version: 66.04
glider: 105
mission: 5
dive: 16
start: 1 21 109 13 45 28
data:
$ID,105
$MISSION,5
$DIVE,16
$D_SURF,3
$D_FLARE,4
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$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,300
$T_TURN_SAMPINT,5
$T_NO_W,320
$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,11
$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,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,668
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1627019.1
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3705
$C_PITCH,2602
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,253
$ROLL_MAX,3840
$ROLL_DEG,40
$C_ROLL_DIVE,1946
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3851
$C_VBD,3239
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,-18.710485
$PRESSURE_SLOPE,0.0001163108
$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,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.8522969
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043067979
$SEABIRD_T_H,0.0006302988
$SEABIRD_T_I,2.3035876e-05
$SEABIRD_T_J,2.3016955e-06
$SEABIRD_C_G,-10.448573
$SEABIRD_C_H,1.1833477
$SEABIRD_C_I,-0.0016540284
$SEABIRD_C_J,0.00022965467
$GPS1,134016,4807.246,-12223.065,11,2.2,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-69.2
$GPS2,134434,4807.256,-12223.076,16,2.7,35,18.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.139,0.172
$KALMAN_X,-1280.8,113.9,412.0,922.9,79.9
$KALMAN_Y,1179.7,-247.2,-302.1,-2598.3,-115.9
$MHEAD_RNG_PITCHd_Wd,302.7,1789,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.96,-146.6,0.0,0.0,0,126,0.00,0.00,-108.03,0.000,6,0.000,0.000,398,1936,3838
$GC,129,-0.96,-146.6,3.1,-3.3,18,145,10.93,2.47,0.00,0.000,4,0.146,0.041,2386,557,3839
$GC,483,-0.96,-146.6,31.9,-7.0,65,487,0.00,2.40,0.00,0.000,6,0.000,0.028,2386,1958,3839
$GC,681,-0.96,-146.6,45.2,-6.6,83,685,0.00,2.47,0.00,0.000,4,0.000,0.041,2387,558,3839
$GC,797,-0.96,-146.6,53.3,-6.9,91,801,0.00,2.38,0.00,0.000,6,0.000,0.028,2386,1947,3839
$GC,1115,-0.96,-146.6,71.9,-5.7,106,1120,0.00,2.45,0.00,0.000,4,0.000,0.041,2386,558,3839
$GC,1149,-0.96,-146.6,73.9,-5.9,107,1155,0.00,2.38,0.00,0.000,6,0.000,0.028,2387,1952,3839
$GC,1465,-0.96,-146.6,91.7,-5.8,123,1469,0.00,2.47,0.00,0.000,4,0.000,0.048,2386,3346,3840
$GC,1508,-0.96,-146.6,94.2,-5.7,125,1513,0.00,2.35,0.00,0.000,6,0.000,0.026,2386,1957,3840
$STATE,1836,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1836,begin apogee
$GC,1842,-0.36,0.0,112.5,5.0,151,1964,0.62,0.00,118.07,0.809,6,0.078,0.000,2520,2209,3239
$STATE,1965,end apogee,CONTROL_FINISHED_OK
$STATE,1965,begin climb
$GC,1967,0.96,146.6,115.0,0.0,163,2094,1.35,2.55,117.32,0.769,4,0.061,0.041,2812,807,2640
$GC,2147,0.96,146.6,103.5,8.5,179,2151,0.00,2.40,0.00,0.000,6,0.000,0.031,2812,2190,2640
$GC,2465,0.96,146.6,77.3,8.2,196,2469,0.00,2.45,0.00,0.000,4,0.000,0.041,2812,802,2639
$GC,2497,0.96,146.6,74.5,7.8,197,2504,0.00,2.42,0.00,0.000,6,0.000,0.030,2811,2206,2639
$GC,2813,0.96,146.6,49.3,8.0,213,2818,0.00,2.50,0.00,0.000,4,0.000,0.040,2812,804,2639
$GC,2903,0.96,146.6,41.9,8.2,221,2908,0.00,2.40,0.00,0.000,6,0.000,0.029,2812,2201,2639
$GC,3101,0.96,146.6,26.6,7.7,239,3105,0.00,2.50,0.00,0.000,4,0.000,0.051,2812,3602,2639
$GC,3145,0.96,146.6,23.0,8.2,242,3151,0.00,2.38,0.00,0.000,6,0.000,0.027,2812,2201,2639
$GC,3351,0.96,146.6,8.3,7.1,275,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2201,2639
$GC,3428,0.99,164.9,3.7,5.5,288,3441,0.00,0.00,11.40,0.681,2,0.000,0.000,2812,2200,2589
$STATE,3442,end climb,SURFACE_DEPTH_REACHED
$STATE,3442,begin surface coast
$FINISH,1.6,1.019740
$STATE,3512,end surface coast,CONTROL_FINISHED_OK
$STATE,3512,begin surface
$SM_CCo,3533,388.62,0.701,0,0,515,668.20
$SM_GC,0.64,0.00,0.00,388.62,0.000,0.000,0.701,397,1933,515,-10.14,-0.37,668.20
$IRIDIUM_FIX,4748.51,-12224.57,170498,121251
$TT8_MAMPS,0.026845
$HUMID,1687
$INTERNAL_PRESSURE,7.99183
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,41.8
$24V_AH,23.5,16.878
$10V_AH,10.1,6.850
$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,23.700,39.800,246.800,388.625,0.000,30.201,28.047,85.597,1.000,0.000,0.000,38.537,517.531,1916.912,686.327,704.202,373.559,33.320,1073.106,0.000,775.140,0.000,8.580,0.000
$DEVICE_MAMPS,145.730,50.622,809.185,701.038,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,208.503,264.443,531.519,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15993,302
$CAP_FILE_SIZE,42160,0
$CFSIZE,260165632,258756608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,210109,145144,4807.492,-12223.440,13,1.7,13,18.3