version: 66.04
glider: 5
mission: 6
dive: 22
start: 7 30 109 15 26 57
data:
$ID,5
$MISSION,6
$DIVE,22
$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,-98965.172
$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,26
$R_STBD_OVSHOOT,31
$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
$GPS1,152201,4807.301,-12223.558,40,1.1,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-72.3
$GPS2,152638,4807.264,-12223.525,17,1.2,17,18.3
$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,318.4,1484,-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,-146.6,0.0,0.0,0,116,0.00,0.00,-98.12,0.000,2,0.000,0.000,424,2245,3464
$GC,119,-0.97,-146.6,4.0,-5.4,17,146,11.88,2.62,-8.15,0.000,4,0.163,0.070,2578,816,3836
$GC,159,0.67,-146.6,13.1,-21.8,23,167,1.70,2.55,0.00,0.000,6,0.074,0.054,2939,2223,3836
$GC,237,-0.40,-146.6,15.8,-4.5,36,244,1.08,2.55,0.00,0.000,4,0.082,0.051,2710,812,3837
$GC,499,-0.93,-146.6,30.6,-6.0,65,505,0.55,2.35,0.00,0.000,6,0.058,0.047,2588,2136,3837
$GC,698,-0.85,-146.6,44.4,-7.4,83,703,0.10,2.40,0.00,0.000,4,0.090,0.057,2608,819,3838
$GC,742,-0.85,-146.6,47.7,-6.9,86,748,0.00,2.38,0.00,0.000,6,0.000,0.051,2608,2146,3838
$GC,946,-0.85,-146.6,61.0,-6.4,98,951,0.00,2.70,0.00,0.000,4,0.000,0.064,2608,3644,3838
$GC,987,-0.85,-146.6,63.9,-7.1,100,991,0.00,2.67,0.00,0.000,6,0.000,0.049,2608,2135,3838
$GC,1315,-0.85,-146.6,83.8,-5.9,116,1319,0.00,2.75,0.00,0.000,4,0.000,0.064,2608,3641,3838
$GC,1355,-0.85,-146.6,86.6,-7.1,118,1359,0.00,2.65,0.00,0.000,6,0.000,0.048,2608,2146,3838
$GC,1674,-0.85,-146.6,104.4,-5.6,137,1679,0.00,2.72,0.00,0.000,4,0.000,0.064,2608,3636,3838
$STATE,1727,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1727,begin apogee
$GC,1736,-0.33,0.0,108.2,6.9,141,1856,0.50,0.00,116.55,0.819,6,0.068,0.000,2721,2100,3239
$STATE,1857,end apogee,CONTROL_FINISHED_OK
$STATE,1857,begin climb
$GC,1860,0.97,146.6,110.7,0.0,153,1980,1.27,0.00,115.35,0.785,6,0.053,0.000,3005,2098,2641
$GC,2291,0.69,146.6,72.9,8.9,182,2293,0.30,0.00,0.00,0.000,6,0.081,0.000,2945,2100,2640
$GC,2599,0.70,150.0,53.3,5.9,197,2605,0.00,0.00,4.35,0.545,6,0.000,0.000,2945,2099,2627
$GC,2914,0.74,175.1,35.7,5.3,224,2940,0.00,2.67,20.45,0.755,4,0.000,0.063,2945,3526,2524
$GC,2971,0.81,175.1,32.4,6.0,229,2976,0.12,2.53,0.00,0.000,6,0.049,0.048,2982,2120,2525
$GC,3170,0.71,175.1,18.5,7.3,248,3178,0.17,2.50,0.00,0.000,4,0.081,0.056,2945,714,2525
$GC,3213,0.71,175.1,15.8,6.3,255,3219,0.00,2.53,0.00,0.000,6,0.000,0.052,2945,2127,2525
$GC,3289,0.84,210.6,11.9,5.0,268,3326,0.15,2.58,29.02,0.764,4,0.045,0.063,2990,3536,2380
$GC,3356,0.84,210.6,7.4,6.9,279,3362,0.00,2.53,0.00,0.000,6,0.000,0.048,2991,2120,2380
$STATE,3423,end climb,SURFACE_DEPTH_REACHED
$STATE,3423,begin surface coast
$FINISH,1.7,1.019280
$STATE,3528,end surface coast,CONTROL_FINISHED_OK
$STATE,3528,begin surface
$SM_CCo,3551,148.23,0.740,0,0,1200,500.17
$SM_GC,0.23,0.00,0.00,148.23,0.000,0.000,0.740,418,2241,1200,-10.93,0.31,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1776
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,38.0
$24V_AH,24.0,2.557
$10V_AH,10.1,1.389
$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,29.125,46.650,285.725,148.225,0.000,37.760,33.444,105.713,1.000,0.000,0.000,17.146,522.256,1966.422,510.927,686.418,304.689,0.000,872.364,0.000,677.547,0.000,9.870,0.000
$DEVICE_MAMPS,162.604,69.797,819.156,740.155,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,206.934,230.953,532.627,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15971,309
$CAP_FILE_SIZE,45366,0
$CFSIZE,254472192,252026880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,300709,162926,4807.569,-12223.803,10,1.5,11,18.3