version: 66.04
glider: 130
mission: 5
dive: 6
start: 5 19 109 23 57 15
data:
$ID,130
$MISSION,5
$DIVE,6
$D_SURF,4
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$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,-51536.703
$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,1950
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,22
$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,10
$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
$GPS1,234606,4808.554,-12223.668,12,1.4,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-71.6
$GPS2,235620,4808.639,-12223.714,16,1.4,16,18.3
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.078,-0.256
$KALMAN_X,-425.9,-280.6,-135.2,387.2,3.5
$KALMAN_Y,1402.7,894.2,455.1,-1365.2,-53.6
$MHEAD_RNG_PITCHd_Wd,144.7,3162,-16.9,-10.000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.25,-155.7,0.0,0.0,0,136,0.00,0.00,-115.03,0.000,2,0.000,0.000,417,2003,3239
$GC,140,-1.25,-155.7,3.4,-6.1,19,179,11.62,0.00,-22.27,0.000,6,0.141,0.000,2542,2004,3962
$GC,250,-1.18,-155.7,8.8,-7.1,37,257,0.00,2.40,0.00,0.000,4,0.000,0.054,2542,3365,3962
$GC,326,-1.12,-155.7,15.5,-9.2,53,333,0.15,2.45,0.00,0.000,6,0.093,0.043,2572,1948,3962
$GC,403,-1.12,-155.7,22.1,-8.8,66,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1948,3962
$GC,478,-1.12,-155.7,28.5,-8.2,79,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1948,3962
$GC,554,-1.12,-155.7,35.0,-8.6,92,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1948,3962
$GC,630,-1.12,-155.7,41.8,-8.6,103,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1948,3962
$GC,758,-1.12,-155.7,53.2,-8.7,115,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1948,3962
$GC,884,-1.12,-155.7,64.5,-8.9,127,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1948,3962
$GC,1012,-1.12,-155.7,75.5,-8.8,139,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1948,3962
$GC,1141,-1.17,-155.7,86.2,-8.1,151,1145,0.00,2.53,0.00,0.000,4,0.000,0.064,2572,542,3962
$GC,1161,-1.17,-155.7,88.2,-8.8,152,1167,0.00,2.45,0.00,0.000,6,0.000,0.044,2572,1958,3962
$GC,1296,-1.21,-155.7,99.5,-8.6,165,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1960,3962
$STATE,1323,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1323,begin apogee
$GC,1333,-0.31,0.0,102.1,8.4,168,1434,0.82,0.00,97.85,0.661,6,0.071,0.000,2747,2058,3437
$STATE,1435,end apogee,CONTROL_FINISHED_OK
$STATE,1435,begin climb
$GC,1439,1.25,155.7,105.5,0.0,178,1566,1.55,2.55,117.97,0.639,4,0.049,0.058,3094,3442,2801
$GC,1606,1.19,155.7,96.1,10.2,195,1610,0.00,2.47,0.00,0.000,6,0.000,0.048,3094,2037,2800
$GC,1745,1.14,155.7,81.6,10.2,208,1747,0.12,0.00,0.00,0.000,6,0.093,0.000,3070,2037,2799
$GC,1872,1.16,177.4,69.9,9.1,220,1892,0.00,0.00,18.17,0.594,6,0.000,0.000,3070,2037,2712
$GC,2021,1.18,192.1,56.1,9.4,234,2039,0.00,0.00,12.85,0.574,6,0.000,0.000,3070,2037,2653
$GC,2168,1.20,204.4,42.1,9.5,248,2181,0.00,0.00,11.12,0.559,6,0.000,0.000,3070,2036,2602
$GC,2311,1.22,220.3,28.5,9.3,271,2331,0.00,0.00,14.07,0.568,6,0.000,0.000,3070,2037,2537
$GC,2403,1.25,244.6,19.9,8.9,286,2428,0.00,0.00,20.35,0.577,6,0.000,0.000,3070,2037,2438
$GC,2498,1.26,255.3,10.4,9.5,302,2514,0.10,2.60,9.73,0.534,4,0.059,0.064,3100,639,2395
$GC,2549,1.27,260.7,5.5,9.8,311,2562,0.00,2.45,5.03,0.449,6,0.000,0.044,3100,2042,2373
$STATE,2589,end climb,SURFACE_DEPTH_REACHED
$STATE,2589,begin surface coast
$FINISH,4.4,1.018433
$STATE,2868,end surface coast,CONTROL_FINISHED_OK
$STATE,2868,begin surface
$SM_CCo,2873,319.98,0.562,4,0,516,716.52
$SM_GC,1.11,11.95,0.00,0.00,0.033,0.000,0.000,413,1946,514,-11.00,-0.11,717.01
$IRIDIUM_FIX,4748.51,-12214.67,130898,232336
$TT8_MAMPS,0.024544
$HUMID,1567
$INTERNAL_PRESSURE,9.18859
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,31.1
$24V_AH,23.6,0.902
$10V_AH,10.8,1.156
$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,26.325,20.175,307.150,319.975,0.000,61.914,62.787,256.164,0.500,0.000,0.000,17.482,583.610,1224.805,711.731,756.093,677.930,33.318,1128.467,0.000,809.311,0.000,5.501,0.000
$DEVICE_MAMPS,141.128,74.399,661.154,562.211,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,323.266,253.504,455.801,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19153,368
$CAP_FILE_SIZE,52469,0
$CFSIZE,260165632,186183680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,4,0
$GPS,200509,005332,4808.382,-12223.578,5,1.8,6,18.3