version: 66.04
glider: 5
mission: 7
dive: 69
start: 9 9 109 8 37 19
data:
$ID,5
$MISSION,7
$DIVE,69
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$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,550
$T_MISSION,560
$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,990
$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,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,300
$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,-101571.35
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$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,0.2
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2831
$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,-23.674383
$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,120
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,9
$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
$GPS1,083054,6208.337,-942.875,40,1.5,40,-9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-59.5
$GPS2,083628,6208.380,-942.833,10,3.4,29,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.216,-0.047
$KALMAN_X,-83905.1,-541.5,-744.3,29757.4,32457.2
$KALMAN_Y,44144.8,-1345.5,-890.4,16980.2,29331.9
$MHEAD_RNG_PITCHd_Wd,267.5,46625,-11.0,-6.000
$D_GRID,990
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.97,-146.6,0.0,0.0,0,61,0.00,0.00,-41.75,0.000,2,0.000,0.000,417,2149,2506
$GC,65,-0.97,-146.6,2.0,-2.2,2,121,11.43,2.58,-37.00,0.000,4,0.153,0.077,2524,3530,3429
$GC,156,0.04,-146.6,8.3,-11.6,6,162,1.05,2.50,0.00,0.000,6,0.071,0.044,2751,2109,3429
$GC,479,-3.08,-146.6,32.4,-7.6,22,488,2.95,2.60,0.00,0.000,4,0.045,0.060,2051,3520,3430
$GC,676,-3.08,-146.6,100.4,-38.6,30,683,0.12,2.45,0.00,0.000,6,0.126,0.048,2072,2141,3429
$GC,1003,-3.08,-146.6,217.4,-35.8,49,1007,0.00,2.53,0.00,0.000,4,0.000,0.059,2072,724,3430
$GC,1172,-3.08,-146.6,280.3,-37.4,59,1176,0.00,2.45,0.00,0.000,6,0.000,0.046,2072,2109,3430
$GC,1500,-3.08,-146.6,394.0,-34.3,80,1505,0.00,2.50,0.00,0.000,4,0.000,0.061,2072,728,3430
$GC,1590,-3.08,-146.6,427.0,-34.5,85,1594,0.00,2.42,0.00,0.000,6,0.000,0.048,2072,2096,3430
$GC,1911,-3.08,-146.6,534.2,-32.6,105,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2097,3430
$GC,2224,-3.08,-146.6,625.9,-29.6,125,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2097,3430
$STATE,2390,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2391,begin apogee
$GC,2398,-0.33,0.0,675.0,29.5,136,2534,3.03,0.00,129.98,1.239,6,0.121,0.000,2667,1896,2831
$STATE,2534,end apogee,CONTROL_FINISHED_OK
$STATE,2535,begin climb
$GC,2538,0.97,146.6,683.8,0.0,145,2679,1.30,2.62,129.45,1.206,4,0.057,0.073,2957,534,2233
$GC,2740,-0.10,146.6,676.1,7.6,157,2747,1.12,2.53,0.00,0.000,6,0.081,0.054,2724,1927,2234
$GC,3062,2.64,160.7,660.7,5.6,178,3084,2.67,2.60,13.73,1.099,4,0.045,0.067,3336,3324,2175
$GC,3130,2.64,160.7,649.5,23.9,181,3136,0.00,2.60,0.00,0.000,6,0.000,0.067,3336,1932,2174
$GC,3451,2.64,160.7,574.7,22.5,202,3455,0.00,2.60,0.00,0.000,4,0.000,0.074,3336,512,2174
$GC,3692,2.64,160.7,518.5,23.3,216,3698,0.00,2.47,0.00,0.000,6,0.000,0.052,3336,1892,2173
$GC,4011,2.64,160.7,447.7,22.0,237,4015,0.00,2.58,0.00,0.000,4,0.000,0.069,3336,503,2172
$GC,4061,2.64,160.7,435.7,23.4,240,4065,0.00,2.47,0.00,0.000,6,0.000,0.050,3337,1889,2172
$GC,4381,2.64,160.7,364.7,21.7,260,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1898,2171
$GC,4693,2.64,160.7,298.4,21.0,280,4697,0.00,2.55,0.00,0.000,4,0.000,0.067,3336,503,2171
$GC,4799,2.64,160.7,275.0,21.1,286,4805,0.00,2.42,0.00,0.000,6,0.000,0.048,3336,1875,2171
$GC,5120,2.64,160.7,211.1,19.4,307,5124,0.00,2.50,0.00,0.000,4,0.000,0.064,3336,508,2171
$GC,5199,2.64,160.7,194.6,20.9,312,5203,0.00,2.40,0.00,0.000,6,0.000,0.047,3336,1870,2171
$GC,5536,2.64,160.7,128.1,20.8,332,5540,0.00,2.50,0.00,0.000,4,0.000,0.064,3337,501,2171
$GC,5681,2.64,160.7,91.7,25.2,338,5688,0.00,2.38,0.00,0.000,6,0.000,0.045,3337,1853,2171
$GC,5998,2.64,160.7,25.2,17.8,354,6003,0.00,2.60,0.00,0.000,4,0.000,0.056,3337,3324,2171
$GC,6021,2.64,160.7,20.6,19.4,355,6025,0.00,2.70,0.00,0.000,6,0.000,0.049,3337,1807,2171
$STATE,6112,end climb,SURFACE_DEPTH_REACHED
$STATE,6112,begin surface coast
$FINISH,0.8,1.026747
$STATE,6134,end surface coast,CONTROL_FINISHED_OK
$STATE,6134,begin surface
$SM_CCo,6159,74.45,0.786,0,0,1607,300.00
$SM_GC,1.35,0.00,0.00,74.45,0.000,0.000,0.786,420,2141,1607,-10.70,0.31,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1837
$TCM_TEMP,17.30
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,621.4,63.3
$24V_AH,23.8,14.298
$10V_AH,10.1,6.453
$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,36.325,61.475,273.150,74.450,0.000,37.760,32.194,137.815,9.500,0.000,0.000,30.736,708.833,4128.248,442.844,918.012,375.254,33.371,911.873,0.000,873.275,0.000,38.245,0.000
$DEVICE_MAMPS,153.400,76.700,1238.705,786.175,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,245.605,260.885,223.694,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19118,361
$CAP_FILE_SIZE,62850,0
$CFSIZE,254472192,248045568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090909,102230,6209.320,-943.580,20,1.5,38,-9.8