version: 66.04
glider: 5
mission: 4
dive: 25
start: 10 16 108 15 30 10
data:
$ID,5
$MISSION,4
$DIVE,25
$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,-86024.672
$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,25
$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
$GPS1,152153,4807.711,-12223.777,12,3.0,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-67.5
$GPS2,152917,4807.780,-12223.844,15,3.9,34,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.062,-0.089
$KALMAN_X,-864.6,-100.5,-397.7,604.7,9.2
$KALMAN_Y,4702.9,-694.5,359.7,-4608.7,691.8
$MHEAD_RNG_PITCHd_Wd,196.6,451,-27.4,-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,-1.87,-30.7,0.0,0.0,0,98,0.00,0.00,-79.43,0.000,6,0.000,0.000,420,2219,3365
$GC,102,-1.87,-31.0,3.8,-6.2,14,116,9.35,2.67,0.00,0.000,4,0.133,0.058,2235,774,3366
$GC,369,-1.55,-48.5,23.8,-3.9,52,377,0.38,2.53,-1.15,0.000,6,0.107,0.048,2310,2195,3440
$GC,568,-1.47,-48.5,35.6,-6.9,71,572,0.00,2.55,0.00,0.000,4,0.000,0.056,2309,781,3440
$GC,755,-1.37,-48.5,49.8,-7.4,87,762,0.20,2.53,0.00,0.000,6,0.103,0.050,2349,2194,3440
$GC,948,-1.42,-48.5,62.4,-6.4,97,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2194,3440
$GC,1257,-1.49,-48.5,82.8,-6.3,112,1259,0.10,0.00,0.00,0.000,6,0.060,0.000,2322,2194,3440
$GC,1567,-1.49,-48.5,103.7,-7.1,129,1571,0.00,2.53,0.00,0.000,4,0.000,0.065,2322,3598,3440
$STATE,1649,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1649,begin apogee
$GC,1659,-0.33,0.0,109.8,8.0,136,1706,1.20,0.00,39.70,0.819,6,0.095,0.000,2571,2161,3239
$STATE,1706,end apogee,CONTROL_FINISHED_OK
$STATE,1706,begin climb
$GC,1709,1.90,48.5,111.4,0.0,141,1758,2.20,2.55,38.80,0.811,4,0.058,0.056,3069,784,3042
$GC,1803,1.58,48.5,101.5,14.1,149,1810,0.40,2.53,0.00,0.000,6,0.107,0.048,2993,2194,3042
$GC,2130,1.52,48.5,61.7,11.6,166,2134,0.00,2.53,0.00,0.000,4,0.000,0.061,2993,3599,3041
$GC,2203,1.39,48.5,52.5,12.3,169,2208,0.20,2.50,0.00,0.000,6,0.104,0.045,2954,2187,3041
$GC,2528,1.47,48.5,21.3,10.0,198,2532,0.00,2.47,0.00,0.000,4,0.000,0.058,2955,784,3042
$GC,2597,1.53,48.5,15.2,8.7,208,2604,0.12,2.50,0.00,0.000,6,0.052,0.049,2990,2194,3042
$GC,2673,1.53,48.5,9.2,7.9,221,2679,0.00,2.53,0.00,0.000,4,0.000,0.055,2990,781,3042
$GC,2692,1.53,48.5,7.6,7.8,224,2698,0.00,2.45,0.00,0.000,6,0.000,0.048,2990,2166,3042
$GC,2768,1.65,94.7,6.3,-0.0,237,2811,0.00,2.55,35.30,0.751,4,0.000,0.054,2990,779,2853
$GC,3066,1.83,143.8,5.4,-0.4,289,3109,0.28,2.47,36.95,0.751,6,0.045,0.048,3056,2180,2653
$STATE,3141,end climb,SURFACE_DEPTH_REACHED
$STATE,3142,begin surface coast
$FINISH,1.8,1.020813
$STATE,3300,end surface coast,CONTROL_FINISHED_OK
$STATE,3300,begin surface
$SM_CCo,3323,136.90,0.748,0,0,1609,400.08
$SM_GC,0.53,0.00,0.00,136.90,0.000,0.000,0.748,420,2177,1609,-10.25,-0.34,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1718
$TCM_TEMP,18.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,19.6
$ALTIM_BOTTOM_PING,80.2,39.5
$24V_AH,24.0,2.677
$10V_AH,10.0,1.021
$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,26.225,40.425,150.750,136.900,0.000,75.518,57.008,129.537,2.000,0.000,0.000,35.070,566.778,1851.960,360.757,749.670,390.940,33.311,717.219,0.000,726.314,0.000,10.194,0.000
$DEVICE_MAMPS,133.458,65.195,819.156,747.825,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,227.031,247.394,568.920,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15973,330
$CAP_FILE_SIZE,45413,0
$CFSIZE,254472192,252571648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,161008,162859,4807.683,-12224.040,10,4.7,30,18.3