version: 66.04
glider: 5
mission: 7
dive: 71
start: 9 9 109 12 9 41
data:
$ID,5
$MISSION,7
$DIVE,71
$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,-101600.64
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,120430,6210.306,-943.912,39,1.5,40,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-64.9
$GPS2,120849,6210.343,-943.847,12,1.8,12,-9.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.211,-0.066
$KALMAN_X,-78774.2,-1501.9,1490.3,22475.5,77108.7
$KALMAN_Y,43383.6,-1005.3,1131.7,18989.2,46782.9
$MHEAD_RNG_PITCHd_Wd,262.5,44945,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.97,-146.6,0.0,0.0,0,59,0.00,0.00,-41.53,0.000,2,0.000,0.000,418,2155,2489
$GC,63,-0.97,-146.6,2.2,-2.7,2,120,11.65,2.55,-37.55,0.000,4,0.159,0.077,2528,3526,3429
$GC,154,-0.16,-146.6,8.3,-10.7,6,160,0.82,2.47,0.00,0.000,6,0.071,0.047,2706,2137,3429
$GC,473,-3.12,-146.6,30.1,-7.7,21,482,2.80,2.58,0.00,0.000,4,0.047,0.060,2046,3533,3430
$GC,736,-3.12,-146.6,125.0,-34.8,32,742,0.00,2.38,0.00,0.000,6,0.000,0.048,2046,2192,3430
$GC,1062,-3.12,-146.6,240.5,-35.8,52,1065,0.00,2.45,0.00,0.000,4,0.000,0.065,2046,3530,3431
$GC,1157,-3.12,-146.6,276.9,-36.4,57,1164,0.00,2.42,0.00,0.000,6,0.000,0.052,2046,2175,3431
$GC,1479,-3.12,-146.6,392.6,-36.1,78,1484,0.00,2.58,0.00,0.000,4,0.000,0.061,2046,732,3431
$GC,1540,-3.12,-146.6,416.6,-37.9,81,1547,0.00,2.55,0.00,0.000,6,0.000,0.048,2046,2170,3431
$GC,1862,-3.12,-146.6,533.1,-37.3,102,1867,0.00,2.62,0.00,0.000,4,0.000,0.063,2046,728,3431
$GC,1947,-3.12,-146.6,565.5,-36.9,107,1951,0.00,2.53,0.00,0.000,6,0.000,0.048,2046,2149,3431
$STATE,2169,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2170,begin apogee
$GC,2177,-0.33,0.0,640.9,30.9,121,2313,3.22,0.00,130.38,1.210,6,0.132,0.000,2666,1890,2831
$STATE,2314,end apogee,CONTROL_FINISHED_OK
$STATE,2314,begin climb
$GC,2317,0.97,146.6,647.5,0.0,130,2456,1.30,2.60,128.93,1.178,4,0.064,0.074,2950,541,2233
$GC,2557,0.26,146.6,638.9,9.3,145,2565,0.70,2.50,0.00,0.000,6,0.077,0.052,2802,1930,2233
$GC,2880,2.49,262.9,626.1,2.8,166,2990,2.10,2.75,101.20,1.174,4,0.038,0.076,3304,537,1759
$GC,3228,2.49,262.9,526.5,32.2,187,3233,0.00,2.45,0.00,0.000,6,0.000,0.053,3304,1897,1759
$GC,3553,2.49,262.9,422.8,32.4,208,3557,0.00,2.53,0.00,0.000,4,0.000,0.071,3304,536,1758
$GC,3659,2.49,262.9,386.6,34.1,214,3665,0.00,2.42,0.00,0.000,6,0.000,0.051,3305,1890,1758
$GC,3978,2.49,262.9,285.6,30.5,235,3983,0.00,2.53,0.00,0.000,4,0.000,0.068,3304,527,1757
$GC,4058,2.49,262.9,259.7,32.2,240,4062,0.00,2.38,0.00,0.000,6,0.000,0.049,3304,1863,1757
$GC,4384,2.49,262.9,155.5,33.0,261,4388,0.00,2.45,0.00,0.000,4,0.000,0.066,3305,531,1757
$GC,4440,2.49,262.9,135.7,35.0,264,4446,0.00,2.38,0.00,0.000,6,0.000,0.049,3304,1867,1757
$GC,4757,2.49,262.9,40.4,27.4,280,4761,0.00,2.45,0.00,0.000,4,0.000,0.065,3305,530,1757
$GC,4835,2.49,262.9,16.0,31.4,283,4842,0.00,2.33,0.00,0.000,6,0.000,0.047,3304,1847,1757
$STATE,4880,end climb,SURFACE_DEPTH_REACHED
$STATE,4880,begin surface coast
$FINISH,0.9,1.026747
$STATE,4902,end surface coast,CONTROL_FINISHED_OK
$STATE,4902,begin surface
$SM_CCo,4927,19.20,0.764,0,0,1608,300.00
$SM_GC,1.30,0.00,0.00,19.20,0.000,0.000,0.764,421,2124,1608,-10.69,-0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1854
$TCM_TEMP,17.10
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,573.3,76.9
$24V_AH,23.9,14.556
$10V_AH,10.1,6.527
$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,35.075,55.750,360.500,19.200,0.000,37.759,24.708,97.472,8.500,0.000,0.000,12.938,568.999,3117.740,445.132,784.466,301.678,33.363,879.276,0.000,757.062,0.000,35.104,0.000
$DEVICE_MAMPS,158.769,76.700,1209.559,763.932,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,193.650,206.486,182.443,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12785,287
$CAP_FILE_SIZE,53684,0
$CFSIZE,254472192,247992320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090909,133322,6211.211,-944.593,14,3.5,34,-9.9