version: 66.04
glider: 5
mission: 7
dive: 223
start: 10 5 109 5 4 27
data:
$ID,5
$MISSION,7
$DIVE,223
$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,412.5
$T_MISSION,440
$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,-104494.8
$T_RSLEEP,27
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,27
$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
$GPS1,045900,6359.723,-1327.944,40,1.0,40,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-59.6
$GPS2,050338,6359.682,-1328.070,10,1.4,10,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P6
$TGT_LATLONG,6402.820,-1325.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.039,0.242
$KALMAN_X,-37836.0,429.3,-37.4,-216341.7,6298.6
$KALMAN_Y,-24815.2,232.4,285.2,289259.8,-19408.1
$MHEAD_RNG_PITCHd_Wd,3.6,6174,-14.8,-8.000
$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,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-60.97,0.000,2,0.000,0.000,418,2125,2793
$GC,82,-1.22,-146.6,2.6,-3.0,3,126,11.35,2.60,-22.58,0.000,4,0.168,0.079,2469,3528,3430
$GC,300,-1.14,-146.6,31.3,-15.4,12,307,0.12,2.53,0.00,0.000,6,0.109,0.050,2493,2116,3430
$GC,618,-1.11,-146.6,70.3,-10.6,28,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2116,3430
$GC,926,-1.07,-146.6,99.4,-8.7,43,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2105,3430
$GC,1236,-1.04,-146.6,122.8,-6.6,58,1238,0.12,0.00,0.00,0.000,6,0.102,0.000,2519,2105,3430
$GC,1544,-1.04,-146.6,140.8,-6.6,73,1548,0.00,2.50,0.00,0.000,4,0.000,0.064,2520,718,3430
$GC,1589,-1.08,-146.6,144.1,-8.0,75,1594,0.00,2.50,0.00,0.000,6,0.000,0.053,2520,2121,3430
$GC,1918,-1.08,-146.6,166.8,-6.6,95,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2121,3430
$GC,2230,-1.08,-146.6,191.2,-8.7,115,2234,0.00,2.58,0.00,0.000,4,0.000,0.065,2520,714,3430
$GC,2282,-1.13,-146.6,195.5,-8.0,118,2286,0.00,2.53,0.00,0.000,6,0.000,0.053,2520,2130,3431
$STATE,2567,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2567,begin apogee
$GC,2575,-0.33,0.0,222.7,9.5,136,2705,0.70,0.00,123.20,0.946,6,0.077,0.000,2670,1853,2831
$STATE,2705,end apogee,CONTROL_FINISHED_OK
$STATE,2706,begin climb
$GC,2709,1.22,146.6,227.9,0.0,145,2839,1.55,2.60,122.03,0.910,4,0.064,0.064,3008,442,2232
$GC,3001,1.10,146.6,205.1,16.7,163,3006,0.12,2.53,0.00,0.000,6,0.094,0.049,2985,1857,2232
$GC,3325,1.10,146.6,168.5,9.9,184,3330,0.00,2.53,0.00,0.000,4,0.000,0.061,2985,3260,2232
$GC,3427,1.13,146.6,158.2,10.3,190,3431,0.00,2.53,0.00,0.000,6,0.000,0.052,2985,1847,2232
$GC,3755,1.22,199.6,134.4,6.1,207,3807,0.10,2.65,44.67,0.859,4,0.058,0.059,3014,3252,2017
$GC,3883,1.26,226.6,125.6,7.0,212,3911,0.00,2.50,23.17,0.831,6,0.000,0.051,3014,1864,1907
$GC,4222,1.28,238.6,99.2,7.6,229,4239,0.00,0.00,11.82,0.782,6,0.000,0.000,3014,1864,1857
$GC,4551,1.32,261.5,74.1,7.2,245,4573,0.00,0.00,20.33,0.805,6,0.000,0.000,3015,1864,1764
$GC,4881,1.32,261.5,47.3,9.2,261,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1863,1764
$GC,5188,1.32,261.5,20.9,8.4,276,5192,0.00,2.55,0.00,0.000,4,0.000,0.059,3014,3261,1764
$GC,5221,1.36,261.5,17.9,8.5,277,5228,0.12,2.50,0.00,0.000,6,0.054,0.051,3049,1861,1764
$STATE,5369,end climb,SURFACE_DEPTH_REACHED
$STATE,5369,begin surface coast
$FINISH,0.5,1.002394
$STATE,5391,end surface coast,CONTROL_FINISHED_OK
$STATE,5391,begin surface
$SM_CCo,5416,19.83,0.767,0,0,1608,300.00
$SM_GC,1.09,0.00,0.00,19.83,0.000,0.000,0.767,422,2146,1608,-10.69,0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1799
$TCM_TEMP,16.80
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,195.0,37.0
$24V_AH,24.0,38.798
$10V_AH,10.1,17.502
$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,25.675,36.625,345.225,19.825,0.000,37.752,27.098,108.557,6.000,0.000,0.000,10.907,542.471,3739.689,422.720,700.269,314.589,33.364,796.591,0.000,691.360,0.000,11.454,0.000
$DEVICE_MAMPS,167.973,79.001,946.478,767.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,193.728,212.048,334.388,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12821,286
$CAP_FILE_SIZE,46804,0
$CFSIZE,254472192,239464448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,051009,063624,6359.768,-1330.207,23,1.8,42,-12.7