version: 66.04
glider: 5
mission: 4
dive: 23
start: 10 16 108 13 16 37
data:
$ID,5
$MISSION,4
$DIVE,23
$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,-85972.125
$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,23
$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
$GPS1,131126,4808.042,-12223.748,10,1.5,22,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-67.7
$GPS2,131544,4808.102,-12223.795,17,1.8,17,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.062,-0.205
$KALMAN_X,-1329.2,324.5,25.8,279.8,-548.1
$KALMAN_Y,4567.7,-1435.6,55.1,-2837.6,796.0
$MHEAD_RNG_PITCHd_Wd,144.9,315,-12.3,-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,13,begin dive
$GC,16,-1.03,-130.9,0.0,0.0,0,99,0.00,0.00,-80.93,0.000,2,0.000,0.000,423,2213,3415
$GC,103,-1.06,-146.6,3.8,-5.7,14,128,10.38,0.00,-9.90,0.000,6,0.137,0.000,2417,2212,3839
$GC,197,-0.84,-146.6,17.9,-10.3,30,204,0.20,0.00,0.00,0.000,6,0.087,0.000,2463,2212,3839
$GC,275,-0.78,-146.6,24.4,-8.0,39,279,0.00,2.53,0.00,0.000,4,0.000,0.064,2462,3603,3839
$GC,326,-0.71,-146.6,28.5,-8.0,43,333,0.15,2.53,0.00,0.000,6,0.085,0.048,2495,2183,3839
$GC,525,-0.77,-146.6,40.6,-6.0,62,529,0.00,2.60,0.00,0.000,4,0.000,0.064,2495,3596,3839
$GC,569,-0.86,-146.6,43.6,-6.7,65,576,0.15,2.45,0.00,0.000,6,0.051,0.046,2453,2208,3839
$GC,764,-0.80,-146.6,58.7,-7.9,79,769,0.00,2.55,0.00,0.000,4,0.000,0.064,2453,3598,3839
$GC,798,-0.74,-146.6,61.7,-8.1,80,805,0.17,2.40,0.00,0.000,6,0.084,0.047,2489,2238,3839
$GC,1120,-0.82,-146.6,81.1,-5.8,96,1124,0.00,2.47,0.00,0.000,4,0.000,0.064,2489,3596,3839
$GC,1183,-0.90,-146.6,85.3,-6.2,99,1188,0.17,2.38,0.00,0.000,6,0.050,0.046,2443,2245,3839
$GC,1505,-0.84,-146.6,109.6,-7.6,120,1510,0.10,2.47,0.00,0.000,4,0.095,0.064,2463,3598,3839
$STATE,1532,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1532,begin apogee
$GC,1541,-0.33,0.0,111.9,6.8,122,1659,0.47,0.00,114.60,0.829,6,0.076,0.000,2571,2165,3240
$STATE,1660,end apogee,CONTROL_FINISHED_OK
$STATE,1660,begin climb
$GC,1663,1.06,146.6,115.3,0.0,134,1784,1.40,2.58,112.97,0.799,4,0.061,0.061,2877,784,2642
$GC,1803,0.82,146.6,104.7,11.3,146,1811,0.25,2.55,0.00,0.000,6,0.081,0.050,2827,2195,2642
$GC,2133,0.76,146.6,78.6,7.6,165,2138,0.00,2.55,0.00,0.000,4,0.000,0.063,2827,3605,2641
$GC,2184,0.71,146.6,74.3,8.1,167,2189,0.12,2.50,0.00,0.000,6,0.086,0.047,2802,2200,2641
$GC,2501,0.71,146.6,53.4,6.7,182,2506,0.00,2.58,0.00,0.000,4,0.000,0.061,2802,3607,2641
$GC,2529,0.75,146.6,51.1,8.3,183,2534,0.00,2.47,0.00,0.000,6,0.000,0.046,2802,2210,2641
$GC,2857,0.82,148.9,30.0,6.2,212,2869,0.12,2.58,3.47,0.468,4,0.051,0.060,2837,790,2633
$GC,2882,0.82,148.9,27.9,7.5,214,2886,0.00,2.58,0.00,0.000,6,0.000,0.050,2837,2231,2633
$GC,3085,0.82,148.9,12.2,7.5,241,3092,0.00,2.47,0.00,0.000,4,0.000,0.063,2837,3605,2632
$GC,3155,0.82,148.9,7.4,6.9,253,3161,0.00,2.42,0.00,0.000,6,0.000,0.047,2837,2225,2633
$GC,3231,1.12,246.5,4.4,3.1,266,3245,0.22,0.00,11.55,0.697,2,0.046,0.000,2901,2207,2561
$STATE,3246,end climb,SURFACE_DEPTH_REACHED
$STATE,3246,begin surface coast
$FINISH,0.7,1.020434
$STATE,3409,end surface coast,CONTROL_FINISHED_OK
$STATE,3409,begin surface
$SM_CCo,3430,122.88,0.747,0,0,1609,400.08
$SM_GC,0.53,0.00,0.00,122.88,0.000,0.000,0.747,424,2201,1609,-10.24,0.31,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1728
$TCM_TEMP,18.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,20.0
$ALTIM_BOTTOM_PING,91.2,30.7
$24V_AH,24.0,2.510
$10V_AH,10.1,0.934
$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,24.875,50.200,242.600,122.875,0.000,37.758,30.089,94.626,2.500,0.000,0.000,19.264,526.032,1893.348,432.446,681.114,293.668,33.309,795.140,0.000,667.449,0.000,14.565,0.000
$DEVICE_MAMPS,137.293,64.428,829.127,747.058,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,203.524,216.915,511.486,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15877,297
$CAP_FILE_SIZE,47411,0
$CFSIZE,254472192,252628992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,161008,141709,4807.838,-12223.667,39,1.9,40,18.3