version: 66.04
glider: 5
mission: 7
dive: 167
start: 9 26 109 16 43 9
data:
$ID,5
$MISSION,7
$DIVE,167
$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,-103381.92
$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,24
$R_STBD_OVSHOOT,28
$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
$GPS1,163308,6358.149,-1334.586,13,1.6,14,-12.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-58.6
$GPS2,164220,6358.234,-1334.346,16,1.5,16,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,K1
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.073,-0.234
$KALMAN_X,-40363.8,-1507.9,-146.7,-217287.2,9953.1
$KALMAN_Y,-14190.9,-1007.0,-418.7,277912.6,-2580.4
$MHEAD_RNG_PITCHd_Wd,175.4,25058,-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,13,begin dive
$GC,16,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-60.67,0.000,2,0.000,0.000,419,2143,2896
$GC,82,-1.22,-146.6,3.2,-4.4,3,114,11.62,2.55,-14.25,0.000,4,0.168,0.075,2474,3533,3429
$GC,369,-1.13,-146.6,49.1,-14.5,16,374,0.12,2.53,0.00,0.000,6,0.100,0.048,2499,2112,3429
$GC,697,-1.13,-146.6,84.3,-11.1,32,701,0.00,2.60,0.00,0.000,4,0.000,0.063,2499,3530,3429
$GC,804,-1.13,-146.6,96.8,-11.0,37,808,0.00,2.47,0.00,0.000,6,0.000,0.046,2499,2134,3429
$GC,1132,-1.13,-146.6,129.9,-10.6,53,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2121,3430
$GC,1441,-1.13,-146.6,164.2,-10.8,70,1445,0.00,2.58,0.00,0.000,4,0.000,0.064,2499,3533,3429
$GC,1497,-1.13,-146.6,170.5,-11.7,73,1503,0.00,2.50,0.00,0.000,6,0.000,0.049,2499,2130,3430
$GC,1817,-1.13,-146.6,206.0,-10.9,94,1821,0.00,2.60,0.00,0.000,4,0.000,0.066,2499,3539,3430
$GC,1872,-1.13,-146.6,212.2,-10.9,97,1878,0.00,2.47,0.00,0.000,6,0.000,0.051,2500,2149,3430
$STATE,1923,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1923,begin apogee
$GC,1931,-0.33,0.0,218.0,11.1,101,2060,0.80,0.00,122.95,0.923,6,0.071,0.000,2675,1839,2830
$STATE,2061,end apogee,CONTROL_FINISHED_OK
$STATE,2061,begin climb
$GC,2064,1.22,146.6,224.0,0.0,110,2192,1.50,0.00,122.60,0.887,6,0.055,0.000,3007,1839,2233
$GC,2500,1.23,187.1,203.2,6.5,138,2539,0.00,2.62,34.33,0.861,4,0.000,0.058,3006,3252,2068
$GC,2709,1.23,187.1,187.0,8.1,150,2715,0.00,2.45,0.00,0.000,6,0.000,0.053,3007,1891,2067
$GC,3029,1.23,187.1,161.5,9.2,171,3033,0.00,2.50,0.00,0.000,4,0.000,0.059,3007,3261,2067
$GC,3074,1.23,187.1,157.3,9.6,174,3079,0.00,2.45,0.00,0.000,6,0.000,0.052,3007,1889,2067
$GC,3392,1.27,209.8,133.0,7.2,191,3417,0.00,2.53,19.95,0.831,4,0.000,0.058,3007,3255,1975
$GC,3441,1.27,209.8,128.9,8.5,193,3445,0.00,2.45,0.00,0.000,6,0.000,0.051,3007,1900,1975
$GC,3762,1.27,209.8,101.6,8.7,209,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1900,1975
$GC,4071,1.31,234.4,77.5,7.1,224,4098,0.10,2.50,21.23,0.811,4,0.059,0.055,3036,3254,1874
$GC,4157,1.31,234.4,70.9,8.2,228,4161,0.00,2.40,0.00,0.000,6,0.000,0.048,3037,1912,1874
$GC,4485,1.24,234.4,39.2,10.5,244,4489,0.00,2.65,0.00,0.000,4,0.000,0.063,3037,433,1874
$GC,4502,1.18,234.4,37.3,9.4,245,4508,0.17,2.65,0.00,0.000,6,0.087,0.046,3004,1932,1874
$GC,4831,1.21,254.8,11.9,7.3,261,4850,0.00,0.00,17.75,0.759,6,0.000,0.000,3003,1950,1792
$STATE,4929,end climb,SURFACE_DEPTH_REACHED
$STATE,4929,begin surface coast
$FINISH,0.7,1.027030
$STATE,4951,end surface coast,CONTROL_FINISHED_OK
$STATE,4951,begin surface
$SM_CCo,4975,23.17,0.752,0,0,1608,300.00
$SM_GC,1.18,0.00,0.00,23.17,0.000,0.000,0.752,417,2128,1608,-10.71,-0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1788
$TCM_TEMP,17.50
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,195.8,32.0
$24V_AH,24.0,29.989
$10V_AH,10.1,13.569
$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,25.600,46.350,338.800,23.175,0.000,75.515,63.799,213.314,2.500,0.000,0.000,16.721,521.506,3392.140,434.028,686.857,525.940,33.361,791.899,0.000,670.521,0.000,12.382,0.000
$DEVICE_MAMPS,167.973,75.166,923.468,751.660,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,180.866,195.747,296.567,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12812,267
$CAP_FILE_SIZE,49622,0
$CFSIZE,254472192,242483200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,260909,180802,6357.765,-1333.673,53,1.9,55,-12.7