0.068,2458,3411,3431
$GC,2766,-1.16,-146.6,335.7,-9.6,132,2771,0.00,2.65,0.00,0.000,6,0.000,0.056,2458,1934,3431
$STATE,3059,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3059,begin apogee
$GC,3066,-0.33,0.0,369.6,12.0,146,3187,0.77,0.00,117.47,1.053,6,0.080,0.000,2624,2263,2832
$STATE,3188,end apogee,CONTROL_FINISHED_OK
$STATE,3188,begin climb
$GC,3191,1.44,146.6,375.1,0.0,152,3317,1.77,2.67,116.38,1.023,4,0.064,0.072,3012,3653,2233
$GC,3425,1.42,162.4,360.8,9.3,162,3445,0.00,2.55,13.80,0.928,6,0.000,0.054,3012,2242,2169
$GC,3762,1.48,202.3,333.2,8.2,179,3805,0.00,2.62,32.92,0.979,4,0.000,0.067,3012,854,2007
$GC,3828,1.48,202.3,326.8,10.6,182,3833,0.00,2.55,0.00,0.000,6,0.000,0.054,3012,2256,2007
$GC,4156,1.53,202.3,290.0,11.9,198,4160,0.00,2.55,0.00,0.000,4,0.000,0.071,3012,3654,2006
$GC,4195,1.53,202.3,285.1,12.4,200,4200,0.00,2.50,0.00,0.000,6,0.000,0.055,3012,2260,2006
$GC,4522,1.57,202.3,245.8,11.8,216,4527,0.12,2.58,0.00,0.000,4,0.059,0.066,3046,843,2006
$GC,4563,1.50,202.3,240.4,14.2,218,4567,0.00,2.53,0.00,0.000,6,0.000,0.054,3046,2246,2006
$GC,4889,1.45,202.3,195.9,13.4,234,4894,0.15,2.58,0.00,0.000,4,0.097,0.069,3018,3659,2006
$GC,4911,1.45,202.3,192.7,13.7,235,4915,0.00,2.53,0.00,0.000,6,0.000,0.054,3018,2253,2006
$GC,5232,1.45,202.3,155.5,10.9,251,5237,0.00,2.55,0.00,0.000,4,0.000,0.067,3018,845,2006
$GC,5295,1.45,202.3,148.5,11.1,254,5299,0.00,2.50,0.00,0.000,6,0.000,0.053,3018,2239,2006
$GC,5628,1.50,202.3,114.3,10.2,270,5633,0.00,2.58,0.00,0.000,4,0.000,0.069,3018,3658,2006
$GC,5678,1.50,202.3,108.9,10.5,272,5683,0.00,2.53,0.00,0.000,6,0.000,0.053,3018,2242,2006
$GC,5995,1.54,202.3,78.2,10.7,287,5999,0.00,2.53,0.00,0.000,4,0.000,0.065,3018,841,2006
$GC,6035,1.61,216.0,74.3,9.4,289,6057,0.15,2.53,11.95,0.794,6,0.058,0.052,3056,2254,1950
$GC,6370,1.56,216.0,32.2,13.0,305,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2254,1951
$STATE,6590,end climb,SURFACE_DEPTH_REACHED
$STATE,6590,begin surface coast
$FINISH,0.5,1.027300
$STATE,6612,end surface coast,CONTROL_FINISHED_OK
$STATE,6612,begin surface
$SM_CCo,6635,18.05,0.786,0,0,1812,250.21
$SM_GC,1.44,0.00,0.00,18.05,0.000,0.000,0.786,421,1982,1812,-10.48,-0.51,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1777
$TCM_TEMP,17.20
$XPDR_PINGS,191
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,300.0,79.5
$24V_AH,24.0,7.774
$10V_AH,10.1,3.473
$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,24.875,72.200,292.525,18.050,0.000,37.760,29.723,90.767,50.250,0.000,0.000,15.744,642.696,4784.884,396.606,794.236,304.942,33.338,830.078,0.000,774.549,0.000,18.400,0.000
$DEVICE_MAMPS,136.526,72.098,1053.091,786.175,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,232.829,212.608,267.915,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15956,317
$CAP_FILE_SIZE,59019,0
$CFSIZE,254472192,250638336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,111108,055925,6240.102,-537.724,22,1.4,40,-7.8