version: 66.04
glider: 5
mission: 7
dive: 226
start: 10 5 109 9 9 48
data:
$ID,5
$MISSION,7
$DIVE,226
$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,-104562.77
$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,22
$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
$GPS1,090426,6402.227,-1330.075,10,1.3,11,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-59.8
$GPS2,090858,6402.340,-1330.000,14,2.8,33,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.085,0.230
$KALMAN_X,-41289.9,-1173.6,317.6,-213351.5,-3573.2
$KALMAN_Y,-28423.2,-1031.3,1219.2,298084.2,-54014.7
$MHEAD_RNG_PITCHd_Wd,33.0,24420,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.22,0.000,2,0.000,0.000,423,2113,2418
$GC,63,-1.22,-146.6,2.2,-4.6,2,131,11.43,2.62,-50.42,0.000,4,0.171,0.081,2469,3540,3429
$GC,159,-1.09,-146.6,7.6,-14.4,6,167,0.20,2.55,0.00,0.000,6,0.097,0.052,2510,2118,3429
$GC,476,-1.09,-146.6,42.4,-11.2,22,480,0.00,2.50,0.00,0.000,4,0.000,0.061,2511,718,3429
$GC,526,-1.09,-146.6,48.5,-11.4,24,530,0.00,2.53,0.00,0.000,6,0.000,0.051,2511,2135,3429
$GC,842,-1.09,-146.6,83.6,-11.3,39,846,0.00,2.58,0.00,0.000,4,0.000,0.062,2511,722,3429
$GC,883,-1.12,-146.6,88.0,-11.0,41,887,0.00,2.50,0.00,0.000,6,0.000,0.051,2511,2125,3429
$GC,1210,-1.12,-146.6,124.2,-11.3,57,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2124,3429
$STATE,1512,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1512,begin apogee
$GC,1520,-0.33,0.0,158.6,10.5,73,1649,0.75,0.00,121.57,0.898,6,0.076,0.000,2672,1847,2830
$STATE,1650,end apogee,CONTROL_FINISHED_OK
$STATE,1650,begin climb
$GC,1653,1.22,146.6,165.4,0.0,82,1781,1.52,2.60,119.93,0.861,4,0.059,0.066,3009,443,2233
$GC,1863,1.14,161.7,157.9,7.5,95,1883,0.00,2.53,14.05,0.785,6,0.000,0.049,3009,1875,2170
$GC,2197,1.20,197.9,137.3,6.7,113,2233,0.00,2.50,30.67,0.829,4,0.000,0.060,3008,3238,2024
$GC,2284,1.20,198.8,130.6,8.0,116,2289,0.00,2.53,0.00,0.000,6,0.000,0.053,3009,1847,2024
$GC,2607,1.24,223.7,108.0,7.1,132,2636,0.00,2.60,22.27,0.816,4,0.000,0.058,3008,3242,1919
$GC,2711,1.25,227.0,99.6,7.9,136,2721,0.00,2.50,4.82,0.617,6,0.000,0.051,3009,1854,1904
$GC,3051,1.25,228.0,72.1,8.0,153,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1854,1904
$GC,3360,1.25,228.0,47.4,8.1,168,3364,0.00,2.53,0.00,0.000,4,0.000,0.060,3008,3238,1904
$GC,3387,1.25,228.0,44.9,8.8,169,3391,0.00,2.45,0.00,0.000,6,0.000,0.050,3008,1866,1904
$GC,3705,1.26,235.4,19.4,7.7,184,3719,0.00,2.62,8.50,0.716,4,0.000,0.064,3008,439,1871
$GC,3737,1.26,235.4,16.0,10.2,185,3742,0.00,2.53,0.00,0.000,6,0.000,0.048,3008,1858,1870
$STATE,3906,end climb,SURFACE_DEPTH_REACHED
$STATE,3906,begin surface coast
$FINISH,0.9,1.027259
$STATE,3928,end surface coast,CONTROL_FINISHED_OK
$STATE,3928,begin surface
$SM_CCo,3952,33.47,0.778,0,0,1606,300.00
$SM_GC,1.65,0.00,0.00,33.47,0.000,0.000,0.778,424,2144,1606,-10.67,0.31,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1805
$TCM_TEMP,16.80
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,121.8,45.8
$24V_AH,24.0,39.091
$10V_AH,10.1,17.600
$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,25.175,41.625,321.825,33.475,0.000,37.756,30.300,86.154,4.750,0.000,0.000,33.980,389.201,2645.709,406.898,553.019,277.238,33.377,720.417,0.000,523.044,0.000,6.724,0.000
$DEVICE_MAMPS,171.041,80.535,898.157,777.738,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,130.858,144.764,286.200,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9655,194
$CAP_FILE_SIZE,38142,0
$CFSIZE,254472192,239403008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051009,101736,6404.035,-1327.656,36,1.4,42,-12.7