version: 66.04
glider: 5
mission: 7
dive: 183
start: 9 29 109 9 15 3
data:
$ID,5
$MISSION,7
$DIVE,183
$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,-103693.69
$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,32
$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
$GPS1,090924,6402.661,-1317.813,40,1.2,41,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-62.9
$GPS2,091414,6402.669,-1317.655,15,1.2,15,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.210,-0.126
$KALMAN_X,-53871.6,281.3,-282.2,-190752.9,-7615.0
$KALMAN_Y,-13687.4,315.7,1065.4,282772.7,-14805.4
$MHEAD_RNG_PITCHd_Wd,133.6,24282,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.75,0.000,2,0.000,0.000,420,2136,2445
$GC,63,-1.22,-146.6,2.4,-4.4,2,130,11.45,2.60,-48.55,0.000,4,0.166,0.078,2472,3529,3429
$GC,284,-1.14,-146.6,24.3,-14.4,12,289,0.12,2.53,0.00,0.000,6,0.107,0.050,2497,2120,3429
$GC,612,-1.14,-146.6,64.7,-12.1,28,616,0.00,2.50,0.00,0.000,4,0.000,0.060,2498,716,3429
$GC,690,-1.14,-146.6,74.1,-11.7,31,697,0.00,2.47,0.00,0.000,6,0.000,0.049,2497,2114,3429
$GC,1007,-1.11,-146.6,111.7,-11.6,47,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2114,3429
$GC,1320,-1.11,-146.6,146.2,-11.1,62,1324,0.00,2.53,0.00,0.000,4,0.000,0.061,2497,718,3429
$GC,1399,-1.11,-146.6,155.1,-10.8,67,1403,0.00,2.45,0.00,0.000,6,0.000,0.048,2497,2101,3429
$GC,1723,-1.11,-146.6,189.8,-10.5,88,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2101,3429
$STATE,1939,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1939,begin apogee
$GC,1946,-0.33,0.0,215.9,12.5,102,2077,0.80,0.00,122.43,0.931,6,0.074,0.000,2671,1844,2831
$STATE,2077,end apogee,CONTROL_FINISHED_OK
$STATE,2077,begin climb
$GC,2081,1.22,146.6,219.0,0.0,111,2212,1.50,2.58,121.65,0.894,4,0.046,0.061,3012,439,2233
$GC,2242,1.14,146.6,212.7,8.7,121,2247,0.00,2.53,0.00,0.000,6,0.000,0.046,3013,1855,2233
$GC,2563,1.14,175.5,192.9,7.0,141,2595,0.00,2.53,24.88,0.856,4,0.000,0.058,3013,3249,2115
$GC,2630,1.10,175.5,186.7,10.2,145,2636,0.15,2.53,0.00,0.000,6,0.090,0.053,2985,1855,2115
$GC,2958,1.19,231.3,163.8,6.0,166,3010,0.00,2.60,46.67,0.868,4,0.000,0.058,2984,3248,1887
$GC,3022,1.31,266.8,159.4,6.7,170,3058,0.20,2.53,30.30,0.839,6,0.047,0.053,3036,1862,1743
$GC,3374,1.27,266.8,121.5,11.2,188,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1862,1743
$GC,3681,1.23,266.8,86.5,11.4,203,3686,0.12,2.53,0.00,0.000,4,0.089,0.058,3011,3249,1743
$GC,3705,1.23,266.8,83.8,10.9,204,3709,0.00,2.50,0.00,0.000,6,0.000,0.051,3011,1857,1743
$GC,4027,1.23,266.8,54.0,8.5,220,4031,0.00,2.55,0.00,0.000,4,0.000,0.058,3011,3260,1743
$GC,4060,1.31,283.6,51.5,7.4,221,4080,0.00,2.47,15.12,0.775,6,0.000,0.051,3012,1874,1674
$GC,4399,1.31,283.6,22.5,8.6,238,4403,0.00,2.58,0.00,0.000,4,0.000,0.064,3011,439,1674
$GC,4431,1.31,283.6,19.3,10.1,239,4438,0.00,2.53,0.00,0.000,6,0.000,0.047,3012,1875,1674
$STATE,4622,end climb,SURFACE_DEPTH_REACHED
$STATE,4622,begin surface coast
$FINISH,0.7,1.013719
$STATE,4643,end surface coast,CONTROL_FINISHED_OK
$STATE,4643,begin surface
$SM_CCo,4667,8.45,0.690,0,0,1608,300.00
$SM_GC,2.40,0.00,0.00,8.45,0.000,0.000,0.690,425,2132,1608,-10.67,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1808
$TCM_TEMP,17.20
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,146.2,78.8
$24V_AH,24.0,32.469
$10V_AH,10.1,14.783
$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,25.625,46.375,361.050,8.450,0.000,37.759,29.689,118.674,4.250,0.000,0.000,15.264,480.595,3123.866,417.320,629.573,325.329,33.355,782.457,0.000,616.325,0.000,8.398,0.000
$DEVICE_MAMPS,166.439,78.234,931.138,689.533,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,168.756,184.114,277.404,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12863,250
$CAP_FILE_SIZE,45270,0
$CFSIZE,254472192,241557504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,290909,103406,6402.257,-1314.813,11,1.1,28,-12.6