version: 66.03
glider: 138
mission: 1
dive: 9
start: 6 5 108 6 9 16
data:
$ID,138
$MISSION,1
$DIVE,9
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,80
$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,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$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,48.150002
$TGT_DEFAULT_LON,-122.18
$TGT_AUTO_DEFAULT,0
$SM_CC,720
$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,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-474.14069
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,436
$PITCH_MAX,3761
$C_PITCH,2675
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,397
$ROLL_MAX,3942
$ROLL_DEG,40
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3894
$C_VBD,3472
$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,61.200001
$PRESSURE_YINT,-2.687695
$PRESSURE_SLOPE,0.0001161078
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043603531
$SEABIRD_T_H,0.00063485908
$SEABIRD_T_I,2.482086e-05
$SEABIRD_T_J,2.6554371e-06
$SEABIRD_C_G,-9.9022598
$SEABIRD_C_H,1.1162066
$SEABIRD_C_I,-0.00084430829
$SEABIRD_C_J,0.00011615315
$GPS1,060232,4806.125,-12222.107,7,1.9,7,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-67.3
$GPS2,060821,4806.091,-12222.051,13,1.4,13,18.3
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.125,-0.204
$KALMAN_X,-666.7,-342.4,18.9,1962.6,64.1
$KALMAN_Y,1231.6,571.9,-6.5,-3012.4,-71.1
$MHEAD_RNG_PITCHd_Wd,130.2,2403,-19.3,-10.000
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.36,-122.2,0.0,0.0,0,140,0.00,0.00,-117.68,0.000,6,0.000,0.000,429,2185,3896
$GC,143,-1.36,-122.2,2.7,-2.0,17,159,11.62,2.60,0.00,0.000,4,0.174,0.058,2372,804,3897
$GC,456,-1.36,-122.2,27.7,-8.9,76,464,0.00,2.50,0.00,0.000,6,0.000,0.035,2373,2212,3898
$GC,544,-1.36,-122.2,34.5,-7.7,92,552,0.00,2.60,0.00,0.000,4,0.000,0.055,2372,812,3899
$GC,657,-1.36,-122.2,43.8,-8.2,113,662,0.00,2.45,0.00,0.000,6,0.000,0.034,2373,2210,3899
$GC,812,-1.36,-122.2,56.7,-8.1,144,819,0.00,2.50,0.00,0.000,4,0.000,0.045,2372,3615,3899
$GC,852,-1.36,-122.2,60.0,-8.8,151,858,0.00,2.42,0.00,0.000,6,0.000,0.031,2373,2212,3899
$GC,1006,-1.36,-122.2,72.1,-7.3,182,1014,0.00,2.58,0.00,0.000,4,0.000,0.059,2372,812,3899
$GC,1027,-1.36,-122.2,73.5,-7.3,185,1033,0.00,2.45,0.00,0.000,6,0.000,0.034,2373,2212,3899
$GC,1185,-1.36,-122.2,85.7,-7.5,216,1193,0.00,2.50,0.00,0.000,4,0.000,0.046,2373,3617,3898
$GC,1235,-1.36,-122.2,89.4,-7.8,225,1247,0.00,2.45,0.00,0.000,6,0.000,0.031,2373,2200,3899
$GC,1398,-1.36,-122.2,102.0,-7.6,256,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2200,3899
$GC,1555,-1.36,-122.2,113.4,-7.5,287,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2200,3898
$STATE,1569,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1569,begin apogee
$GC,1574,-0.31,0.0,114.8,7.2,290,1666,1.12,0.00,82.85,0.752,6,0.095,0.000,2600,2200,3471
$STATE,1667,end apogee,CONTROL_FINISHED_OK
$STATE,1667,begin climb
$GC,1669,1.36,122.2,116.3,0.0,305,1772,1.67,0.00,95.22,0.728,6,0.056,0.000,2968,2200,2973
$GC,1921,1.36,122.2,92.6,11.0,352,1929,0.00,2.55,0.00,0.000,4,0.000,0.045,2968,3603,2972
$GC,2003,1.36,122.2,83.0,11.3,368,2010,0.00,2.47,0.00,0.000,6,0.000,0.032,2969,2201,2971
$GC,2161,1.36,122.2,66.2,10.8,399,2167,0.00,2.53,0.00,0.000,4,0.000,0.044,2968,3613,2972
$GC,2204,1.36,122.2,61.4,11.3,407,2209,0.00,2.47,0.00,0.000,6,0.000,0.031,2968,2195,2972
$GC,2357,1.36,122.2,44.9,10.5,438,2365,0.00,2.55,0.00,0.000,4,0.000,0.044,2968,3607,2971
$GC,2417,1.36,122.2,38.6,10.7,449,2425,0.00,2.47,0.00,0.000,6,0.000,0.032,2968,2201,2971
$GC,2505,1.36,122.2,29.6,10.3,465,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2201,2971
$GC,2593,1.38,140.6,21.7,9.0,481,2616,0.00,2.53,15.60,0.670,4,0.000,0.044,2968,3607,2898
$GC,2675,1.38,143.2,13.6,9.9,495,2684,0.00,2.47,3.38,0.416,6,0.000,0.032,2968,2201,2888
$GC,2766,1.43,183.8,6.3,7.8,511,2789,0.00,0.00,20.88,0.667,2,0.000,0.000,2969,2201,2788
$STATE,2789,end climb,SURFACE_DEPTH_REACHED
$STATE,2790,begin surface coast
$FINISH,1.7,1.017691
$STATE,2878,end surface coast,CONTROL_FINISHED_OK
$STATE,2879,begin surface
$SM_CCo,2898,359.80,0.643,2,0,536,720.20
$SM_GC,0.57,0.00,0.00,359.80,0.000,0.000,0.643,429,2189,536,-10.33,-0.59,720.20
$IRIDIUM_FIX,4751.72,-12340.51,300897,050549
$TT8_MAMPS,0.027612
$HUMID,1772
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,100.3,24.2
$24V_AH,23.4,1.220
$10V_AH,10.1,0.628
$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
$DEVICE_SECS,25.825,45.100,217.925,359.800,0.000,29.534,31.646,189.899,2.000,0.000,0.000,15.419,812.214,244.028,639.376,1572.757,365.965,33.331,1200.749,0.000,963.248,0.000,15.299
$DEVICE_MAMPS,174.109,59.059,752.427,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,357.630,1299.970,621.769,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25363,531
$CAP_FILE_SIZE,55012,0
$CFSIZE,260165632,257830912
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050608,070450,4805.831,-12221.739,11,1.7,28,18.3