version: 66.04
glider: 5
mission: 7
dive: 182
start: 9 29 109 7 43 33
data:
$ID,5
$MISSION,7
$DIVE,182
$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,-103677.8
$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,36
$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
$GPS1,073746,6402.479,-1321.644,12,7.1,32,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-61.4
$GPS2,074245,6402.517,-1321.475,11,7.6,30,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.242,-0.041
$KALMAN_X,-51671.2,316.0,238.0,-196895.0,-1014.8
$KALMAN_Y,-16360.0,361.2,168.8,286025.7,-21258.1
$MHEAD_RNG_PITCHd_Wd,112.4,25005,-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,-41.33,0.000,2,0.000,0.000,420,2149,2428
$GC,63,-1.22,-146.6,2.3,-3.9,2,127,11.43,2.55,-44.03,0.000,4,0.167,0.078,2471,3527,3429
$GC,241,-1.15,-146.6,19.5,-13.7,10,246,0.10,2.53,0.00,0.000,6,0.112,0.050,2490,2114,3429
$GC,569,-1.11,-146.6,60.6,-12.9,26,573,0.00,2.50,0.00,0.000,4,0.000,0.061,2491,714,3429
$GC,641,-1.11,-146.6,70.6,-13.7,29,646,0.00,2.47,0.00,0.000,6,0.000,0.050,2491,2106,3429
$GC,960,-1.07,-146.6,112.0,-12.1,44,964,0.00,2.60,0.00,0.000,4,0.000,0.067,2491,3534,3429
$GC,1027,-1.02,-146.6,119.6,-11.8,47,1032,0.12,2.53,0.00,0.000,6,0.097,0.051,2518,2124,3429
$GC,1347,-1.02,-146.6,155.8,-12.8,63,1352,0.00,2.50,0.00,0.000,4,0.000,0.061,2518,720,3429
$GC,1444,-1.07,-146.6,168.7,-12.4,69,1448,0.00,2.47,0.00,0.000,6,0.000,0.049,2518,2116,3429
$GC,1769,-1.07,-146.6,204.3,-10.9,90,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2116,3429
$STATE,2000,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2000,begin apogee
$GC,2007,-0.33,0.0,226.4,9.1,105,2137,0.70,0.00,122.78,0.942,6,0.071,0.000,2672,1841,2831
$STATE,2138,end apogee,CONTROL_FINISHED_OK
$STATE,2138,begin climb
$GC,2141,1.22,146.6,230.2,0.0,114,2271,1.52,2.58,122.28,0.905,4,0.058,0.062,3009,444,2233
$GC,2331,1.15,164.6,222.1,7.3,125,2354,0.00,2.53,16.12,0.832,6,0.000,0.048,3009,1863,2160
$GC,2669,1.15,197.7,198.0,6.8,147,2700,0.00,0.00,28.42,0.865,6,0.000,0.000,3009,1878,2025
$GC,3009,1.21,236.0,176.5,6.6,169,3048,0.00,2.60,32.72,0.871,4,0.000,0.059,3009,3252,1868
$GC,3061,1.21,236.7,172.6,8.0,172,3066,0.00,2.55,0.00,0.000,6,0.000,0.054,3010,1857,1868
$GC,3386,1.22,238.4,147.4,7.9,192,3391,0.00,2.58,0.00,0.000,4,0.000,0.060,3009,3263,1867
$GC,3420,1.27,270.7,144.9,6.8,193,3456,0.00,2.53,29.42,0.854,6,0.000,0.054,3009,1863,1726
$GC,3782,1.27,270.7,116.1,9.2,211,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1863,1726
$GC,4088,1.27,270.7,88.1,8.8,226,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1863,1726
$GC,4397,1.27,270.7,60.5,9.0,241,4402,0.00,2.53,0.00,0.000,4,0.000,0.058,3009,3252,1726
$GC,4439,1.32,270.7,56.8,8.9,243,4444,0.10,2.47,0.00,0.000,6,0.058,0.051,3038,1860,1726
$GC,4766,1.27,270.7,22.5,11.1,259,4771,0.00,2.55,0.00,0.000,4,0.000,0.064,3038,435,1726
$GC,4778,1.22,270.7,21.1,10.7,259,4785,0.15,2.53,0.00,0.000,6,0.090,0.047,3010,1870,1726
$STATE,5009,end climb,SURFACE_DEPTH_REACHED
$STATE,5009,begin surface coast
$FINISH,0.7,1.021642
$STATE,5031,end surface coast,CONTROL_FINISHED_OK
$STATE,5031,begin surface
$SM_CCo,5055,15.55,0.749,0,0,1608,300.00
$SM_GC,1.68,0.00,0.00,15.55,0.000,0.000,0.749,420,2125,1608,-10.70,-0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1799
$TCM_TEMP,17.00
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,146.5,88.4
$24V_AH,24.0,32.366
$10V_AH,10.1,14.748
$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,25.325,46.450,351.750,15.550,0.000,37.760,26.970,113.751,4.000,0.000,0.000,30.879,515.624,3436.754,418.440,685.394,322.979,33.367,794.875,0.000,656.579,0.000,8.434,0.000
$DEVICE_MAMPS,167.206,78.234,941.876,749.359,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,183.975,197.020,289.470,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12790,272
$CAP_FILE_SIZE,47362,0
$CFSIZE,254472192,241582080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290909,090924,6402.661,-1317.813,40,1.2,41,-12.6