version: 66.04
glider: 5
mission: 4
dive: 19
start: 10 16 108 8 44 32
data:
$ID,5
$MISSION,4
$DIVE,19
$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,-85889.047
$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,28
$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
$GPS1,083934,4807.273,-12223.216,28,2.9,47,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-67.5
$GPS2,084339,4807.291,-12223.282,13,1.0,13,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.145,0.172
$KALMAN_X,-214.7,55.0,37.1,62.8,159.8
$KALMAN_Y,2717.4,-425.3,-200.0,-3245.9,-33.0
$MHEAD_RNG_PITCHd_Wd,301.6,1586,-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,16,-1.00,-146.6,0.0,0.0,0,93,0.00,0.00,-75.28,0.000,2,0.000,0.000,422,2176,3273
$GC,97,-1.00,-146.6,3.3,-5.8,13,129,10.55,2.55,-14.10,0.000,4,0.142,0.069,2430,785,3838
$GC,384,-0.83,-146.6,37.0,-9.1,48,389,0.17,2.50,0.00,0.000,6,0.087,0.051,2465,2190,3838
$GC,592,-0.77,-146.6,51.8,-6.6,66,596,0.00,2.55,0.00,0.000,4,0.000,0.065,2465,3596,3838
$GC,655,-0.72,-146.6,56.4,-7.4,69,660,0.12,2.47,0.00,0.000,6,0.090,0.047,2490,2199,3838
$GC,985,-0.76,-146.6,75.1,-5.5,85,989,0.00,2.55,0.00,0.000,4,0.000,0.064,2491,3597,3838
$GC,1035,-0.82,-146.6,78.5,-6.5,87,1039,0.00,2.45,0.00,0.000,6,0.000,0.046,2491,2205,3838
$GC,1354,-0.88,-146.6,97.2,-6.0,102,1359,0.15,2.58,0.00,0.000,4,0.051,0.064,2449,3601,3838
$GC,1433,-0.81,-146.6,103.5,-7.9,107,1440,0.12,2.42,0.00,0.000,6,0.088,0.048,2475,2227,3838
$STATE,1522,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1523,begin apogee
$GC,1529,-0.33,0.0,109.3,6.1,116,1647,0.43,0.00,114.53,0.834,6,0.072,0.000,2573,2210,3240
$STATE,1648,end apogee,CONTROL_FINISHED_OK
$STATE,1648,begin climb
$GC,1651,1.00,146.6,112.4,0.0,128,1770,1.35,0.00,113.05,0.801,6,0.059,0.000,2868,2210,2642
$GC,2093,0.79,146.6,70.3,10.5,158,2095,0.22,0.00,0.00,0.000,6,0.081,0.000,2823,2209,2641
$GC,2403,0.75,146.6,46.5,7.8,175,2407,0.00,2.53,0.00,0.000,4,0.000,0.063,2822,3605,2641
$GC,2436,0.69,146.6,43.6,8.5,177,2443,0.12,2.50,0.00,0.000,6,0.084,0.047,2798,2194,2641
$GC,2634,0.77,163.9,31.9,5.8,196,2657,0.00,2.62,14.93,0.717,4,0.000,0.062,2798,3606,2569
$GC,2693,0.82,170.9,28.3,6.0,201,2706,0.15,2.47,6.80,0.632,6,0.047,0.047,2839,2196,2542
$GC,2901,0.77,170.9,12.9,6.6,228,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2196,2542
$GC,2977,0.81,170.9,7.9,6.5,241,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2196,2542
$GC,3052,1.06,261.4,4.6,3.7,254,3078,0.17,0.00,23.10,0.730,2,0.045,0.000,2893,2196,2408
$STATE,3078,end climb,SURFACE_DEPTH_REACHED
$STATE,3079,begin surface coast
$FINISH,1.1,1.020124
$STATE,3209,end surface coast,CONTROL_FINISHED_OK
$STATE,3210,begin surface
$SM_CCo,3231,101.88,0.746,0,0,1608,400.08
$SM_GC,0.47,0.00,0.00,101.88,0.000,0.000,0.746,427,2190,1608,-10.22,0.00,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1761
$TCM_TEMP,18.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.1,19.3
$ALTIM_BOTTOM_PING,100.4,18.4
$24V_AH,24.0,2.182
$10V_AH,10.1,0.753
$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,24.500,30.200,272.400,101.875,0.000,37.758,23.675,90.581,3.000,0.000,0.000,13.207,485.034,1766.401,427.478,642.874,272.553,33.315,766.693,0.000,634.802,0.000,18.910,0.000
$DEVICE_MAMPS,141.895,69.030,834.496,745.524,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,191.885,207.478,484.417,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12848,281
$CAP_FILE_SIZE,41813,0
$CFSIZE,254472192,252747776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,161008,094056,4807.684,-12223.710,8,1.4,13,18.3