version: 66.04
glider: 130
mission: 5
dive: 10
start: 5 20 109 5 25 52
data:
$ID,130
$MISSION,5
$DIVE,10
$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,-52071.785
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,051732,4806.188,-12221.969,13,1.2,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-72.7
$GPS2,052458,4806.185,-12221.938,13,2.2,32,18.3
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.036,-0.208
$KALMAN_X,-130.3,148.1,245.4,1478.9,-189.6
$KALMAN_Y,1078.8,-56.7,-574.7,-3608.4,289.7
$MHEAD_RNG_PITCHd_Wd,151.8,351,-22.2,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.50,-93.5,0.0,0.0,0,92,0.00,0.00,-72.28,0.000,2,0.000,0.000,416,1943,2585
$GC,97,-1.58,-155.7,3.1,-4.8,12,161,11.40,2.55,-43.10,0.000,4,0.146,0.067,2473,3355,3961
$GC,365,-1.52,-155.7,32.0,-14.3,68,372,0.00,2.42,0.00,0.000,6,0.000,0.044,2473,1956,3961
$GC,441,-1.46,-155.7,42.9,-14.2,81,447,0.15,0.00,0.00,0.000,6,0.102,0.000,2501,1956,3962
$GC,583,-1.46,-155.7,61.4,-12.4,106,589,0.00,2.53,0.00,0.000,4,0.000,0.061,2501,542,3962
$GC,616,-1.46,-155.7,65.9,-14.4,112,622,0.00,2.42,0.00,0.000,6,0.000,0.041,2501,1951,3962
$GC,758,-1.46,-155.7,84.2,-12.7,137,765,0.00,2.53,0.00,0.000,4,0.000,0.061,2501,542,3962
$GC,773,-1.46,-155.7,86.0,-12.6,139,779,0.00,2.42,0.00,0.000,6,0.000,0.042,2501,1950,3962
$GC,921,-1.46,-155.7,105.2,-13.1,164,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1952,3962
$STATE,981,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,981,begin apogee
$GC,990,-0.31,0.0,113.7,12.7,175,1094,1.17,0.00,97.90,0.663,6,0.084,0.000,2744,2062,3437
$STATE,1094,end apogee,CONTROL_FINISHED_OK
$STATE,1095,begin climb
$GC,1099,1.58,155.7,118.5,0.0,194,1229,1.92,2.55,118.15,0.649,4,0.054,0.058,3163,3446,2802
$GC,1294,1.58,155.7,103.0,12.6,231,1300,0.00,2.47,0.00,0.000,6,0.000,0.048,3163,2044,2800
$GC,1437,1.58,155.7,85.4,12.1,256,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2044,2799
$GC,1579,1.58,155.7,68.6,11.9,281,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2044,2799
$GC,1721,1.58,155.7,52.8,10.5,306,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2044,2799
$GC,1864,1.58,155.7,36.9,10.9,331,1870,0.00,2.53,0.00,0.000,4,0.000,0.063,3164,640,2799
$GC,1914,1.58,155.7,30.9,12.7,341,1920,0.00,2.42,0.00,0.000,6,0.000,0.044,3163,2043,2799
$GC,1991,1.58,159.5,22.6,9.7,354,1998,0.00,0.00,4.28,0.432,6,0.000,0.000,3163,2043,2785
$GC,2068,1.59,165.9,15.2,9.5,367,2082,0.00,0.00,6.78,0.511,6,0.000,0.000,3163,2043,2759
$GC,2153,1.69,206.1,7.9,7.1,381,2191,0.10,0.00,32.33,0.586,6,0.072,0.000,3188,2044,2595
$GC,2262,1.99,364.0,5.0,-1.3,399,2327,0.25,0.00,61.28,0.581,2,0.049,0.000,3253,2044,2230
$STATE,2327,end climb,SURFACE_DEPTH_REACHED
$STATE,2327,begin surface coast
$FINISH,3.4,1.017710
$STATE,2468,end surface coast,CONTROL_FINISHED_OK
$STATE,2468,begin surface
$SM_CCo,2495,237.52,0.579,0,0,786,650.04
$SM_GC,1.59,0.00,0.00,237.52,0.000,0.000,0.579,412,1933,786,-11.08,-0.48,650.04
$IRIDIUM_FIX,4748.51,-12219.12,140898,040438
$TT8_MAMPS,0.025311
$HUMID,1567
$INTERNAL_PRESSURE,9.20812
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.4,22.8
$24V_AH,23.6,1.446
$10V_AH,10.8,1.381
$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,27.975,25.175,320.700,237.525,0.000,25.652,28.400,205.054,1.000,0.000,0.000,34.969,618.926,617.669,607.293,804.730,542.270,33.332,1052.980,0.000,838.828,0.000,8.570,0.000
$DEVICE_MAMPS,146.497,66.729,663.455,579.085,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,351.783,189.074,388.929,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22243,434
$CAP_FILE_SIZE,46983,0
$CFSIZE,260165632,186052608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200509,061236,4805.955,-12221.931,26,1.1,26,18.3