version: 66.04
glider: 5
mission: 7
dive: 181
start: 9 29 109 6 6 51
data:
$ID,5
$MISSION,7
$DIVE,181
$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,-103646.29
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,060106,6400.883,-1324.325,33,1.3,33,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-64.6
$GPS2,060602,6400.931,-1324.166,13,1.4,13,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,L1
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.041,0.242
$KALMAN_X,-54382.9,428.5,515.3,-196946.8,-6311.4
$KALMAN_Y,-13537.3,-289.9,332.0,280757.6,-8836.4
$MHEAD_RNG_PITCHd_Wd,22.3,5040,-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,16,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.42,0.000,2,0.000,0.000,423,2129,2459
$GC,63,-1.22,-146.6,2.2,-2.2,2,127,11.23,2.62,-42.67,0.000,4,0.157,0.071,2471,710,3430
$GC,380,-1.17,-146.6,37.6,-13.3,16,384,0.00,2.53,0.00,0.000,6,0.000,0.048,2471,2134,3430
$GC,703,-1.10,-146.6,77.0,-12.3,32,708,0.17,2.58,0.00,0.000,4,0.096,0.059,2512,714,3431
$GC,789,-1.10,-146.6,87.0,-10.8,36,793,0.00,2.53,0.00,0.000,6,0.000,0.048,2512,2138,3431
$GC,1116,-1.10,-146.6,121.0,-9.9,52,1121,0.00,2.58,0.00,0.000,4,0.000,0.060,2512,715,3431
$GC,1139,-1.10,-146.6,123.3,-9.3,53,1143,0.00,2.50,0.00,0.000,6,0.000,0.049,2512,2122,3431
$GC,1466,-1.10,-146.6,155.6,-9.6,70,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2122,3431
$GC,1777,-1.10,-146.6,187.3,-11.8,90,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2122,3431
$GC,2090,-1.10,-146.6,221.2,-10.1,110,2094,0.00,2.55,0.00,0.000,4,0.000,0.062,2512,718,3431
$STATE,2277,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2277,begin apogee
$GC,2286,-0.33,0.0,239.3,12.7,121,2413,0.70,0.00,122.22,0.946,6,0.073,0.000,2666,1871,2831
$STATE,2414,end apogee,CONTROL_FINISHED_OK
$STATE,2414,begin climb
$GC,2417,1.22,146.6,248.0,0.0,130,2550,1.58,2.70,121.95,0.914,4,0.057,0.063,3011,438,2233
$GC,2589,1.08,146.6,240.0,10.0,141,2594,0.17,2.53,0.00,0.000,6,0.085,0.048,2977,1863,2233
$GC,2917,1.20,218.6,219.6,5.4,162,2984,0.12,2.72,59.92,0.896,4,0.055,0.065,3012,439,1939
$GC,3037,1.14,218.6,210.2,8.8,169,3042,0.00,2.50,0.00,0.000,6,0.000,0.048,3012,1837,1939
$GC,3359,1.17,240.0,182.3,7.2,189,3383,0.00,2.62,18.92,0.852,4,0.000,0.058,3012,3256,1852
$GC,3463,1.19,255.8,174.5,7.4,195,3483,0.00,2.55,14.20,0.832,6,0.000,0.054,3012,1849,1787
$GC,3803,1.19,255.8,144.3,8.4,216,3808,0.00,2.58,0.00,0.000,4,0.000,0.060,3012,3257,1787
$GC,3831,1.19,255.8,141.9,8.0,217,3836,0.00,2.53,0.00,0.000,6,0.000,0.054,3012,1858,1787
$GC,4148,1.19,255.8,114.1,9.7,232,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1858,1787
$GC,4457,1.19,255.8,82.3,10.3,247,4461,0.00,2.55,0.00,0.000,4,0.000,0.058,3012,3259,1787
$GC,4485,1.23,255.8,79.3,10.5,248,4489,0.00,2.50,0.00,0.000,6,0.000,0.052,3012,1867,1787
$GC,4802,1.23,255.8,48.1,9.8,263,4807,0.00,2.58,0.00,0.000,4,0.000,0.065,3012,433,1787
$GC,4843,1.23,255.8,43.8,10.2,265,4847,0.00,2.55,0.00,0.000,6,0.000,0.047,3012,1877,1787
$GC,5170,1.23,255.8,13.8,8.1,281,5174,0.00,2.45,0.00,0.000,4,0.000,0.059,3012,3255,1787
$GC,5204,1.28,255.8,10.6,9.0,282,5210,0.00,2.47,0.00,0.000,6,0.000,0.051,3012,1860,1787
$STATE,5311,end climb,SURFACE_DEPTH_REACHED
$STATE,5311,begin surface coast
$FINISH,0.7,1.014649
$STATE,5335,end surface coast,CONTROL_FINISHED_OK
$STATE,5335,begin surface
$SM_CCo,5359,24.05,0.772,0,0,1608,300.00
$SM_GC,1.38,0.00,0.00,24.05,0.000,0.000,0.772,420,2164,1608,-10.70,0.93,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1802
$TCM_TEMP,17.00
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,196.6,52.7
$24V_AH,24.0,32.264
$10V_AH,10.1,14.712
$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,25.225,56.250,337.225,24.050,0.000,37.762,27.245,127.747,7.000,0.000,0.000,13.230,560.933,3605.104,422.992,754.817,341.549,33.360,832.607,0.000,737.556,0.000,14.411,0.000
$DEVICE_MAMPS,157.235,70.564,946.478,772.369,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,195.800,210.301,296.335,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12783,289
$CAP_FILE_SIZE,50278,0
$CFSIZE,254472192,241606656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290909,073746,6402.479,-1321.644,12,7.1,32,-12.7