version: 66.04
glider: 5
mission: 4
dive: 18
start: 10 16 108 7 41 32
data:
$ID,5
$MISSION,4
$DIVE,18
$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,-85875.211
$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,35
$R_STBD_OVSHOOT,20
$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
$GPS1,073621,4806.857,-12222.709,14,2.0,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-69.2
$GPS2,074038,4806.903,-12222.745,14,1.9,25,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.144,0.173
$KALMAN_X,163.5,-156.3,-148.6,740.6,347.4
$KALMAN_Y,2221.3,21.3,-47.2,-4065.7,-381.0
$MHEAD_RNG_PITCHd_Wd,302.0,2556,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.00,-146.6,0.0,0.0,0,92,0.00,0.00,-75.18,0.000,2,0.000,0.000,426,2190,3287
$GC,96,-1.00,-146.6,3.1,-4.6,13,129,10.43,2.60,-16.20,0.000,4,0.137,0.069,2429,793,3838
$GC,384,-0.82,-146.6,36.6,-6.2,50,389,0.20,2.50,0.00,0.000,6,0.085,0.051,2470,2191,3839
$GC,592,-0.82,-146.6,51.6,-6.2,68,596,0.00,2.55,0.00,0.000,4,0.000,0.066,2470,3599,3839
$GC,655,-0.78,-146.6,55.3,-6.7,71,659,0.00,2.47,0.00,0.000,6,0.000,0.048,2470,2197,3839
$GC,983,-0.78,-146.6,77.5,-7.0,87,987,0.00,2.55,0.00,0.000,4,0.000,0.065,2470,3598,3839
$GC,1027,-0.78,-146.6,80.7,-6.9,89,1032,0.00,2.47,0.00,0.000,6,0.000,0.048,2470,2199,3839
$GC,1350,-0.78,-146.6,101.7,-6.1,106,1354,0.00,2.55,0.00,0.000,4,0.000,0.064,2470,3598,3839
$GC,1435,-0.78,-146.6,107.3,-6.7,113,1441,0.00,2.42,0.00,0.000,6,0.000,0.048,2470,2222,3839
$STATE,1492,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1492,begin apogee
$GC,1498,-0.33,0.0,110.9,6.1,119,1617,0.45,0.00,115.00,0.835,6,0.071,0.000,2575,2205,3240
$STATE,1617,end apogee,CONTROL_FINISHED_OK
$STATE,1618,begin climb
$GC,1621,1.00,146.6,113.7,0.0,131,1738,1.33,0.00,113.30,0.807,6,0.058,0.000,2865,2205,2642
$GC,2053,0.80,146.6,74.1,10.6,161,2058,0.20,2.55,0.00,0.000,4,0.081,0.061,2822,3598,2642
$GC,2126,0.73,146.6,67.4,8.0,164,2130,0.00,2.50,0.00,0.000,6,0.000,0.047,2822,2193,2641
$GC,2444,0.68,146.6,44.7,7.2,182,2446,0.12,0.00,0.00,0.000,6,0.084,0.000,2797,2174,2642
$GC,2635,0.77,171.5,34.0,5.5,200,2661,0.00,2.62,20.65,0.741,4,0.000,0.061,2797,3605,2539
$GC,2696,0.85,171.5,30.1,6.5,205,2703,0.17,2.53,0.00,0.000,6,0.046,0.047,2843,2185,2539
$GC,2899,0.80,171.5,15.3,6.4,230,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2168,2539
$GC,2974,0.80,171.5,9.8,7.2,243,2980,0.00,2.60,0.00,0.000,4,0.000,0.062,2844,3600,2539
$GC,3012,0.86,171.5,7.5,6.4,249,3018,0.00,2.45,0.00,0.000,6,0.000,0.047,2844,2208,2539
$GC,3088,1.16,307.9,5.3,2.4,262,3132,0.22,0.00,40.65,0.752,2,0.041,0.000,2911,2192,2319
$STATE,3132,end climb,SURFACE_DEPTH_REACHED
$STATE,3132,begin surface coast
$FINISH,-0.3,1.009016
$STATE,3278,end surface coast,CONTROL_FINISHED_OK
$STATE,3278,begin surface
$SM_CCo,3300,96.12,0.748,0,0,1608,400.08
$SM_GC,0.43,0.00,0.00,96.12,0.000,0.000,0.748,421,2176,1608,-10.25,-0.40,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1757
$TCM_TEMP,18.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,19.8
$ALTIM_BOTTOM_PING,80.3,40.6
$24V_AH,24.0,2.091
$10V_AH,10.1,0.713
$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,24.050,35.375,289.600,96.125,0.000,37.755,27.774,87.387,2.000,0.000,0.000,25.270,501.549,1784.431,435.819,675.498,273.061,33.317,786.904,0.000,659.498,0.000,10.200,0.000
$DEVICE_MAMPS,137.293,69.030,835.263,747.825,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,201.976,217.795,508.624,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15915,295
$CAP_FILE_SIZE,41553,0
$CFSIZE,254472192,252776448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,161008,083934,4807.273,-12223.216,28,2.9,47,18.3