version: 66.03
glider: 5
mission: 3
dive: 66
start: 6 20 108 14 46 38
data:
$ID,5
$MISSION,3
$DIVE,66
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$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,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,52
$TGT_DEFAULT_LON,-7
$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,-77907.031
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2620
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,3
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-24.477776
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$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
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043890956
$SEABIRD_T_H,0.00065287336
$SEABIRD_T_I,2.754709e-05
$SEABIRD_T_J,3.0424237e-06
$SEABIRD_C_G,-10.354986
$SEABIRD_C_H,1.1996267
$SEABIRD_C_I,-0.0023424325
$SEABIRD_C_J,0.0002635108
$GPS1,143857,6203.318,-932.880,26,3.4,45,-9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-53.6
$GPS2,144547,6203.318,-932.674,14,4.4,33,-9.7
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.177,-0.095
$KALMAN_X,-103638.3,4223.3,-869.7,32620.3,-7851.6
$KALMAN_Y,-6622.6,-193.7,2394.0,75616.2,7426.6
$MHEAD_RNG_PITCHd_Wd,127.9,45507,-12.6,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.03,-117.3,0.0,0.0,0,95,0.00,0.00,-69.57,0.000,6,0.000,0.000,421,2121,3099
$GC,99,-1.03,-117.3,2.1,-3.4,3,115,10.65,2.50,0.00,0.000,4,0.140,0.058,2470,744,3101
$GC,368,-0.73,-117.3,32.6,-11.1,14,373,0.32,2.53,0.00,0.000,6,0.087,0.050,2540,2153,3102
$GC,691,-0.64,-117.3,61.9,-10.4,30,695,0.00,2.55,0.00,0.000,4,0.000,0.061,2540,744,3102
$GC,764,-0.56,-117.3,70.4,-12.0,33,769,0.17,2.47,0.00,0.000,6,0.090,0.051,2577,2133,3102
$GC,1081,-0.56,-117.3,98.6,-8.3,48,1086,0.00,2.55,0.00,0.000,4,0.000,0.062,2577,3554,3103
$GC,1154,-0.56,-117.3,104.4,-7.4,51,1158,0.00,2.53,0.00,0.000,6,0.000,0.048,2577,2135,3103
$GC,1470,-0.56,-117.3,119.9,-4.2,66,1475,0.00,2.60,0.00,0.000,4,0.000,0.061,2577,3557,3103
$GC,1549,-0.56,-117.3,124.1,-5.5,69,1555,0.00,2.50,0.00,0.000,6,0.000,0.048,2577,2147,3103
$GC,1865,-0.56,-117.3,142.6,-5.6,85,1869,0.00,2.53,0.00,0.000,4,0.000,0.066,2577,747,3103
$GC,1943,-0.56,-117.3,147.1,-6.2,88,1949,0.00,2.47,0.00,0.000,6,0.000,0.051,2577,2134,3103
$GC,2259,-0.56,-117.3,158.3,-1.7,104,2263,0.00,2.53,0.00,0.000,4,0.000,0.063,2576,750,3104
$GC,2315,-0.56,-117.3,159.0,-1.3,106,2320,0.00,2.42,0.00,0.000,6,0.000,0.051,2577,2109,3104
$STATE,2524,end dive,NO_VERTICAL_VELOCITY
$STATE,2524,begin apogee
$GC,2531,-0.33,0.0,159.6,0.0,117,2629,0.22,0.00,94.93,0.884,6,0.077,0.000,2625,2109,2620
$STATE,2629,end apogee,CONTROL_FINISHED_OK
$STATE,2629,begin climb
$GC,2632,1.03,117.3,156.6,0.0,122,2733,1.40,2.58,93.05,0.848,4,0.068,0.060,2925,3508,2141
$GC,2772,1.03,117.3,140.5,13.0,129,2777,0.00,2.55,0.00,0.000,6,0.000,0.051,2926,2103,2140
$GC,3094,1.03,117.3,102.9,11.6,145,3099,0.00,2.58,0.00,0.000,4,0.000,0.066,2926,681,2140
$GC,3172,1.03,117.3,93.6,11.1,148,3179,0.00,2.53,0.00,0.000,6,0.000,0.050,2926,2089,2140
$GC,3489,1.03,117.3,66.6,7.2,164,3493,0.00,2.55,0.00,0.000,4,0.000,0.061,2926,3507,2140
$GC,3584,1.03,117.3,59.3,7.2,168,3588,0.00,2.55,0.00,0.000,6,0.000,0.049,2926,2085,2140
$GC,3900,1.03,117.3,38.1,6.7,183,3904,0.00,2.58,0.00,0.000,4,0.000,0.060,2926,3506,2140
$GC,3962,1.03,117.3,33.7,7.3,186,3967,0.00,2.47,0.00,0.000,6,0.000,0.049,2926,2126,2140
$GC,4290,1.03,117.3,12.6,7.3,202,4295,0.00,2.60,0.00,0.000,4,0.000,0.066,2926,684,2140
$GC,4340,1.03,117.3,9.0,6.8,204,4345,0.00,2.58,0.00,0.000,6,0.000,0.050,2926,2127,2140
$STATE,4469,end climb,SURFACE_DEPTH_REACHED
$STATE,4469,begin surface coast
$FINISH,0.9,1.027124
$STATE,4490,end surface coast,CONTROL_FINISHED_OK
$STATE,4490,begin surface
$SM_CCo,4512,107.65,0.775,0,0,1396,300.00
$SM_GC,0.71,0.00,0.00,107.65,0.000,0.000,0.775,425,2130,1396,-10.46,-0.57,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1645
$TCM_TEMP,17.70
$XPDR_PINGS,137
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,24.0,15.809
$10V_AH,10.1,6.790
$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,23.650,55.725,187.975,107.650,0.000,37.762,28.365,184.808,34.750,0.000,0.000,34.543,468.798,3111.043,396.778,646.255,400.025,33.369,714.021,0.000,621.494,0.000,4.206
$DEVICE_MAMPS,139.594,65.962,884.351,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,143.740,155.397,317.438,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9695,211
$CAP_FILE_SIZE,46504,0
$CFSIZE,254472192,247873536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,200608,160427,6203.619,-930.054,10,2.0,11,-9.7