version: 66.04
glider: 5
mission: 7
dive: 148
start: 9 23 109 12 43 27
data:
$ID,5
$MISSION,7
$DIVE,148
$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,-102971.33
$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,25
$R_STBD_OVSHOOT,30
$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
$GPS1,123756,6402.845,-1314.086,10,1.6,11,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-65.1
$GPS2,124236,6402.907,-1313.853,15,1.2,31,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,K1
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.215,-0.118
$KALMAN_X,-75237.0,-1482.9,-611.3,-163931.4,49572.1
$KALMAN_Y,-24827.5,219.8,-359.8,295893.0,1303.6
$MHEAD_RNG_PITCHd_Wd,254.0,24110,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.22,-146.6,0.0,0.0,0,58,0.00,0.00,-40.97,0.000,2,0.000,0.000,423,2143,2478
$GC,62,-1.22,-146.6,2.1,-1.7,2,126,11.40,2.58,-43.05,0.000,4,0.161,0.075,2472,3534,3429
$GC,380,-1.13,-146.6,38.1,-12.5,16,385,0.12,2.50,0.00,0.000,6,0.103,0.047,2498,2127,3430
$GC,703,-1.13,-146.6,71.0,-10.1,32,707,0.00,2.50,0.00,0.000,4,0.000,0.057,2498,714,3430
$GC,759,-1.13,-146.6,76.8,-9.6,34,766,0.00,2.50,0.00,0.000,6,0.000,0.048,2498,2134,3430
$GC,1075,-1.13,-146.6,105.8,-9.7,50,1079,0.00,2.55,0.00,0.000,4,0.000,0.058,2498,718,3430
$GC,1125,-1.13,-146.6,111.2,-10.4,52,1129,0.00,2.47,0.00,0.000,6,0.000,0.048,2498,2124,3430
$GC,1446,-1.13,-146.6,146.2,-11.2,67,1450,0.00,2.55,0.00,0.000,4,0.000,0.060,2498,715,3430
$GC,1486,-1.13,-146.6,151.0,-10.1,69,1492,0.00,2.47,0.00,0.000,6,0.000,0.048,2498,2110,3430
$STATE,1724,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1724,begin apogee
$GC,1731,-0.33,0.0,174.7,11.5,85,1856,0.80,0.00,121.50,0.900,6,0.080,0.000,2669,1834,2831
$STATE,1857,end apogee,CONTROL_FINISHED_OK
$STATE,1857,begin climb
$GC,1861,1.22,146.6,182.3,0.0,93,1986,1.55,0.00,120.93,0.870,6,0.061,0.000,3007,1832,2233
$GC,2297,1.17,157.9,157.7,7.6,121,2314,0.00,2.62,10.75,0.768,4,0.000,0.058,3007,3258,2187
$GC,2447,1.18,187.0,147.3,6.9,129,2480,0.00,2.45,25.12,0.834,6,0.000,0.051,3007,1898,2068
$GC,2791,1.34,288.9,129.0,4.3,146,2883,0.15,2.67,83.50,0.848,4,0.054,0.063,3046,443,1652
$GC,2914,1.23,288.9,121.1,8.0,151,2922,0.17,2.62,0.00,0.000,6,0.086,0.048,3013,1909,1652
$GC,3231,1.32,342.4,102.5,6.1,167,3282,0.00,2.80,44.65,0.825,4,0.000,0.064,3013,441,1435
$GC,3345,1.35,363.5,94.7,7.2,172,3371,0.12,2.58,18.52,0.792,6,0.055,0.048,3046,1894,1349
$GC,3696,1.31,363.5,55.5,12.8,189,3700,0.00,2.65,0.00,0.000,4,0.000,0.062,3046,435,1349
$GC,3763,1.25,363.5,45.8,13.4,192,3769,0.15,2.53,0.00,0.000,6,0.085,0.046,3017,1859,1349
$GC,4085,1.29,363.5,8.6,11.1,208,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1874,1350
$STATE,4144,end climb,SURFACE_DEPTH_REACHED
$STATE,4144,begin surface coast
$FINISH,0.5,1.002008
$STATE,4166,end surface coast,CONTROL_FINISHED_OK
$STATE,4166,begin surface
$SM_CCo,4250,0.00,0.000,0,0,1349,363.53
$SM_GC,1.27,11.27,0.00,0.00,0.036,0.000,0.000,421,2138,1349,-10.59,0.31,363.53
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1828
$TCM_TEMP,17.40
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,146.2,38.1
$24V_AH,24.0,27.055
$10V_AH,10.1,12.126
$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,25.750,41.975,424.975,0.000,0.000,37.757,26.630,98.129,2.750,0.000,0.000,33.447,426.268,2722.073,459.176,640.334,291.180,33.359,821.840,0.000,609.363,0.000,11.180,0.000
$DEVICE_MAMPS,161.070,75.166,899.691,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,142.450,156.431,283.994,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9716,212
$CAP_FILE_SIZE,42197,0
$CFSIZE,254472192,243617792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230909,135507,6403.235,-1310.854,13,1.7,14,-12.6