version: 66.04
glider: 116
mission: 17
dive: 21
start: 4 9 109 12 20 52
data:
$ID,116
$MISSION,17
$DIVE,21
$D_SURF,4
$D_FLARE,3
$D_TGT,120
$D_ABORT,1050
$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,40
$T_MISSION,55
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,90
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0235
$MASS,51242
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,15
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-54225.828
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2985
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,155
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2210
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,740
$VBD_MAX,3990
$C_VBD,3178
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,150
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.23661056
$PRESSURE_SLOPE,0.0001158926
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,3
$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,0.0043755369
$SEABIRD_T_H,0.00063954171
$SEABIRD_T_I,2.7100008e-05
$SEABIRD_T_J,3.135212e-06
$SEABIRD_C_G,-9.8677502
$SEABIRD_C_H,1.1239791
$SEABIRD_C_I,-0.0015851235
$SEABIRD_C_J,0.00021129416
$GPS1,121630,4807.689,-12223.197,63,1.1,63,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-69.8
$GPS2,121949,4807.746,-12223.219,11,1.1,16,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.083,-0.247
$KALMAN_X,1530.2,250.1,-38.6,-1516.1,-54.6
$KALMAN_Y,-1544.9,-283.9,81.4,1983.4,263.5
$MHEAD_RNG_PITCHd_Wd,143.2,3567,-17.5,-10.000
$D_GRID,105
$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,14,-1.64,-146.6,0.0,0.0,0,65,0.00,0.00,-48.25,0.000,2,0.000,0.000,133,1993,2634
$GC,67,-1.64,-146.6,3.2,-5.5,9,127,15.05,2.67,-36.05,0.000,4,0.183,0.076,2626,3402,3777
$GC,144,-1.64,-146.6,6.6,-8.5,23,150,0.00,2.50,0.00,0.000,6,0.000,0.041,2626,1996,3776
$GC,217,-1.64,-146.6,13.3,-9.8,36,223,0.00,2.58,0.00,0.000,4,0.000,0.061,2626,597,3777
$GC,285,-1.64,-146.6,19.7,-9.8,48,291,0.00,2.50,0.00,0.000,6,0.000,0.041,2626,2003,3777
$GC,354,-1.64,-146.6,26.1,-9.2,55,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2003,3777
$GC,546,-1.64,-146.6,43.9,-9.6,73,550,0.00,2.60,0.00,0.000,4,0.000,0.059,2626,595,3777
$GC,613,-1.64,-146.6,50.2,-10.0,78,618,0.00,2.50,0.00,0.000,6,0.000,0.041,2626,2001,3777
$GC,809,-1.64,-146.6,68.6,-9.3,97,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2001,3777
$GC,1128,-1.64,-146.6,97.7,-9.2,127,1133,0.00,2.60,0.00,0.000,4,0.000,0.059,2626,590,3777
$GC,1150,-1.64,-146.6,99.9,-9.4,128,1160,0.00,2.53,0.00,0.000,6,0.000,0.041,2626,2009,3777
$STATE,1206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1207,begin apogee
$GC,1211,-0.42,0.0,105.2,9.2,134,1390,1.33,0.00,170.18,0.694,6,0.092,0.000,2892,2221,3178
$STATE,1390,end apogee,CONTROL_FINISHED_OK
$STATE,1391,begin climb
$GC,1392,1.64,146.6,110.5,0.0,152,1573,2.05,2.70,169.35,0.657,4,0.058,0.072,3344,3608,2580
$GC,1724,1.64,146.6,82.6,11.5,183,1729,0.00,2.50,0.00,0.000,6,0.000,0.041,3344,2205,2578
$GC,2049,1.64,146.6,48.4,10.5,213,2054,0.00,2.65,0.00,0.000,4,0.000,0.067,3344,3614,2578
$GC,2143,1.64,146.6,37.4,10.8,221,2148,0.00,2.50,0.00,0.000,6,0.000,0.040,3343,2204,2578
$GC,2341,1.64,146.6,17.0,10.0,241,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2204,2577
$GC,2413,1.64,146.6,9.6,10.2,254,2419,0.00,2.65,0.00,0.000,4,0.000,0.067,3344,3616,2577
$GC,2459,1.70,200.9,5.6,7.5,262,2493,0.00,2.50,28.42,0.637,2,0.000,0.040,3344,2204,2446
$STATE,2493,end climb,SURFACE_DEPTH_REACHED
$STATE,2493,begin surface coast
$FINISH,3.5,1.019197
$STATE,2594,end surface coast,CONTROL_FINISHED_OK
$STATE,2594,begin surface
$SM_CCo,2617,177.75,0.616,0,0,1343,450.13
$SM_GC,1.61,0.00,0.00,177.75,0.000,0.000,0.616,133,1990,1343,-13.12,-0.28,450.13
$IRIDIUM_FIX,4751.72,-12219.12,040798,111144
$TT8_MAMPS,0.026845
$HUMID,1712
$INTERNAL_PRESSURE,10.7035
$TCM_TEMP,18.60
$XPDR_PINGS,-1
$24V_AH,23.7,32.979
$10V_AH,10.1,11.001
$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,undefined,Mmodem_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,33.450,36.725,367.950,177.750,0.000,22.566,25.241,79.464,0.000,0.000,0.000,16.608,449.150,1262.894,597.990,533.580,181.713,33.329,940.104,0.000,506.252,0.000,18.285,0.000
$DEVICE_MAMPS,182.546,75.933,694.135,615.901,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,188.616,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9555,286
$CAP_FILE_SIZE,38684,0
$CFSIZE,260034560,257261568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,130815,4807.572,-12222.995,12,1.2,12,18.3