version: 66.04
glider: 5
mission: 4
dive: 24
start: 10 16 108 14 27 30
data:
$ID,5
$MISSION,4
$DIVE,24
$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,-85988.969
$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,23
$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
$GPS1,141709,4807.838,-12223.667,39,1.9,40,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-68.5
$GPS2,142638,4807.944,-12223.798,11,1.8,16,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.011,-0.171
$KALMAN_X,-1111.6,97.3,-252.5,564.4,-301.9
$KALMAN_Y,4968.7,-1278.4,184.4,-3815.2,926.1
$MHEAD_RNG_PITCHd_Wd,157.9,271,-16.5,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.23,-79.6,0.0,0.0,0,107,0.00,0.00,-86.60,0.000,2,0.000,0.000,424,2201,3528
$GC,111,-1.27,-106.5,3.9,-4.8,15,131,10.07,2.62,-3.47,0.000,4,0.137,0.075,2368,777,3674
$GC,229,-0.99,-106.5,23.3,-10.6,33,234,0.32,2.55,0.00,0.000,6,0.090,0.051,2432,2195,3675
$GC,427,-0.95,-106.5,37.9,-6.9,51,431,0.00,2.55,0.00,0.000,4,0.000,0.064,2432,3604,3675
$GC,460,-0.88,-106.5,40.6,-7.6,53,467,0.12,2.50,0.00,0.000,6,0.096,0.048,2457,2189,3675
$GC,667,-0.94,-106.5,54.3,-6.7,70,672,0.00,2.60,0.00,0.000,4,0.000,0.064,2457,3608,3675
$GC,708,-1.00,-106.5,57.3,-7.7,72,713,0.12,2.47,0.00,0.000,6,0.055,0.048,2423,2205,3675
$GC,1038,-1.00,-106.5,82.9,-7.6,88,1042,0.00,2.58,0.00,0.000,4,0.000,0.064,2423,3606,3675
$GC,1100,-1.00,-106.5,88.2,-8.6,91,1104,0.00,2.45,0.00,0.000,6,0.000,0.048,2423,2221,3675
$STATE,1399,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1400,begin apogee
$GC,1406,-0.33,0.0,110.6,7.5,112,1493,0.68,0.00,83.60,0.832,6,0.078,0.000,2573,2204,3240
$STATE,1494,end apogee,CONTROL_FINISHED_OK
$STATE,1494,begin climb
$GC,1497,1.27,106.5,113.0,0.0,121,1589,1.60,2.65,82.75,0.809,4,0.059,0.058,2925,781,2805
$GC,1656,1.03,106.5,98.3,12.0,135,1661,0.25,2.55,0.00,0.000,6,0.091,0.049,2875,2194,2804
$GC,1979,0.95,106.5,66.7,9.9,151,1983,0.00,2.55,0.00,0.000,4,0.000,0.062,2875,3606,2804
$GC,2068,0.84,106.5,57.1,10.2,155,2073,0.20,2.50,0.00,0.000,6,0.091,0.047,2835,2199,2805
$GC,2400,0.91,106.5,32.8,6.9,182,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2181,2805
$GC,2599,1.00,106.5,18.9,6.8,202,2606,0.15,0.00,0.00,0.000,6,0.051,0.000,2875,2181,2805
$GC,2675,0.96,106.5,13.3,7.9,215,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2181,2805
$GC,2749,0.96,106.5,8.0,6.3,228,2756,0.00,2.50,0.00,0.000,4,0.000,0.060,2875,783,2805
$GC,2831,1.14,164.3,5.3,3.2,242,2875,0.10,2.53,37.95,0.745,2,0.059,0.050,2907,2210,2583
$STATE,2876,end climb,SURFACE_DEPTH_REACHED
$STATE,2876,begin surface coast
$FINISH,0.5,1.020306
$STATE,3033,end surface coast,CONTROL_FINISHED_OK
$STATE,3033,begin surface
$SM_CCo,3054,131.95,0.738,1,0,1608,400.08
$SM_GC,0.50,0.00,0.00,131.95,0.000,0.000,0.738,420,2220,1608,-10.26,0.85,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1733
$TCM_TEMP,18.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,19.7
$ALTIM_BOTTOM_PING,91.1,29.3
$24V_AH,24.0,2.601
$10V_AH,10.1,0.976
$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,24.600,35.600,204.300,131.950,0.000,115.541,84.475,150.138,2.250,0.000,0.000,16.211,481.614,1788.354,402.725,630.363,471.991,33.312,735.276,0.000,622.373,0.000,11.696,0.000
$DEVICE_MAMPS,136.526,75.166,832.195,737.854,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,190.996,203.476,477.449,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12826,277
$CAP_FILE_SIZE,44100,0
$CFSIZE,254472192,252604416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,161008,152153,4807.711,-12223.777,12,3.0,32,18.3