version: 66.04
glider: 130
mission: 5
dive: 4
start: 5 19 109 22 8 0
data:
$ID,130
$MISSION,5
$DIVE,4
$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,-51482.199
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,417
$PITCH_MAX,3725
$C_PITCH,2820
$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,2010
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,28
$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,3
$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
$GPS1,215825,4808.605,-12223.646,11,1.9,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-74.2
$GPS2,220707,4808.714,-12223.682,17,1.9,17,18.4
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.055,-0.208
$KALMAN_X,-272.1,-204.7,-174.1,234.5,-43.9
$KALMAN_Y,987.1,671.0,559.1,-687.7,166.8
$MHEAD_RNG_PITCHd_Wd,146.8,3285,-21.7,-10.000
$D_GRID,88
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.48,-97.3,0.0,0.0,0,117,0.00,0.00,-96.53,0.000,2,0.000,0.000,413,2028,3238
$GC,121,-1.48,-97.3,3.1,-1.6,16,161,11.38,2.55,-20.83,0.000,4,0.142,0.068,2493,596,3833
$GC,174,-1.38,-97.3,4.1,-4.2,24,182,0.12,2.42,0.00,0.000,6,0.105,0.040,2515,2017,3833
$GC,251,-1.34,-97.3,8.5,-6.9,37,258,0.00,2.53,0.00,0.000,4,0.000,0.058,2515,595,3834
$GC,509,-1.34,-97.3,35.3,-10.7,95,515,0.00,2.42,0.00,0.000,6,0.000,0.042,2515,2008,3833
$GC,587,-1.34,-97.3,43.8,-10.7,106,591,0.00,2.47,0.00,0.000,4,0.000,0.058,2515,3414,3834
$GC,718,-1.38,-97.3,58.0,-10.1,119,724,0.00,2.42,0.00,0.000,6,0.000,0.045,2515,2010,3834
$GC,853,-1.42,-97.3,71.8,-10.6,132,857,0.00,2.50,0.00,0.000,4,0.000,0.061,2515,605,3833
$GC,863,-1.42,-97.3,73.0,-10.4,132,869,0.00,2.42,0.00,0.000,6,0.000,0.042,2515,2017,3834
$GC,998,-1.47,-97.3,86.7,-10.1,145,1003,0.00,2.53,0.00,0.000,4,0.000,0.062,2515,604,3834
$STATE,1010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1010,begin apogee
$GC,1022,-0.31,0.0,88.5,10.1,146,1100,1.10,0.00,74.22,0.643,6,0.080,0.000,2744,2098,3436
$STATE,1100,end apogee,CONTROL_FINISHED_OK
$STATE,1100,begin climb
$GC,1104,1.48,97.3,91.7,0.0,154,1190,1.77,2.58,74.05,0.628,4,0.049,0.058,3139,3501,3040
$GC,1239,1.42,98.5,84.4,9.9,167,1245,0.00,2.45,0.00,0.000,6,0.000,0.046,3139,2101,3040
$GC,1374,1.44,116.5,71.8,8.8,180,1395,0.00,2.60,16.00,0.589,4,0.000,0.061,3139,693,2962
$GC,1482,1.39,116.5,60.7,10.7,191,1486,0.00,2.47,0.00,0.000,6,0.000,0.044,3139,2100,2961
$GC,1622,1.40,123.0,46.5,9.5,204,1633,0.00,2.58,6.53,0.510,4,0.000,0.058,3139,3506,2934
$GC,1649,1.40,126.8,43.8,9.7,206,1658,0.00,2.47,4.68,0.447,6,0.000,0.047,3139,2096,2919
$GC,1799,1.40,129.8,29.4,9.8,229,1806,0.00,0.00,4.10,0.420,6,0.000,0.000,3139,2096,2907
$GC,1875,1.41,134.6,22.2,9.7,242,1883,0.00,0.00,5.28,0.471,6,0.000,0.000,3139,2096,2887
$GC,1953,1.42,146.5,15.3,9.2,255,1967,0.00,0.00,10.75,0.551,6,0.000,0.000,3139,2096,2839
$GC,2039,1.43,153.7,7.4,9.5,269,2052,0.00,0.00,6.80,0.502,6,0.000,0.000,3139,2095,2809
$GC,2123,1.77,314.2,3.4,-1.1,283,2206,0.25,0.00,79.78,0.574,2,0.051,0.000,3201,2095,2177
$STATE,2206,end climb,SURFACE_DEPTH_REACHED
$STATE,2206,begin surface coast
$FINISH,2.4,1.018095
$STATE,2363,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2363,begin surface
$SM_CCo,2390,203.38,0.571,0,0,786,650.04
$SM_GC,1.55,0.00,0.00,203.38,0.000,0.000,0.571,416,2002,786,-11.06,-0.23,650.04
$IRIDIUM_FIX,4751.72,-12226.29,130898,212130
$TT8_MAMPS,0.025311
$HUMID,1580
$INTERNAL_PRESSURE,9.20812
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,27.6
$24V_AH,23.7,0.670
$10V_AH,10.8,1.066
$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,27.275,40.175,282.175,203.375,0.000,24.496,31.186,241.536,0.500,0.000,0.000,18.670,525.381,699.023,538.903,731.160,632.789,32.333,939.069,0.000,776.474,0.000,5.487,0.000
$DEVICE_MAMPS,141.895,73.632,642.746,570.648,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,285.135,221.038,451.579,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15957,324
$CAP_FILE_SIZE,48502,0
$CFSIZE,260165632,186249216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190509,225228,4808.612,-12223.701,10,2.5,29,18.3