version: 66.04
glider: 5
mission: 4
dive: 17
start: 10 16 108 6 39 26
data:
$ID,5
$MISSION,4
$DIVE,17
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$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,80
$T_MISSION,100
$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,1001
$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,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,-85849.305
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2650
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2190
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,3240
$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,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-24.906118
$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,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$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,0.0043761111
$SEABIRD_T_H,0.00064345129
$SEABIRD_T_I,2.5632376e-05
$SEABIRD_T_J,2.7382036e-06
$SEABIRD_C_G,-10.188265
$SEABIRD_C_H,1.1432956
$SEABIRD_C_I,-0.00020702372
$SEABIRD_C_J,0.00012956691
$GPS1,063433,4806.449,-12222.579,14,1.7,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-66.9
$GPS2,063833,4806.487,-12222.640,15,1.7,15,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.087,0.207
$KALMAN_X,-250.8,-112.2,-76.9,1169.2,59.6
$KALMAN_Y,2012.3,350.0,52.5,-5050.9,-400.4
$MHEAD_RNG_PITCHd_Wd,319.0,3269,-11.5,-6.250
$D_GRID,150
$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,-1.00,-146.6,0.0,0.0,0,99,0.00,0.00,-81.07,0.000,2,0.000,0.000,422,2192,3398
$GC,103,-1.00,-146.6,3.2,-4.2,14,135,10.52,2.60,-12.05,0.000,4,0.140,0.077,2428,3599,3838
$GC,389,-0.80,-146.6,33.7,-10.4,52,394,0.22,2.53,0.00,0.000,6,0.084,0.048,2475,2183,3839
$GC,587,-0.80,-146.6,47.4,-6.8,70,592,0.00,2.60,0.00,0.000,4,0.000,0.064,2475,3598,3839
$GC,699,-0.80,-146.6,55.4,-7.2,76,703,0.00,2.47,0.00,0.000,6,0.000,0.046,2475,2199,3838
$GC,1020,-0.80,-146.6,76.0,-6.3,92,1025,0.00,2.58,0.00,0.000,4,0.000,0.065,2475,3600,3839
$GC,1106,-0.80,-146.6,81.8,-6.8,96,1110,0.00,2.45,0.00,0.000,6,0.000,0.048,2475,2215,3838
$GC,1433,-0.80,-146.6,100.8,-5.8,112,1437,0.00,2.53,0.00,0.000,4,0.000,0.065,2475,3596,3838
$GC,1488,-0.80,-146.6,104.4,-6.6,116,1495,0.00,2.38,0.00,0.000,6,0.000,0.046,2475,2233,3838
$STATE,1588,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1588,begin apogee
$GC,1594,-0.33,0.0,110.2,5.6,126,1712,0.43,0.00,114.68,0.831,6,0.071,0.000,2574,2226,3240
$STATE,1713,end apogee,CONTROL_FINISHED_OK
$STATE,1713,begin climb
$GC,1716,1.00,146.6,113.0,0.0,138,1835,1.33,0.00,113.65,0.797,6,0.058,0.000,2866,2225,2642
$GC,2156,0.79,146.6,70.9,10.1,168,2158,0.22,0.00,0.00,0.000,6,0.081,0.000,2821,2225,2641
$GC,2466,0.74,146.6,47.7,7.3,184,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2225,2641
$GC,2656,0.74,146.6,33.9,7.0,202,2660,0.00,2.50,0.00,0.000,4,0.000,0.064,2821,3603,2641
$GC,2685,0.69,146.6,31.8,7.7,204,2690,0.00,2.50,0.00,0.000,6,0.000,0.046,2821,2193,2641
$GC,2886,0.70,150.0,18.5,6.2,224,2899,0.00,2.62,4.53,0.543,4,0.000,0.062,2821,3596,2627
$GC,2912,0.70,152.8,16.7,6.2,228,2925,0.00,2.47,4.25,0.523,6,0.000,0.048,2821,2191,2615
$GC,2994,0.72,161.6,11.5,6.0,242,3006,0.00,0.00,8.07,0.658,6,0.000,0.000,2821,2185,2581
$GC,3075,0.76,188.2,6.8,5.5,256,3106,0.00,2.60,20.98,0.732,4,0.000,0.061,2821,793,2472
$STATE,3127,end climb,SURFACE_DEPTH_REACHED
$STATE,3127,begin surface coast
$FINISH,1.6,1.020617
$STATE,3211,end surface coast,CONTROL_FINISHED_OK
$STATE,3211,begin surface
$SM_CCo,3234,107.88,0.747,0,0,1609,400.08
$SM_GC,0.43,0.00,0.00,107.88,0.000,0.000,0.747,426,2192,1609,-10.23,0.06,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1758
$TCM_TEMP,18.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,19.9
$ALTIM_BOTTOM_PING,90.2,29.6
$24V_AH,24.0,1.997
$10V_AH,10.1,0.672
$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,23.250,35.375,266.150,107.875,0.000,37.755,23.978,87.212,2.000,0.000,0.000,15.810,470.903,1800.545,436.632,628.484,262.327,33.319,768.811,0.000,621.808,0.000,11.699,0.000
$DEVICE_MAMPS,140.361,76.700,830.661,747.058,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,188.873,210.287,480.892,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12813,279
$CAP_FILE_SIZE,39540,0
$CFSIZE,254472192,252809216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,161008,073621,4806.857,-12222.709,14,2.0,34,18.3