version: 66.04
glider: 130
mission: 5
dive: 2
start: 5 19 109 19 57 53
data:
$ID,130
$MISSION,5
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51945
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,44.380001
$TGT_DEFAULT_LON,-125.01
$TGT_AUTO_DEFAULT,0
$SM_CC,650
$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,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-51364.477
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,417
$PITCH_MAX,3725
$C_PITCH,2829
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,162
$ROLL_MAX,3945
$ROLL_DEG,40
$C_ROLL_DIVE,2053
$C_ROLL_CLIMB,2053
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,3
$VBD_MIN,516
$VBD_MAX,3960
$C_VBD,3437
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-8.2383127
$PRESSURE_SLOPE,0.0001159091
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044082953
$SEABIRD_T_H,0.00065181591
$SEABIRD_T_I,3.2922526e-05
$SEABIRD_T_J,4.287429e-06
$SEABIRD_C_G,-9.794486
$SEABIRD_C_H,1.1032488
$SEABIRD_C_I,-0.0011085917
$SEABIRD_C_J,0.0001701656
$GPS1,195257,4808.291,-12223.593,11,2.3,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-74.0
$GPS2,195702,4808.350,-12223.631,15,1.8,15,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.080,-0.200
$KALMAN_X,-102.5,-102.5,-102.5,-35.9,-202.7
$KALMAN_Y,271.5,271.5,271.5,14.7,536.9
$MHEAD_RNG_PITCHd_Wd,139.9,2619,-21.7,-10.000
$D_GRID,101
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.48,-97.3,0.0,0.0,0,135,0.00,0.00,-114.88,0.000,2,0.000,0.000,411,2053,3417
$GC,140,-1.48,-97.3,3.2,-2.3,19,174,11.40,2.50,-14.25,0.000,4,0.143,0.066,2504,650,3834
$GC,196,-1.37,-97.3,4.7,-5.3,28,203,0.12,2.40,0.00,0.000,6,0.103,0.039,2527,2068,3835
$GC,274,-1.37,-97.3,9.4,-6.7,41,280,0.00,2.42,0.00,0.000,4,0.000,0.054,2527,3456,3835
$GC,293,-1.37,-97.3,11.0,-7.5,44,300,0.00,2.40,0.00,0.000,6,0.000,0.041,2527,2051,3835
$GC,371,-1.37,-97.3,17.2,-7.4,57,378,0.00,2.47,0.00,0.000,4,0.000,0.056,2526,640,3835
$GC,400,-1.37,-97.3,19.4,-7.8,62,406,0.00,2.40,0.00,0.000,6,0.000,0.041,2526,2051,3835
$GC,477,-1.37,-97.3,25.5,-8.0,75,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2051,3835
$GC,552,-1.37,-97.3,32.2,-9.3,88,559,0.00,2.47,0.00,0.000,4,0.000,0.057,2526,647,3835
$GC,568,-1.37,-97.3,33.6,-8.9,90,574,0.00,2.40,0.00,0.000,6,0.000,0.041,2526,2055,3835
$GC,645,-1.42,-97.3,40.6,-9.1,103,649,0.00,2.45,0.00,0.000,4,0.000,0.057,2527,3457,3835
$GC,656,-1.46,-97.3,42.0,-9.6,103,662,0.00,2.42,0.00,0.000,6,0.000,0.044,2526,2047,3835
$GC,792,-1.52,-97.3,54.7,-9.7,116,797,0.12,2.47,0.00,0.000,4,0.054,0.059,2490,644,3835
$GC,812,-1.52,-97.3,57.2,-11.0,117,818,0.00,2.42,0.00,0.000,6,0.000,0.044,2490,2060,3835
$GC,947,-1.52,-97.3,71.7,-10.7,130,951,0.00,2.53,0.00,0.000,4,0.000,0.061,2490,640,3835
$GC,1027,-1.52,-97.3,81.2,-11.9,138,1032,0.00,2.45,0.00,0.000,6,0.000,0.045,2490,2050,3835
$GC,1167,-1.52,-97.3,96.9,-11.1,151,1171,0.00,2.50,0.00,0.000,4,0.000,0.060,2490,640,3834
$GC,1178,-1.52,-97.3,98.3,-11.0,151,1184,0.00,2.42,0.00,0.000,6,0.000,0.044,2490,2054,3834
$STATE,1203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1203,begin apogee
$GC,1211,-0.31,0.0,101.6,11.7,154,1289,1.25,0.00,73.70,0.659,6,0.078,0.000,2753,2055,3437
$STATE,1289,end apogee,CONTROL_FINISHED_OK
$STATE,1289,begin climb
$GC,1293,1.48,97.3,104.6,0.0,162,1379,1.77,2.58,73.97,0.636,4,0.048,0.060,3151,3459,3039
$GC,1399,1.45,130.0,99.9,7.7,172,1434,0.00,2.47,25.85,0.609,6,0.000,0.048,3151,2053,2907
$GC,1562,1.45,130.0,81.7,11.3,188,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2053,2906
$GC,1690,1.45,130.0,67.3,11.1,200,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2053,2905
$GC,1817,1.45,130.0,53.5,10.9,212,1821,0.00,2.53,0.00,0.000,4,0.000,0.064,3150,644,2905
$GC,1856,1.39,130.0,49.0,11.5,215,1862,0.00,2.45,0.00,0.000,6,0.000,0.045,3151,2054,2905
$GC,1994,1.39,130.0,34.6,10.4,232,2001,0.00,2.50,0.00,0.000,4,0.000,0.062,3151,3458,2905
$GC,2039,1.39,130.0,29.8,10.8,241,2046,0.00,2.47,0.00,0.000,6,0.000,0.049,3151,2044,2905
$GC,2116,1.39,134.2,21.9,9.7,254,2124,0.00,0.00,4.53,0.446,6,0.000,0.000,3151,2044,2889
$GC,2195,1.39,136.6,14.1,9.8,267,2203,0.00,2.58,3.58,0.384,4,0.000,0.064,3151,644,2879
$GC,2280,1.43,162.7,6.1,8.2,285,2306,0.00,2.45,18.40,0.579,6,0.000,0.046,3151,2063,2772
$STATE,2326,end climb,SURFACE_DEPTH_REACHED
$STATE,2327,begin surface coast
$FINISH,2.5,1.020298
$STATE,2390,end surface coast,CONTROL_FINISHED_OK
$STATE,2393,begin surface
$SM_CCo,2420,255.85,0.570,0,0,786,650.04
$SM_GC,1.29,0.00,0.00,255.85,0.000,0.000,0.570,413,2065,786,-11.11,0.34,650.04
$IRIDIUM_FIX,4748.51,-12128.22,130898,191952
$TT8_MAMPS,0.025311
$HUMID,1574
$INTERNAL_PRESSURE,9.20812
$TCM_TEMP,13.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.4,18.1
$24V_AH,23.7,0.444
$10V_AH,10.9,0.969
$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,27.150,59.175,200.025,255.850,0.000,0.000,0.000,0.000,1.500,0.000,0.000,16.847,515.213,811.628,572.614,658.980,197.080,30.181,956.020,0.000,696.166,0.000,11.659,0.000
$DEVICE_MAMPS,142.662,65.962,658.853,569.881,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,267.117,207.657,382.528,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16002,304
$CAP_FILE_SIZE,63752,0
$CFSIZE,260165632,186286080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190509,204336,4808.243,-12223.513,22,1.7,23,18.3