version: 66.04
glider: 5
mission: 7
dive: 147
start: 9 23 109 11 10 34
data:
$ID,5
$MISSION,7
$DIVE,147
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$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,412.5
$T_MISSION,440
$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,990
$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,1
$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,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,-102937.26
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2831
$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,-23.674383
$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,120
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,9
$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
$GPS1,110407,6401.129,-1316.917,37,1.0,37,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-64.8
$GPS2,110943,6401.229,-1316.725,14,0.9,14,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.216,0.116
$KALMAN_X,-84249.1,-687.9,212.1,-159068.8,11928.1
$KALMAN_Y,-25789.1,-218.5,586.8,293235.8,-1603.4
$MHEAD_RNG_PITCHd_Wd,310.9,11015,-14.8,-8.000
$D_GRID,990
$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,16,-1.22,-146.6,0.0,0.0,0,60,0.00,0.00,-41.92,0.000,2,0.000,0.000,417,2134,2434
$GC,64,-1.22,-146.6,2.0,-2.9,2,128,11.35,2.60,-42.72,0.000,4,0.159,0.077,2473,3537,3429
$GC,264,-1.11,-146.6,22.3,-13.0,11,269,0.15,2.53,0.00,0.000,6,0.103,0.047,2504,2115,3429
$GC,592,-1.11,-146.6,55.7,-9.6,27,596,0.00,2.47,0.00,0.000,4,0.000,0.058,2503,717,3430
$GC,632,-1.11,-146.6,59.6,-9.7,29,637,0.00,2.50,0.00,0.000,6,0.000,0.048,2503,2129,3430
$GC,959,-1.11,-146.6,90.6,-9.4,45,963,0.00,2.55,0.00,0.000,4,0.000,0.060,2503,719,3431
$GC,1026,-1.11,-146.6,97.0,-9.3,48,1030,0.00,2.47,0.00,0.000,6,0.000,0.048,2504,2115,3430
$GC,1348,-1.11,-146.6,129.6,-10.6,64,1352,0.00,2.53,0.00,0.000,4,0.000,0.058,2504,716,3430
$GC,1397,-1.11,-146.6,135.2,-10.8,66,1402,0.00,2.47,0.00,0.000,6,0.000,0.048,2503,2110,3430
$GC,1720,-1.11,-146.6,167.6,-9.5,84,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2110,3431
$GC,2033,-1.11,-146.6,191.0,-7.5,104,2037,0.00,2.50,0.00,0.000,4,0.000,0.059,2503,722,3431
$GC,2071,-1.11,-146.6,194.7,-9.3,106,2083,0.00,2.45,0.00,0.000,6,0.000,0.050,2504,2106,3431
$STATE,2294,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2294,begin apogee
$GC,2302,-0.33,0.0,212.3,6.5,121,2431,0.77,0.00,121.93,0.937,6,0.074,0.000,2671,1832,2831
$STATE,2432,end apogee,CONTROL_FINISHED_OK
$STATE,2432,begin climb
$GC,2435,1.22,146.6,214.3,0.0,130,2565,1.55,2.65,121.22,0.900,4,0.061,0.058,3009,3255,2233
$GC,2636,1.15,146.6,199.4,9.8,142,2642,0.00,2.53,0.00,0.000,6,0.000,0.054,3008,1864,2233
$GC,2956,1.11,178.4,173.3,6.8,163,2988,0.00,2.67,27.45,0.861,4,0.000,0.064,3008,439,2103
$GC,3136,1.02,178.4,159.3,9.1,173,3143,0.22,2.50,0.00,0.000,6,0.087,0.048,2966,1845,2102
$GC,3470,1.14,218.3,136.8,6.5,192,3513,0.12,2.60,33.45,0.861,4,0.056,0.058,3000,3246,1940
$GC,3553,1.14,218.3,129.8,9.0,195,3559,0.00,2.55,0.00,0.000,6,0.000,0.053,3000,1839,1939
$GC,3869,1.19,248.7,106.0,6.9,211,3897,0.00,0.00,26.02,0.845,6,0.000,0.000,3000,1839,1817
$GC,4200,1.19,252.1,81.4,7.9,227,4207,0.00,0.00,4.78,0.631,6,0.000,0.000,3000,1839,1803
$GC,4509,1.19,252.1,55.1,8.4,242,4513,0.00,2.58,0.00,0.000,4,0.000,0.058,3000,3256,1802
$GC,4553,1.23,252.1,51.0,8.7,244,4558,0.00,2.53,0.00,0.000,6,0.000,0.051,3000,1847,1803
$GC,4877,1.29,265.6,26.0,7.5,260,4899,0.12,2.60,12.40,0.765,4,0.051,0.056,3035,3252,1748
$GC,4968,1.29,265.6,17.4,9.8,264,4972,0.00,2.45,0.00,0.000,6,0.000,0.049,3035,1880,1748
$STATE,5127,end climb,SURFACE_DEPTH_REACHED
$STATE,5127,begin surface coast
$FINISH,0.4,1.027069
$STATE,5149,end surface coast,CONTROL_FINISHED_OK
$STATE,5149,begin surface
$SM_CCo,5173,18.42,0.764,0,0,1608,300.00
$SM_GC,0.95,0.00,0.00,18.42,0.000,0.000,0.764,423,2136,1608,-10.68,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1818
$TCM_TEMP,16.20
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,195.2,26.7
$24V_AH,24.0,26.944
$10V_AH,10.1,12.092
$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,25.700,51.650,347.250,18.425,0.000,37.762,31.500,140.606,4.250,0.000,0.000,14.681,529.749,3480.858,439.306,712.350,367.476,33.370,831.522,0.000,699.818,0.000,11.190,0.000
$DEVICE_MAMPS,158.769,76.700,937.274,763.932,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,184.690,201.888,318.349,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12784,273
$CAP_FILE_SIZE,50771,0
$CFSIZE,254472192,243638272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230909,123756,6402.845,-1314.086,10,1.6,11,-12.6