version: 66.04
glider: 5
mission: 6
dive: 20
start: 7 30 109 13 8 8
data:
$ID,5
$MISSION,6
$DIVE,20
$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,83.300003
$T_MISSION,90
$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,150
$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,2
$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,122
$TGT_DEFAULT_LON,48
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,-98933.148
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2795
$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,2230
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,24
$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,3239
$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,-25.153585
$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,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,0
$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
$GPS1,130336,4806.839,-12222.933,35,1.0,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-72.1
$GPS2,130749,4806.838,-12222.882,15,1.2,15,18.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,309.0,2558,-11.0,-6.002
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-0.97,-146.6,0.0,0.0,0,110,0.00,0.00,-92.53,0.000,2,0.000,0.000,429,2239,3282
$GC,114,-0.97,-146.6,3.4,-4.4,16,146,12.07,2.60,-13.43,0.000,4,0.173,0.071,2577,823,3837
$GC,199,-0.78,-146.6,14.1,-9.4,30,206,0.22,2.55,0.00,0.000,6,0.092,0.058,2621,2232,3837
$GC,275,-0.78,-146.6,19.4,-6.5,43,281,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2232,3837
$GC,352,-0.78,-146.6,24.3,-6.1,51,356,0.00,2.55,0.00,0.000,4,0.000,0.069,2621,3639,3837
$GC,385,-0.78,-146.6,26.7,-7.0,53,391,0.00,2.50,0.00,0.000,6,0.000,0.051,2621,2234,3838
$GC,583,-0.78,-146.6,38.8,-6.0,72,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2234,3838
$GC,774,-0.78,-146.6,50.4,-6.3,90,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2234,3837
$GC,1084,-0.78,-146.6,69.1,-5.7,105,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2234,3838
$GC,1393,-0.84,-146.6,85.8,-5.6,120,1398,0.00,2.58,0.00,0.000,4,0.000,0.066,2621,3644,3838
$GC,1427,-0.84,-146.6,87.9,-5.9,121,1434,0.00,2.50,0.00,0.000,6,0.000,0.051,2621,2232,3838
$GC,1747,-0.95,-146.6,106.0,-6.0,141,1752,0.15,2.50,0.00,0.000,4,0.044,0.057,2578,819,3838
$STATE,1795,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1796,begin apogee
$GC,1805,-0.33,0.0,109.4,6.7,145,1924,0.65,0.00,116.07,0.830,6,0.075,0.000,2718,2131,3239
$STATE,1925,end apogee,CONTROL_FINISHED_OK
$STATE,1925,begin climb
$GC,1928,0.97,146.6,112.5,0.0,157,2052,1.27,2.60,114.70,0.794,4,0.052,0.062,3005,3519,2641
$GC,2093,0.73,146.6,100.6,11.0,172,2098,0.25,2.53,0.00,0.000,6,0.084,0.051,2956,2120,2640
$GC,2411,0.65,146.6,77.6,7.1,187,2416,0.00,2.53,0.00,0.000,4,0.000,0.060,2956,707,2640
$GC,2462,0.54,146.6,73.6,7.3,189,2467,0.20,2.55,0.00,0.000,6,0.081,0.051,2913,2125,2640
$GC,2780,0.72,208.1,59.0,4.3,204,2837,0.17,2.65,48.78,0.787,4,0.042,0.063,2970,3531,2390
$GC,2854,0.72,208.1,54.0,7.4,207,2858,0.00,2.58,0.00,0.000,6,0.000,0.049,2970,2106,2390
$GC,3180,0.68,208.1,31.0,7.0,234,3185,0.12,2.50,0.00,0.000,4,0.079,0.058,2943,702,2389
$GC,3221,0.75,208.1,28.3,6.2,237,3225,0.00,2.55,0.00,0.000,6,0.000,0.052,2943,2121,2389
$GC,3422,0.89,245.7,17.7,5.0,259,3459,0.17,2.60,30.30,0.769,4,0.044,0.061,2998,3536,2237
$GC,3478,0.83,245.7,13.7,7.5,268,3485,0.10,2.58,0.00,0.000,6,0.084,0.050,2977,2107,2236
$GC,3554,0.83,245.7,8.2,6.8,281,3561,0.00,2.50,0.00,0.000,4,0.000,0.059,2976,705,2236
$GC,3585,0.83,245.7,6.3,6.5,286,3591,0.00,2.55,0.00,0.000,6,0.000,0.053,2977,2122,2236
$STATE,3629,end climb,SURFACE_DEPTH_REACHED
$STATE,3630,begin surface coast
$FINISH,2.5,1.019329
$STATE,3723,end surface coast,CONTROL_FINISHED_OK
$STATE,3723,begin surface
$SM_CCo,3746,136.82,0.756,0,0,1200,500.17
$SM_GC,0.41,0.00,0.00,136.82,0.000,0.000,0.756,425,2239,1200,-10.90,0.25,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1780
$TCM_TEMP,17.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.2,38.9
$24V_AH,24.0,2.347
$10V_AH,10.1,1.305
$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,26.600,51.050,309.850,136.825,0.000,37.757,25.721,91.363,1.250,0.000,0.000,15.604,527.592,2134.147,504.071,695.845,288.803,0.000,893.051,0.000,687.046,0.000,9.871,0.000
$DEVICE_MAMPS,172.575,71.331,829.894,756.262,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,208.654,232.403,534.219,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15994,310
$CAP_FILE_SIZE,47942,0
$CFSIZE,254472192,252084224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,300709,141343,4807.083,-12223.211,12,1.3,13,18.3