version: 66.04
glider: 5
mission: 7
dive: 149
start: 9 23 109 14 0 39
data:
$ID,5
$MISSION,7
$DIVE,149
$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,-103006.27
$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,31
$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
$GPS1,135507,6403.235,-1310.854,13,1.7,14,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-67.6
$GPS2,135949,6403.289,-1310.625,15,1.6,32,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,K1
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.223,-0.103
$KALMAN_X,-71479.5,-849.5,-1620.0,-164429.8,83131.2
$KALMAN_Y,-21565.1,283.9,203.6,292714.3,13693.8
$MHEAD_RNG_PITCHd_Wd,257.7,24616,-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,15,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-61.30,0.000,2,0.000,0.000,421,2147,2636
$GC,83,-1.22,-146.6,2.5,-2.9,3,133,11.48,2.53,-31.05,0.000,4,0.163,0.076,2472,3534,3429
$GC,387,-1.13,-146.6,36.6,-11.8,16,394,0.12,2.50,0.00,0.000,6,0.101,0.045,2498,2118,3429
$GC,705,-1.13,-146.6,64.7,-8.7,32,709,0.00,2.60,0.00,0.000,4,0.000,0.062,2498,3537,3430
$GC,794,-1.13,-146.6,73.3,-8.9,36,798,0.00,2.50,0.00,0.000,6,0.000,0.046,2498,2127,3429
$GC,1115,-1.13,-146.6,103.2,-8.3,52,1119,0.00,2.47,0.00,0.000,4,0.000,0.057,2498,723,3429
$GC,1223,-1.13,-146.6,112.8,-9.0,57,1228,0.00,2.47,0.00,0.000,6,0.000,0.047,2498,2127,3429
$GC,1551,-1.13,-146.6,151.0,-13.3,73,1555,0.00,2.55,0.00,0.000,4,0.000,0.060,2498,715,3429
$GC,1579,-1.13,-146.6,155.1,-14.1,75,1584,0.00,2.50,0.00,0.000,6,0.000,0.048,2498,2121,3430
$GC,1907,-1.13,-146.6,203.3,-15.1,96,1911,0.00,2.53,0.00,0.000,4,0.000,0.058,2498,718,3430
$GC,1952,-1.13,-146.6,210.8,-16.1,99,1957,0.00,2.47,0.00,0.000,6,0.000,0.048,2498,2114,3430
$STATE,2196,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2196,begin apogee
$GC,2203,-0.33,0.0,242.2,12.5,115,2334,0.80,0.00,123.40,0.937,6,0.074,0.000,2670,1830,2831
$STATE,2334,end apogee,CONTROL_FINISHED_OK
$STATE,2334,begin climb
$GC,2338,1.22,146.6,249.8,0.0,124,2472,1.52,2.65,122.80,0.908,4,0.058,0.058,3007,3258,2232
$GC,2667,1.37,261.5,240.5,3.8,144,2770,0.17,2.55,95.88,0.890,6,0.049,0.052,3053,1832,1764
$GC,3090,1.27,261.5,203.9,9.2,171,3095,0.17,2.50,0.00,0.000,4,0.091,0.063,3017,457,1764
$GC,3125,1.22,262.9,201.0,7.9,173,3129,0.00,2.50,0.00,0.000,6,0.000,0.048,3017,1859,1764
$GC,3444,1.22,264.7,178.6,7.9,193,3453,0.00,2.60,4.43,0.614,4,0.000,0.064,3016,457,1751
$GC,3478,1.17,264.7,175.3,9.8,195,3482,0.00,2.50,0.00,0.000,6,0.000,0.048,3017,1855,1750
$GC,3797,1.17,264.7,145.7,9.0,215,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1869,1751
$GC,4107,1.17,264.7,118.3,9.1,230,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1871,1750
$GC,4416,1.22,293.3,95.2,7.0,245,4442,0.00,0.00,24.42,0.826,6,0.000,0.000,3017,1871,1635
$GC,4746,1.22,293.3,67.5,8.3,261,4750,0.00,2.55,0.00,0.000,4,0.000,0.061,3017,458,1635
$GC,4790,1.22,293.3,63.5,8.8,263,4794,0.00,2.47,0.00,0.000,6,0.000,0.047,3017,1855,1635
$GC,5112,1.22,293.3,35.1,9.2,279,5116,0.00,2.47,0.00,0.000,4,0.000,0.056,3017,3255,1635
$GC,5139,1.26,293.3,32.6,9.2,280,5144,0.00,2.47,0.00,0.000,6,0.000,0.049,3017,1865,1635
$STATE,5453,end climb,SURFACE_DEPTH_REACHED
$STATE,5453,begin surface coast
$FINISH,0.9,1.026890
$STATE,5476,end surface coast,CONTROL_FINISHED_OK
$STATE,5476,begin surface
$SM_CCo,5500,3.38,0.462,0,0,1608,300.00
$SM_GC,2.59,0.00,0.00,3.38,0.000,0.000,0.462,420,2154,1608,-10.70,0.68,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1818
$TCM_TEMP,17.50
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,196.3,53.9
$24V_AH,24.0,27.159
$10V_AH,10.1,12.164
$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,25.500,51.375,370.925,3.375,0.000,37.758,28.350,98.714,3.500,0.000,0.000,34.319,569.648,3701.211,427.287,790.092,310.298,33.351,849.541,0.000,756.760,0.000,14.411,0.000
$DEVICE_MAMPS,163.371,75.933,937.274,461.734,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,200.718,218.848,316.758,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15986,296
$CAP_FILE_SIZE,50219,0
$CFSIZE,254472192,243576832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230909,153337,6403.071,-1307.934,34,1.4,35,-12.5