version: 66.04
glider: 130
mission: 5
dive: 7
start: 5 20 109 2 38 1
data:
$ID,130
$MISSION,5
$DIVE,7
$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,-52005.68
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,023308,4806.924,-12222.478,8,1.5,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-75.8
$GPS2,023707,4806.875,-12222.458,8,1.3,9,18.3
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.078,-0.256
$KALMAN_X,291.5,18.6,-13.2,775.3,304.3
$KALMAN_Y,118.4,335.4,131.9,-2417.1,-755.7
$MHEAD_RNG_PITCHd_Wd,144.6,1716,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-1.25,-155.7,0.0,0.0,0,111,0.00,0.00,-90.32,0.000,2,0.000,0.000,411,1946,2818
$GC,115,-1.25,-155.7,3.3,-1.7,15,173,11.43,2.53,-37.47,0.000,4,0.133,0.069,2542,543,3962
$GC,182,-1.04,-155.7,6.0,-8.6,25,190,0.25,2.40,0.00,0.000,6,0.092,0.038,2590,1958,3962
$GC,260,-1.04,-155.7,11.7,-6.9,38,267,0.00,2.50,0.00,0.000,4,0.000,0.055,2590,542,3962
$GC,521,-1.04,-155.7,34.3,-10.0,96,528,0.00,2.40,0.00,0.000,6,0.000,0.041,2590,1949,3962
$GC,596,-1.04,-155.7,41.3,-9.0,108,600,0.00,2.50,0.00,0.000,4,0.000,0.058,2590,542,3962
$GC,862,-1.04,-155.7,67.0,-9.7,136,866,0.00,2.45,0.00,0.000,6,0.000,0.043,2590,1949,3962
$GC,1002,-1.04,-155.7,79.4,-8.8,149,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1950,3962
$GC,1130,-1.04,-155.7,90.3,-8.7,161,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1954,3961
$GC,1256,-1.04,-155.7,101.4,-8.8,173,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1954,3961
$GC,1384,-1.04,-155.7,112.3,-8.7,185,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1954,3961
$STATE,1390,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1390,begin apogee
$GC,1400,-0.31,0.0,113.2,8.6,186,1501,0.73,0.00,97.62,0.671,6,0.071,0.000,2746,2063,3437
$STATE,1502,end apogee,CONTROL_FINISHED_OK
$STATE,1502,begin climb
$GC,1506,1.25,155.7,117.1,0.0,196,1632,1.55,0.00,118.18,0.650,6,0.054,0.000,3089,2064,2801
$GC,1760,1.28,183.8,100.5,8.8,221,1788,0.00,0.00,23.02,0.613,6,0.000,0.000,3089,2064,2686
$GC,1918,1.29,188.2,85.6,9.8,236,1929,0.00,2.50,5.00,0.471,4,0.000,0.059,3089,3453,2668
$GC,1959,1.29,188.2,81.4,10.4,240,1963,0.00,2.47,0.00,0.000,6,0.000,0.048,3088,2045,2667
$GC,2095,1.30,201.5,68.3,9.4,252,2114,0.00,2.58,11.88,0.579,4,0.000,0.063,3089,649,2615
$GC,2173,1.30,201.5,60.4,10.1,260,2177,0.00,2.42,0.00,0.000,6,0.000,0.044,3089,2045,2614
$GC,2307,1.32,218.4,47.8,9.3,272,2328,0.00,2.60,14.75,0.587,4,0.000,0.058,3089,3455,2545
$GC,2359,1.34,229.0,42.9,9.5,277,2379,0.10,2.47,9.70,0.552,6,0.059,0.048,3117,2048,2502
$GC,2516,1.34,229.0,26.8,10.3,302,2523,0.00,2.55,0.00,0.000,4,0.000,0.064,3117,650,2501
$GC,2545,1.34,229.0,23.3,11.3,307,2551,0.00,2.42,0.00,0.000,6,0.000,0.044,3117,2049,2501
$GC,2622,1.34,229.0,15.2,10.3,320,2629,0.00,2.50,0.00,0.000,4,0.000,0.059,3117,3457,2500
$GC,2663,1.35,239.8,11.2,9.5,328,2678,0.00,2.47,9.82,0.549,6,0.000,0.048,3117,2044,2459
$STATE,2744,end climb,SURFACE_DEPTH_REACHED
$STATE,2744,begin surface coast
$FINISH,3.0,1.018233
$STATE,2813,end surface coast,CONTROL_FINISHED_OK
$STATE,2814,begin surface
$SM_CCo,2840,243.88,0.580,0,0,787,650.04
$SM_GC,1.62,0.00,0.00,243.88,0.000,0.000,0.580,416,1940,787,-11.06,-0.25,650.04
$IRIDIUM_FIX,4748.51,-12226.29,140898,020243
$TT8_MAMPS,0.025311
$HUMID,1542
$INTERNAL_PRESSURE,9.19835
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,42.4
$24V_AH,23.6,1.128
$10V_AH,10.9,1.247
$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,26.250,40.100,289.975,243.875,0.000,0.000,0.000,0.000,0.500,0.000,0.000,11.020,574.365,1018.544,615.063,754.142,194.985,33.326,1030.591,0.000,805.162,0.000,5.531,0.000
$DEVICE_MAMPS,133.458,71.331,671.125,579.852,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,310.117,243.226,378.309,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15949,354
$CAP_FILE_SIZE,101564,0
$CFSIZE,260165632,186089472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200509,033036,4806.633,-12222.247,26,1.3,26,18.3