version: 66.04
glider: 5
mission: 6
dive: 21
start: 7 30 109 14 18 15
data:
$ID,5
$MISSION,6
$DIVE,21
$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,-98947.391
$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,27
$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
$GPS1,141343,4807.083,-12223.211,12,1.3,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-74.0
$GPS2,141756,4807.027,-12223.180,13,1.9,13,18.3
$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,312.3,2068,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-80.82,0.000,2,0.000,0.000,425,2239,3115
$GC,102,-0.97,-146.6,3.5,-4.7,14,139,11.85,0.00,-19.45,0.000,6,0.163,0.000,2579,2238,3836
$GC,208,-0.72,-146.6,12.9,-8.8,32,215,0.25,2.53,0.00,0.000,4,0.090,0.066,2634,3629,3836
$GC,257,-0.66,-146.6,16.4,-7.3,40,264,0.00,2.50,0.00,0.000,6,0.000,0.049,2633,2227,3836
$GC,337,-0.66,-146.6,21.5,-6.2,52,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2227,3836
$GC,528,-0.66,-146.6,32.8,-5.9,70,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2227,3837
$GC,720,-0.70,-146.6,43.4,-5.2,88,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2226,3838
$GC,910,-0.77,-146.6,53.7,-5.6,103,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2226,3838
$GC,1219,-0.84,-146.6,70.9,-5.5,118,1224,0.00,2.58,0.00,0.000,4,0.000,0.064,2634,3632,3838
$GC,1248,-0.89,-146.6,72.6,-5.7,119,1253,0.17,2.47,0.00,0.000,6,0.042,0.048,2583,2232,3837
$GC,1567,-0.81,-146.6,95.5,-7.3,134,1572,0.17,2.53,0.00,0.000,4,0.084,0.061,2622,816,3838
$GC,1589,-0.86,-146.6,97.0,-5.6,135,1594,0.00,2.53,0.00,0.000,6,0.000,0.055,2622,2229,3838
$STATE,1799,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1799,begin apogee
$GC,1807,-0.33,0.0,108.4,5.6,152,1926,0.43,0.00,116.32,0.828,6,0.066,0.000,2720,2094,3238
$STATE,1927,end apogee,CONTROL_FINISHED_OK
$STATE,1927,begin climb
$GC,1930,0.97,146.6,110.7,0.0,164,2052,1.27,0.00,115.07,0.791,6,0.052,0.000,3004,2092,2641
$GC,2366,0.68,146.6,73.9,7.8,193,2371,0.28,2.62,0.00,0.000,4,0.083,0.061,2946,3533,2640
$GC,2406,0.68,146.6,71.0,6.7,195,2411,0.00,2.50,0.00,0.000,6,0.000,0.048,2946,2133,2639
$GC,2734,0.70,159.6,51.5,5.6,211,2755,0.00,2.60,11.50,0.714,4,0.000,0.061,2946,710,2588
$GC,2779,0.70,159.6,48.8,6.6,213,2784,0.00,2.55,0.00,0.000,6,0.000,0.055,2946,2127,2587
$GC,2978,0.72,172.4,37.6,5.7,231,2994,0.00,2.58,11.32,0.723,4,0.000,0.063,2946,3535,2536
$GC,3023,0.79,172.4,35.0,6.1,234,3030,0.10,2.55,0.00,0.000,6,0.052,0.050,2978,2110,2535
$GC,3221,0.71,172.4,21.8,6.4,253,3226,0.15,2.50,0.00,0.000,4,0.079,0.061,2947,708,2535
$GC,3250,0.71,172.4,20.1,6.1,255,3254,0.00,2.55,0.00,0.000,6,0.000,0.053,2946,2130,2535
$GC,3460,0.86,219.5,9.9,4.7,291,3503,0.15,2.62,37.50,0.773,4,0.046,0.061,2993,3527,2344
$GC,3556,1.03,254.1,4.7,5.1,307,3577,0.12,2.50,14.95,0.727,2,0.048,0.050,3031,2131,2260
$STATE,3578,end climb,SURFACE_DEPTH_REACHED
$STATE,3578,begin surface coast
$FINISH,3.4,1.020331
$STATE,3583,end surface coast,CONTROL_FINISHED_OK
$STATE,3583,begin surface
$SM_CCo,3607,139.57,0.738,0,0,1200,500.17
$SM_GC,0.35,0.00,0.00,139.57,0.000,0.000,0.738,424,2245,1200,-10.91,0.42,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1771
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,37.6
$24V_AH,24.0,2.453
$10V_AH,10.1,1.347
$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,26.550,41.100,306.675,139.575,0.000,37.756,25.891,93.660,1.000,0.000,0.000,13.610,524.818,2033.852,506.419,659.339,289.004,0.000,866.327,0.000,655.323,0.000,9.867,0.000
$DEVICE_MAMPS,162.604,92.040,827.593,737.854,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,208.279,236.571,535.970,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15969,311
$CAP_FILE_SIZE,47018,0
$CFSIZE,254472192,252055552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,300709,152201,4807.301,-12223.558,40,1.1,41,18.3