version: 66.04
glider: 5
mission: 4
dive: 16
start: 10 16 108 5 38 40
data:
$ID,5
$MISSION,4
$DIVE,16
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$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,80
$T_MISSION,100
$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,400
$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,-85832.859
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2650
$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,2190
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,3240
$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,-24.906118
$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,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$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
$GPS1,053338,4806.145,-12222.289,14,2.0,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-63.5
$GPS2,053747,4806.177,-12222.348,16,3.9,35,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.094,0.204
$KALMAN_X,-528.1,-59.9,40.8,1639.1,-166.5
$KALMAN_Y,2549.3,408.2,-106.3,-6058.8,44.2
$MHEAD_RNG_PITCHd_Wd,316.9,3946,-11.5,-6.250
$D_GRID,150
$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,-1.00,-146.6,0.0,0.0,0,128,0.00,0.00,-110.05,0.000,2,0.000,0.000,422,2150,3619
$GC,132,-1.00,-146.6,3.9,-4.6,19,158,10.48,2.55,-5.40,0.000,4,0.138,0.071,2427,782,3839
$GC,411,-0.83,-146.6,34.3,-9.0,54,418,0.20,2.53,0.00,0.000,6,0.087,0.051,2468,2191,3839
$GC,610,-0.78,-146.6,48.5,-7.3,73,614,0.00,2.55,0.00,0.000,4,0.000,0.058,2468,789,3839
$GC,699,-0.78,-146.6,55.3,-8.1,78,703,0.00,2.55,0.00,0.000,6,0.000,0.052,2468,2211,3839
$GC,1020,-0.78,-146.6,76.8,-6.8,94,1024,0.00,2.53,0.00,0.000,4,0.000,0.066,2468,3603,3839
$GC,1060,-0.78,-146.6,79.7,-7.7,96,1069,0.00,2.45,0.00,0.000,6,0.000,0.048,2468,2203,3839
$GC,1387,-0.78,-146.6,101.5,-6.6,112,1391,0.00,2.55,0.00,0.000,4,0.000,0.065,2469,3605,3839
$GC,1453,-0.78,-146.6,106.4,-7.0,117,1460,0.00,2.42,0.00,0.000,6,0.000,0.048,2469,2230,3839
$STATE,1500,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1500,begin apogee
$GC,1507,-0.33,0.0,109.5,6.5,122,1625,0.45,0.00,114.93,0.826,6,0.072,0.000,2573,2212,3240
$STATE,1626,end apogee,CONTROL_FINISHED_OK
$STATE,1626,begin climb
$GC,1629,1.00,146.6,112.5,0.0,134,1746,1.33,0.00,113.40,0.797,6,0.060,0.000,2863,2212,2641
$GC,2061,0.80,146.6,74.4,10.1,164,2066,0.17,2.53,0.00,0.000,4,0.084,0.063,2825,3601,2641
$GC,2111,0.74,146.6,69.4,8.7,166,2116,0.00,2.50,0.00,0.000,6,0.000,0.048,2825,2199,2641
$GC,2429,0.68,146.6,45.4,7.3,183,2431,0.15,0.00,0.00,0.000,6,0.080,0.000,2795,2180,2641
$GC,2620,0.77,176.4,34.2,5.4,201,2654,0.10,2.65,24.00,0.738,4,0.053,0.061,2825,3599,2519
$GC,2671,0.77,176.4,30.5,7.6,205,2677,0.00,2.50,0.00,0.000,6,0.000,0.048,2825,2197,2520
$GC,2871,0.77,176.4,16.8,6.7,228,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2178,2520
$GC,2946,0.77,176.4,11.7,7.1,241,2952,0.00,2.58,0.00,0.000,4,0.000,0.063,2826,3602,2520
$GC,2982,0.77,176.4,9.1,6.9,247,2988,0.00,2.45,0.00,0.000,6,0.000,0.048,2826,2216,2520
$GC,3058,0.85,191.1,4.6,5.8,260,3071,0.00,0.00,10.27,0.676,6,0.000,0.000,2826,2199,2460
$STATE,3075,end climb,SURFACE_DEPTH_REACHED
$STATE,3075,begin surface coast
$FINISH,1.0,1.020390
$STATE,3172,end surface coast,CONTROL_FINISHED_OK
$STATE,3172,begin surface
$SM_CCo,3193,106.50,0.744,0,0,1608,400.08
$SM_GC,0.45,0.00,0.00,106.50,0.000,0.000,0.744,422,2192,1608,-10.25,0.06,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1744
$TCM_TEMP,18.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,20.3
$ALTIM_BOTTOM_PING,91.2,27.6
$24V_AH,24.0,1.907
$10V_AH,10.1,0.634
$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,23.475,35.325,262.600,106.500,0.000,37.757,31.280,74.423,2.500,0.000,0.000,35.922,472.042,1732.401,454.727,658.112,250.675,33.337,799.594,0.000,630.018,0.000,14.569,0.000
$DEVICE_MAMPS,138.060,70.564,826.059,743.990,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,189.458,209.169,482.588,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12819,280
$CAP_FILE_SIZE,39907,0
$CFSIZE,254472192,252837888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,161008,063433,4806.449,-12222.579,14,1.7,15,18.3