version: 66.04
glider: 5
mission: 4
dive: 22
start: 10 16 108 11 59 43
data:
$ID,5
$MISSION,4
$DIVE,22
$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,-85952.234
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,115137,4808.106,-12224.066,33,1.0,34,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-68.9
$GPS2,115851,4808.193,-12224.132,13,1.1,13,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.149,-0.168
$KALMAN_X,-1485.8,543.0,247.1,-414.8,-593.8
$KALMAN_Y,3815.7,-1269.9,-5.3,-2023.9,536.2
$MHEAD_RNG_PITCHd_Wd,120.1,392,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.15,0.000,2,0.000,0.000,422,2153,3384
$GC,103,-1.00,-146.6,3.4,-5.6,14,135,10.43,2.65,-11.15,0.000,4,0.136,0.074,2428,3595,3839
$GC,176,-0.74,-146.6,14.6,-10.3,26,183,0.30,2.50,0.00,0.000,6,0.079,0.046,2491,2186,3839
$GC,253,-0.74,-146.6,19.7,-6.2,39,258,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2167,3839
$GC,324,-0.74,-146.6,23.9,-5.8,46,328,0.00,2.60,0.00,0.000,4,0.000,0.063,2491,3601,3839
$GC,363,-0.74,-146.6,26.3,-6.7,49,368,0.00,2.45,0.00,0.000,6,0.000,0.048,2491,2213,3839
$GC,562,-0.74,-146.6,38.2,-6.1,67,566,0.00,2.55,0.00,0.000,4,0.000,0.063,2491,3603,3839
$GC,594,-0.74,-146.6,40.5,-6.5,69,601,0.00,2.42,0.00,0.000,6,0.000,0.047,2491,2230,3839
$GC,792,-0.74,-146.6,52.6,-5.9,86,796,0.00,2.50,0.00,0.000,4,0.000,0.064,2490,3596,3839
$GC,825,-0.78,-146.6,54.9,-6.7,87,831,0.00,2.38,0.00,0.000,6,0.000,0.047,2491,2243,3839
$GC,1142,-0.84,-146.6,73.1,-5.7,103,1144,0.12,0.00,0.00,0.000,6,0.054,0.000,2456,2231,3839
$GC,1451,-0.79,-146.6,95.2,-7.1,118,1456,0.10,2.47,0.00,0.000,4,0.088,0.064,2476,3600,3839
$GC,1583,-0.79,-146.6,104.1,-6.8,126,1587,0.00,2.38,0.00,0.000,6,0.000,0.048,2476,2252,3839
$GC,1909,-1.37,-146.6,117.9,0.1,156,1912,0.57,0.00,0.00,0.000,6,0.054,0.000,2349,2233,3839
$STATE,2149,end dive,NO_VERTICAL_VELOCITY
$STATE,2149,begin apogee
$GC,2157,-0.33,0.0,117.9,0.0,179,2275,0.98,0.00,114.50,0.829,6,0.043,0.000,2582,2162,3240
$STATE,2276,end apogee,CONTROL_FINISHED_OK
$STATE,2276,begin climb
$GC,2279,1.00,146.6,117.8,0.0,191,2401,1.30,2.70,113.10,0.801,4,0.058,0.061,2867,3596,2641
$GC,2424,0.76,146.6,107.3,10.8,205,2432,0.25,2.45,0.00,0.000,6,0.084,0.048,2818,2222,2641
$GC,2743,0.70,146.6,82.8,7.6,225,2748,0.00,2.53,0.00,0.000,4,0.000,0.061,2818,3598,2641
$GC,2784,0.65,146.6,79.5,8.4,227,2789,0.15,2.47,0.00,0.000,6,0.084,0.047,2788,2201,2641
$GC,3112,0.72,160.8,59.7,5.8,243,3131,0.00,0.00,12.55,0.717,6,0.000,0.000,2788,2186,2583
$GC,3446,0.82,169.0,39.3,6.0,267,3460,0.17,2.62,7.88,0.667,4,0.047,0.060,2838,3598,2550
$GC,3496,0.72,169.0,35.2,9.6,271,3501,0.15,2.47,0.00,0.000,6,0.084,0.047,2809,2204,2550
$GC,3694,0.77,170.1,22.0,6.2,289,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2189,2550
$GC,3897,0.89,205.4,10.4,5.2,322,3934,0.15,2.60,29.33,0.746,4,0.048,0.061,2851,3599,2400
$GC,3963,0.89,205.4,5.9,6.8,333,3970,0.00,2.42,0.00,0.000,6,0.000,0.048,2851,2233,2401
$STATE,4008,end climb,SURFACE_DEPTH_REACHED
$STATE,4008,begin surface coast
$FINISH,0.4,1.020344
$STATE,4118,end surface coast,CONTROL_FINISHED_OK
$STATE,4118,begin surface
$SM_CCo,4140,103.55,0.740,0,0,1608,400.08
$SM_GC,0.66,0.00,0.00,103.55,0.000,0.000,0.740,423,2213,1608,-10.24,0.65,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1745
$TCM_TEMP,18.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,20.2
$24V_AH,24.0,2.421
$10V_AH,10.1,0.893
$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,25.350,45.275,277.350,103.550,0.000,75.518,116.168,91.887,3.000,0.000,0.000,13.155,608.480,2438.487,452.685,777.992,414.011,33.314,849.239,0.000,772.557,0.000,17.382,0.000
$DEVICE_MAMPS,135.759,73.632,829.127,740.155,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,246.182,269.141,620.648,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19148,360
$CAP_FILE_SIZE,50992,0
$CFSIZE,254472192,252649472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,161008,131126,4808.042,-12223.748,10,1.5,22,18.3