version: 66.04
glider: 5
mission: 6
dive: 17
start: 7 30 109 9 30 32
data:
$ID,5
$MISSION,6
$DIVE,17
$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,83.300003
$T_MISSION,90
$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,150
$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,2
$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,122
$TGT_DEFAULT_LON,48
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,-98865.492
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2795
$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,2230
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,3239
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,-25.153585
$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,0
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,0
$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,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,092555,4806.241,-12222.207,9,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-70.7
$GPS2,093013,4806.227,-12222.191,11,1.6,16,18.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,307.5,3973,-11.0,-6.002
$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,11,begin dive
$GC,15,-0.97,-146.6,0.0,0.0,0,127,0.00,0.00,-109.88,0.000,2,0.000,0.000,427,2236,3585
$GC,131,-0.97,-146.6,3.1,-4.0,19,156,12.02,0.00,-5.90,0.000,6,0.171,0.000,2576,2235,3837
$GC,226,-0.75,-146.6,17.9,-9.9,35,233,0.25,2.55,0.00,0.000,4,0.095,0.068,2630,3632,3838
$GC,256,-0.67,-146.6,20.5,-8.1,39,263,0.00,2.53,0.00,0.000,6,0.000,0.049,2630,2221,3838
$GC,454,-0.67,-146.6,33.0,-6.2,58,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2222,3838
$GC,646,-0.67,-146.6,44.3,-5.9,76,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2221,3838
$GC,834,-0.67,-146.6,55.1,-5.7,90,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2221,3838
$GC,1144,-0.72,-146.6,72.0,-5.4,105,1148,0.00,2.60,0.00,0.000,4,0.000,0.066,2629,3638,3838
$GC,1194,-0.78,-146.6,75.0,-6.9,107,1198,0.00,2.53,0.00,0.000,6,0.000,0.048,2629,2214,3838
$GC,1513,-0.85,-146.6,91.9,-5.3,122,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2213,3838
$GC,1825,-0.94,-146.6,107.7,-4.9,144,1826,0.20,0.00,0.00,0.000,6,0.043,0.000,2580,2194,3838
$GC,2143,-1.24,-146.6,121.4,-0.2,174,2148,0.22,2.62,0.00,0.000,4,0.052,0.064,2515,3641,3838
$STATE,2353,end dive,NO_VERTICAL_VELOCITY
$STATE,2353,begin apogee
$GC,2363,-0.33,0.0,121.4,0.0,192,2483,0.90,0.00,116.35,0.843,6,0.047,0.000,2727,2099,3239
$STATE,2484,end apogee,CONTROL_FINISHED_OK
$STATE,2484,begin climb
$GC,2487,0.97,146.6,121.1,0.0,204,2611,1.23,2.60,114.88,0.811,4,0.050,0.058,3005,705,2641
$GC,2742,0.66,146.6,100.4,10.5,227,2747,0.32,2.55,0.00,0.000,6,0.083,0.053,2941,2117,2641
$GC,3060,0.66,146.6,78.9,6.1,242,3064,0.00,2.58,0.00,0.000,4,0.000,0.064,2942,3529,2640
$GC,3092,0.66,146.6,76.4,7.1,243,3099,0.00,2.53,0.00,0.000,6,0.000,0.049,2942,2118,2640
$GC,3409,0.68,157.2,58.2,5.7,259,3423,0.00,2.55,9.80,0.722,4,0.000,0.059,2942,712,2598
$GC,3452,0.68,157.2,55.5,6.3,260,3456,0.00,2.55,0.00,0.000,6,0.000,0.054,2941,2122,2598
$GC,3779,0.73,186.3,38.3,5.2,286,3813,0.00,2.65,23.67,0.774,4,0.000,0.064,2942,3527,2479
$GC,3849,0.82,186.3,34.4,6.4,292,3854,0.15,2.55,0.00,0.000,6,0.046,0.050,2984,2112,2479
$GC,4047,0.72,186.3,19.8,7.9,310,4054,0.17,2.50,0.00,0.000,4,0.084,0.058,2949,711,2479
$GC,4101,0.72,186.3,16.3,6.7,319,4107,0.00,2.53,0.00,0.000,6,0.000,0.054,2950,2117,2479
$GC,4177,0.74,199.1,11.9,5.6,332,4196,0.00,2.60,11.50,0.723,4,0.000,0.064,2949,3533,2427
$GC,4226,0.83,199.1,9.0,6.0,340,4233,0.10,2.53,0.00,0.000,6,0.055,0.051,2982,2126,2426
$GC,4303,0.79,199.1,4.3,6.2,353,4309,0.00,2.53,0.00,0.000,4,0.000,0.058,2982,707,2427
$STATE,4314,end climb,SURFACE_DEPTH_REACHED
$STATE,4314,begin surface coast
$FINISH,1.4,1.020858
$STATE,4348,end surface coast,CONTROL_FINISHED_OK
$STATE,4348,begin surface
$SM_CCo,4374,154.27,0.752,0,0,1200,500.17
$SM_GC,0.18,0.00,0.00,154.27,0.000,0.000,0.752,428,2233,1200,-10.89,0.08,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1794
$TCM_TEMP,17.40
$XPDR_PINGS,1
$24V_AH,24.0,2.031
$10V_AH,10.1,1.178
$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,26.900,51.575,276.200,154.275,0.000,37.758,25.674,94.429,3.250,0.000,0.000,16.185,614.747,2542.141,512.109,831.444,300.005,0.000,940.596,0.000,812.865,0.000,27.103,0.000
$DEVICE_MAMPS,171.041,68.263,842.933,752.427,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,242.923,275.181,622.553,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19113,361
$CAP_FILE_SIZE,52445,0
$CFSIZE,254472192,252166144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,300709,104710,4806.421,-12222.460,10,3.0,30,18.3