version: 66.04
glider: 5
mission: 7
dive: 25
start: 9 2 109 1 26 17
data:
$ID,5
$MISSION,7
$DIVE,25
$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,330
$T_MISSION,350
$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,-100702.78
$T_RSLEEP,2
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,360
$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,5
$XPDR_INHIBIT,0
$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
$GPS1,011245,6130.587,-831.987,31,1.1,39,-9.0
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-64.9
$GPS2,012526,6130.494,-832.073,12,1.0,12,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.116,-0.237
$KALMAN_X,-53401.7,1688.7,707.3,57803.2,-9346.3
$KALMAN_Y,52544.3,-758.4,-860.2,-62229.5,11689.9
$MHEAD_RNG_PITCHd_Wd,215.0,31517,-18.1,-10.000
$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,13,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,59,0.00,0.00,-41.20,0.000,2,0.000,0.000,421,2153,2477
$GC,63,-1.44,-146.6,2.0,-4.2,2,119,11.07,2.53,-38.12,0.000,4,0.164,0.079,2424,3508,3429
$GC,285,-1.31,-146.6,33.0,-17.6,12,290,0.17,2.45,0.00,0.000,6,0.095,0.050,2458,2126,3429
$GC,613,-1.31,-146.6,81.0,-14.3,28,618,0.00,2.55,0.00,0.000,4,0.000,0.067,2458,3514,3430
$GC,737,-1.31,-146.6,96.9,-11.5,33,743,0.00,2.42,0.00,0.000,6,0.000,0.051,2458,2145,3430
$GC,1053,-1.31,-146.6,133.9,-12.2,49,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2136,3431
$GC,1362,-1.31,-146.6,174.4,-12.9,64,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2136,3431
$GC,1671,-1.31,-146.6,212.2,-12.0,79,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2136,3431
$GC,1980,-1.31,-146.6,250.3,-12.3,94,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2135,3431
$GC,2290,-1.31,-146.6,290.6,-12.9,109,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2133,3431
$GC,2599,-1.31,-146.6,328.9,-12.1,124,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2133,3431
$GC,2908,-1.31,-146.6,365.8,-11.9,139,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2133,3431
$GC,3217,-1.31,-146.6,403.7,-12.8,154,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2132,3431
$GC,3527,-1.31,-146.6,441.7,-12.1,169,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2133,3430
$GC,3836,-1.31,-146.6,480.1,-12.4,184,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2133,3430
$GC,4145,-1.31,-146.6,518.1,-12.0,199,4149,0.00,2.55,0.00,0.000,4,0.000,0.071,2459,719,3430
$GC,4179,-1.36,-146.6,522.3,-12.7,200,4185,0.00,2.50,0.00,0.000,6,0.000,0.052,2459,2139,3430
$GC,4495,-1.36,-146.6,561.3,-12.9,216,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2140,3429
$GC,4804,-1.36,-146.6,600.0,-11.7,231,4809,0.00,2.58,0.00,0.000,4,0.000,0.071,2459,723,3429
$GC,4838,-1.42,-146.6,604.0,-11.7,232,4844,0.00,2.55,0.00,0.000,6,0.000,0.053,2458,2165,3429
$GC,5154,-1.42,-146.6,639.0,-11.3,248,5158,0.00,2.62,0.00,0.000,4,0.000,0.068,2458,721,3429
$GC,5222,-1.49,-146.6,646.7,-11.2,251,5228,0.17,2.53,0.00,0.000,6,0.051,0.052,2412,2147,3429
$GC,5546,-1.40,-146.6,687.6,-12.2,267,5551,0.15,2.62,0.00,0.000,4,0.096,0.067,2441,718,3428
$GC,5597,-1.40,-146.6,693.6,-11.2,269,5601,0.00,2.47,0.00,0.000,6,0.000,0.055,2441,2116,3429
$GC,5913,-1.40,-146.6,734.4,-13.7,284,5917,0.00,2.60,0.00,0.000,4,0.000,0.077,2442,3531,3429
$GC,6142,-1.40,-146.6,762.4,-11.1,294,6146,0.00,2.53,0.00,0.000,6,0.000,0.059,2441,2127,3427
$GC,6458,-1.40,-146.6,798.4,-11.9,309,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2115,3427
$STATE,6599,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6599,begin apogee
$GC,6607,-0.33,0.0,817.4,13.7,316,6742,1.08,0.00,129.12,1.378,6,0.087,0.000,2669,1903,2831
$STATE,6743,end apogee,CONTROL_FINISHED_OK
$STATE,6743,begin climb
$GC,6746,1.44,146.6,825.3,0.0,323,6883,1.75,2.67,129.15,1.353,4,0.054,0.088,3057,528,2233
$GC,6940,1.20,146.6,816.5,11.3,332,6945,0.28,2.55,0.00,0.000,6,0.104,0.062,3006,1914,2233
$GC,7262,1.29,201.6,792.1,7.5,348,7317,0.00,2.72,49.00,1.332,4,0.000,0.084,3006,3317,2009
$GC,7363,1.32,221.7,783.4,9.1,352,7391,0.12,2.60,19.10,1.272,6,0.066,0.077,3036,1947,1927
$GC,7702,1.32,221.7,744.6,13.3,369,7706,0.00,2.75,0.00,0.000,4,0.000,0.094,3036,504,1925
$GC,7746,1.21,221.7,739.4,11.0,371,7751,0.15,2.58,0.00,0.000,6,0.110,0.067,3009,1896,1925
$GC,8068,1.21,221.7,708.6,11.4,387,8072,0.00,2.67,0.00,0.000,4,0.000,0.082,3009,3330,1923
$GC,8175,1.31,248.6,698.2,8.8,392,8205,0.00,2.65,24.20,1.308,6,0.000,0.074,3009,1903,1817
$GC,8530,1.38,265.2,664.2,9.2,409,8553,0.17,2.67,16.20,1.254,4,0.061,0.083,3054,507,1748
$GC,8627,1.26,265.2,651.7,13.2,413,8632,0.17,2.47,0.00,0.000,6,0.104,0.058,3021,1872,1748
$GC,8948,1.26,265.2,617.3,10.7,429,8952,0.00,2.55,0.00,0.000,4,0.000,0.078,3021,506,1748
$GC,8975,1.26,265.2,614.1,12.3,430,8979,0.00,2.42,0.00,0.000,6,0.000,0.056,3021,1857,1748
$GC,9291,1.26,265.2,579.4,11.1,445,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1871,1748
$GC,9600,1.26,265.2,544.9,11.3,460,9601,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1871,1749
$GC,9909,1.26,265.2,510.7,10.9,475,9910,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1870,1749
$GC,10219,1.26,265.2,477.9,10.3,490,10222,0.00,2.47,0.00,0.000,4,0.000,0.072,3021,510,1750
$GC,10246,1.26,265.2,474.9,11.0,491,10250,0.00,2.35,0.00,0.000,6,0.000,0.051,3021,1849,1750
$GC,10574,1.31,265.2,440.2,11.1,507,10575,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1863,1751
$GC,10883,1.36,265.2,406.3,10.6,522,10884,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1864,1752
$GC,11192,1.41,265.2,374.5,10.2,537,11194,0.12,0.00,0.00,0.000,6,0.057,0.000,3056,1864,1752
$GC,11502,1.36,265.2,336.3,12.6,552,11503,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1863,1752
$GC,11811,1.32,265.2,296.2,12.9,567,11816,0.12,2.47,0.00,0.000,4,0.097,0.072,3032,506,1752
$GC,11844,1.32,265.2,291.9,12.0,568,11850,0.00,2.35,0.00,0.000,6,0.000,0.049,3031,1843,1752
$GC,12160,1.32,265.2,257.9,10.9,584,12164,0.00,2.65,0.00,0.000,4,0.000,0.065,3031,3336,1753
$GC,12187,1.38,265.2,254.8,11.1,585,12192,0.00,2.70,0.00,0.000,6,0.000,0.056,3031,1832,1752
$GC,12503,1.38,265.2,222.1,10.2,600,12508,0.00,2.70,0.00,0.000,4,0.000,0.063,3031,3330,1753
$GC,12531,1.43,265.2,219.2,10.6,601,12536,0.10,2.67,0.00,0.000,6,0.062,0.057,3060,1840,1753
$GC,12847,1.38,265.2,182.1,11.6,616,12849,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1840,1754
$GC,13157,1.34,265.2,148.9,10.4,631,13158,0.12,0.00,0.00,0.000,6,0.097,0.000,3036,1841,1754
$GC,13466,1.35,270.9,118.7,9.7,646,13480,0.00,2.78,7.15,0.749,4,0.000,0.061,3036,3334,1726
$GC,13492,1.39,270.9,115.8,10.9,647,13497,0.00,2.70,0.00,0.000,6,0.000,0.055,3036,1833,1726
$GC,13815,1.39,270.9,82.0,10.0,663,13819,0.00,2.72,0.00,0.000,4,0.000,0.062,3036,3338,1726
$GC,13859,1.49,271.8,77.1,10.0,665,13865,0.15,2.62,0.00,0.000,6,0.052,0.054,3075,1864,1726
$GC,14182,1.42,271.8,39.3,12.8,681,14183,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1864,1726
$STATE,14467,end climb,SURFACE_DEPTH_REACHED
$STATE,14467,begin surface coast
$FINISH,0.4,1.017162
$STATE,14489,end surface coast,CONTROL_FINISHED_OK
$STATE,14489,begin surface
$SM_CCo,14512,15.10,0.744,0,0,1608,300.00
$SM_GC,1.37,0.00,0.00,15.10,0.000,0.000,0.744,416,2152,1608,-10.71,0.62,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1826
$TCM_TEMP,17.80
$XPDR_PINGS,55
$ALTIM_BOTTOM_PING,770.2,55.8
$24V_AH,23.7,6.826
$10V_AH,10.1,3.496
$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,27.375,98.875,373.925,15.100,0.000,113.285,198.426,205.978,20.750,0.000,0.000,14.307,1278.853,11254.024,479.278,1498.595,781.586,33.354,1249.161,0.000,1463.173,0.000,47.757,0.000
$DEVICE_MAMPS,164.138,94.341,1378.299,743.990,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,477.170,519.697,405.803,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34790,696
$CAP_FILE_SIZE,108795,0
$CFSIZE,254472192,250318848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
$GPS,020909,052954,6129.234,-835.401,31,1.2,49,-9.0