version: 66.04
glider: 130
mission: 5
dive: 16
start: 5 20 109 10 59 40
data:
$ID,130
$MISSION,5
$DIVE,16
$D_SURF,4
$D_FLARE,3
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51945
$NAV_MODE,1
$FERRY_MAX,45
$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,44.380001
$TGT_DEFAULT_LON,-125.01
$TGT_AUTO_DEFAULT,0
$SM_CC,675
$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,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-52185.555
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,417
$PITCH_MAX,3725
$C_PITCH,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,162
$ROLL_MAX,3945
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,3
$VBD_MIN,516
$VBD_MAX,3960
$C_VBD,3437
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-8.2383127
$PRESSURE_SLOPE,0.0001159091
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$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,0.0044082953
$SEABIRD_T_H,0.00065181591
$SEABIRD_T_I,3.2922526e-05
$SEABIRD_T_J,4.287429e-06
$SEABIRD_C_G,-9.794486
$SEABIRD_C_H,1.1032488
$SEABIRD_C_I,-0.0011085917
$SEABIRD_C_J,0.0001701656
$GPS1,105120,4807.516,-12223.597,13,1.2,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-64.7
$GPS2,105844,4807.596,-12223.636,16,1.1,16,18.3
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.146,0.224
$KALMAN_X,-286.8,134.6,-150.4,-57.5,-6.3
$KALMAN_Y,1308.4,-399.2,289.3,-1735.2,46.8
$MHEAD_RNG_PITCHd_Wd,308.6,873,-16.9,-10.000
$D_GRID,103
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.25,-155.7,0.0,0.0,0,153,0.00,0.00,-132.65,0.000,2,0.000,0.000,416,1940,3827
$GC,158,-1.25,-155.7,3.3,-4.9,22,180,11.90,2.55,-3.42,0.000,4,0.146,0.068,2566,546,3962
$GC,430,-1.18,-155.7,33.7,-11.6,82,437,0.10,2.42,0.00,0.000,6,0.108,0.040,2584,1960,3962
$GC,506,-1.18,-155.7,41.4,-9.8,95,512,0.00,2.53,0.00,0.000,4,0.000,0.058,2584,546,3962
$GC,617,-1.18,-155.7,52.8,-9.8,118,625,0.00,2.42,0.00,0.000,6,0.000,0.040,2584,1958,3962
$GC,764,-1.18,-155.7,66.4,-9.8,143,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1959,3962
$GC,906,-1.18,-155.7,79.6,-8.9,168,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1958,3961
$GC,1050,-1.18,-155.7,92.5,-9.1,193,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1958,3962
$STATE,1165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1165,begin apogee
$GC,1174,-0.31,0.0,103.2,9.1,214,1277,0.90,0.00,97.25,0.670,6,0.075,0.000,2773,2056,3436
$STATE,1278,end apogee,CONTROL_FINISHED_OK
$STATE,1278,begin climb
$GC,1282,1.25,155.7,106.6,0.0,233,1408,1.55,0.00,117.20,0.655,6,0.052,0.000,3116,2057,2801
$GC,1546,1.21,164.5,88.0,9.6,280,1558,0.00,0.00,8.18,0.548,6,0.000,0.000,3115,2057,2766
$GC,1695,1.17,171.3,73.4,9.7,306,1706,0.00,0.00,6.97,0.528,6,0.000,0.000,3116,2057,2737
$GC,1846,1.14,180.8,58.7,9.6,332,1858,0.10,0.00,8.85,0.556,6,0.103,0.000,3096,2057,2699
$GC,1998,1.17,202.5,44.8,9.1,358,2020,0.00,0.00,18.27,0.600,6,0.000,0.000,3096,2057,2610
$GC,2158,1.18,215.0,30.0,9.5,386,2172,0.00,0.00,11.07,0.565,6,0.000,0.000,3096,2057,2559
$GC,2243,1.25,242.8,22.2,8.8,400,2276,0.00,2.60,23.20,0.591,4,0.000,0.061,3096,648,2445
$GC,2284,1.29,245.2,18.0,9.9,406,2292,0.12,2.45,0.00,0.000,6,0.054,0.043,3130,2049,2444
$GC,2363,1.29,245.2,9.6,10.8,419,2369,0.00,2.50,0.00,0.000,4,0.000,0.058,3130,3454,2443
$GC,2391,1.29,245.2,6.6,10.3,424,2398,0.00,2.45,0.00,0.000,6,0.000,0.046,3130,2054,2442
$STATE,2420,end climb,SURFACE_DEPTH_REACHED
$STATE,2421,begin surface coast
$FINISH,2.0,1.018987
$STATE,2464,end surface coast,CONTROL_FINISHED_OK
$STATE,2464,begin surface
$SM_CCo,2490,248.52,0.588,0,0,684,675.07
$SM_GC,1.42,0.00,0.00,248.52,0.000,0.000,0.588,417,1933,684,-11.17,-0.48,675.07
$IRIDIUM_FIX,4751.72,-12223.57,140898,101034
$TT8_MAMPS,0.025311
$HUMID,1540
$INTERNAL_PRESSURE,9.17882
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.6,2.101
$10V_AH,10.8,1.644
$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,26.950,20.250,291.000,248.525,0.000,28.563,25.781,218.257,0.000,0.000,0.000,16.485,631.336,644.434,603.557,770.573,547.653,33.332,1039.416,0.000,823.046,0.000,0.535,0.000
$DEVICE_MAMPS,145.730,68.263,670.358,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,342.393,181.883,340.676,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19075,437
$CAP_FILE_SIZE,46910,0
$CFSIZE,260165632,185884672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200509,114637,4807.818,-12223.913,34,1.1,34,18.3