version: 66.04
glider: 130
mission: 5
dive: 8
start: 5 20 109 3 40 57
data:
$ID,130
$MISSION,5
$DIVE,8
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51945
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,44.380001
$TGT_DEFAULT_LON,-125.01
$TGT_AUTO_DEFAULT,0
$SM_CC,650
$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,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-52019.758
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,417
$PITCH_MAX,3725
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,162
$ROLL_MAX,3945
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,3
$VBD_MIN,516
$VBD_MAX,3960
$C_VBD,3437
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-8.2383127
$PRESSURE_SLOPE,0.0001159091
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044082953
$SEABIRD_T_H,0.00065181591
$SEABIRD_T_I,3.2922526e-05
$SEABIRD_T_J,4.287429e-06
$SEABIRD_C_G,-9.794486
$SEABIRD_C_H,1.1032488
$SEABIRD_C_I,-0.0011085917
$SEABIRD_C_J,0.0001701656
$GPS1,033036,4806.633,-12222.247,26,1.3,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-72.5
$GPS2,034002,4806.486,-12222.278,11,1.4,11,18.3
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.045,-0.167
$KALMAN_X,244.1,-19.0,145.7,951.6,246.5
$KALMAN_Y,332.8,387.5,-296.2,-3031.6,-542.7
$MHEAD_RNG_PITCHd_Wd,146.6,964,-27.2,-10.000
$D_GRID,150
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.78,-63.0,0.0,0.0,0,120,0.00,0.00,-96.20,0.000,2,0.000,0.000,417,1940,3126
$GC,124,-1.84,-110.8,3.2,-4.9,16,164,11.00,2.58,-22.85,0.000,4,0.145,0.065,2413,3362,3890
$GC,417,-1.79,-110.8,39.7,-16.2,79,423,0.00,2.45,0.00,0.000,6,0.000,0.044,2413,1950,3890
$GC,488,-1.79,-110.8,52.0,-16.8,86,492,0.00,2.47,0.00,0.000,4,0.000,0.054,2413,3359,3890
$GC,564,-1.79,-110.8,65.4,-17.1,94,569,0.00,2.47,0.00,0.000,6,0.000,0.046,2413,1933,3890
$GC,704,-1.79,-110.8,88.7,-16.2,107,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1932,3890
$STATE,828,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,828,begin apogee
$GC,837,-0.31,0.0,110.1,17.0,119,926,1.62,0.00,84.85,0.660,6,0.091,0.000,2743,2067,3437
$STATE,927,end apogee,CONTROL_FINISHED_OK
$STATE,927,begin climb
$GC,931,1.84,110.8,115.1,0.0,128,1026,2.17,2.53,84.35,0.646,4,0.053,0.057,3220,3454,2984
$GC,1063,1.84,110.8,106.6,12.0,141,1070,0.00,2.47,0.00,0.000,6,0.000,0.046,3220,2048,2984
$GC,1198,1.84,110.8,90.1,12.0,154,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2048,2984
$GC,1327,1.84,110.8,75.1,11.9,166,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2048,2983
$GC,1463,1.84,110.8,59.3,11.5,179,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2048,2983
$GC,1590,1.84,110.8,45.1,11.0,191,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2048,2983
$GC,1721,1.84,110.8,30.9,10.8,210,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2048,2983
$GC,1797,1.84,110.8,23.0,10.5,223,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2048,2983
$GC,1874,1.85,120.9,15.7,8.9,236,1889,0.00,2.53,8.98,0.545,4,0.000,0.058,3220,3450,2944
$GC,1932,1.89,150.6,11.0,6.8,247,1965,0.00,2.47,24.30,0.586,6,0.000,0.048,3220,2041,2820
$GC,2036,2.13,240.3,5.3,0.5,264,2112,0.25,2.55,67.60,0.590,4,0.052,0.058,3283,3447,2454
$STATE,2121,end climb,SURFACE_DEPTH_REACHED
$STATE,2121,begin surface coast
$FINISH,3.5,1.018851
$STATE,2262,end surface coast,CONTROL_FINISHED_OK
$STATE,2262,begin surface
$SM_CCo,2291,242.75,0.573,0,0,786,650.04
$SM_GC,1.62,0.00,0.00,242.75,0.000,0.000,0.573,412,1939,786,-11.08,-0.31,650.04
$IRIDIUM_FIX,4748.51,-12219.12,140898,020232
$TT8_MAMPS,0.025311
$HUMID,1557
$INTERNAL_PRESSURE,9.20812
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,101.2,17.3
$24V_AH,23.6,1.234
$10V_AH,10.8,1.291
$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,28.200,25.425,270.075,242.750,0.000,29.440,26.318,279.479,1.250,0.000,0.000,13.449,486.175,746.603,565.588,654.403,657.346,33.334,929.626,0.000,697.323,0.000,11.393,0.000
$DEVICE_MAMPS,144.963,65.195,660.387,572.949,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,268.556,213.099,405.577,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16034,310
$CAP_FILE_SIZE,42801,0
$CFSIZE,260165632,186122240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200509,042408,4806.245,-12222.236,11,1.6,11,18.3