version: 66.04
glider: 5
mission: 6
dive: 19
start: 7 30 109 12 1 26
data:
$ID,5
$MISSION,6
$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,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,-98916.922
$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,26
$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,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
$GPS1,115654,4806.633,-12222.712,26,1.8,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-72.2
$GPS2,120107,4806.632,-12222.687,17,1.7,17,18.3
$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,309.0,3009,-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,-146.6,0.0,0.0,0,116,0.00,0.00,-98.22,0.000,2,0.000,0.000,428,2239,3437
$GC,120,-0.97,-146.6,3.2,-4.2,17,146,11.98,2.65,-9.45,0.000,4,0.167,0.071,2578,824,3838
$GC,216,-0.81,-146.6,17.1,-10.3,33,223,0.20,2.55,0.00,0.000,6,0.091,0.055,2618,2230,3838
$GC,296,-0.76,-146.6,23.5,-7.5,43,300,0.00,2.55,0.00,0.000,4,0.000,0.067,2618,3637,3838
$GC,347,-0.76,-146.6,27.6,-7.7,47,351,0.00,2.45,0.00,0.000,6,0.000,0.049,2618,2263,3838
$GC,545,-0.76,-146.6,40.7,-6.4,65,549,0.00,2.58,0.00,0.000,4,0.000,0.057,2618,820,3838
$GC,578,-0.82,-146.6,43.0,-6.8,67,585,0.00,2.60,0.00,0.000,6,0.000,0.054,2618,2264,3839
$GC,774,-0.82,-146.6,55.6,-6.5,82,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2263,3839
$GC,1084,-0.82,-146.6,74.9,-6.0,97,1088,0.00,2.47,0.00,0.000,4,0.000,0.065,2618,3637,3839
$GC,1117,-0.82,-146.6,77.1,-6.3,98,1123,0.00,2.45,0.00,0.000,6,0.000,0.048,2618,2252,3839
$GC,1436,-0.86,-146.6,95.2,-5.5,114,1440,0.00,2.53,0.00,0.000,4,0.000,0.058,2618,823,3839
$GC,1482,-0.96,-146.6,98.0,-6.4,116,1488,0.15,2.60,0.00,0.000,6,0.044,0.053,2579,2272,3839
$STATE,1624,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1625,begin apogee
$GC,1632,-0.33,0.0,108.2,7.3,128,1752,0.65,0.00,116.43,0.828,6,0.072,0.000,2720,2097,3239
$STATE,1753,end apogee,CONTROL_FINISHED_OK
$STATE,1753,begin climb
$GC,1756,0.97,146.6,111.0,0.0,140,1875,1.27,0.00,114.72,0.796,6,0.052,0.000,3006,2096,2641
$GC,2185,0.70,146.6,72.5,9.8,168,2190,0.25,2.50,0.00,0.000,4,0.085,0.056,2952,718,2640
$GC,2230,0.63,146.6,68.8,7.2,170,2234,0.00,2.50,0.00,0.000,6,0.000,0.051,2952,2114,2641
$GC,2552,0.67,146.6,48.8,6.2,186,2556,0.00,2.55,0.00,0.000,4,0.000,0.062,2952,3524,2641
$GC,2648,0.67,146.6,42.6,6.5,194,2652,0.00,2.42,0.00,0.000,6,0.000,0.048,2952,2166,2640
$GC,2847,0.68,154.0,30.9,5.8,212,2859,0.00,2.62,7.22,0.664,4,0.000,0.058,2952,708,2611
$GC,2906,0.64,154.0,27.1,6.3,217,2911,0.00,2.60,0.00,0.000,6,0.000,0.052,2952,2154,2611
$GC,3108,0.68,182.6,15.7,5.2,241,3139,0.00,2.53,23.38,0.765,4,0.000,0.063,2952,3528,2493
$GC,3169,0.74,182.6,12.0,6.1,251,3176,0.00,2.45,0.00,0.000,6,0.000,0.052,2952,2159,2494
$GC,3245,0.81,225.4,8.2,4.8,264,3287,0.00,2.65,33.90,0.779,4,0.000,0.062,2952,714,2319
$STATE,3348,end climb,SURFACE_DEPTH_REACHED
$STATE,3348,begin surface coast
$FINISH,0.9,1.018833
$STATE,3490,end surface coast,CONTROL_FINISHED_OK
$STATE,3490,begin surface
$SM_CCo,3515,140.88,0.755,0,0,1200,500.17
$SM_GC,0.11,0.00,0.00,140.88,0.000,0.000,0.755,428,2239,1200,-10.89,0.25,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1785
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.6,27.5
$24V_AH,24.0,2.240
$10V_AH,10.1,1.262
$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,25.600,51.300,295.650,140.875,0.000,37.756,24.536,91.243,1.500,0.000,0.000,17.027,515.158,1934.054,497.648,694.765,282.605,0.000,875.415,0.000,683.314,0.000,14.228,0.000
$DEVICE_MAMPS,167.206,70.564,828.360,755.495,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,204.852,228.389,528.988,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15968,307
$CAP_FILE_SIZE,46266,0
$CFSIZE,254472192,252112896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,300709,130336,4806.839,-12222.933,35,1.0,35,18.3