version: 66.04
glider: 5
mission: 7
dive: 26
start: 9 2 109 5 36 30
data:
$ID,5
$MISSION,7
$DIVE,26
$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,-100723.3
$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,17
$R_STBD_OVSHOOT,39
$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
$GPS1,052954,6129.234,-835.401,31,1.2,49,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-67.5
$GPS2,053537,6129.249,-835.458,14,1.2,19,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.123,-0.233
$KALMAN_X,-53219.5,1728.4,614.8,54697.6,-7004.5
$KALMAN_Y,54776.4,-1283.5,-1042.3,-66044.0,10563.7
$MHEAD_RNG_PITCHd_Wd,216.7,27728,-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,12,begin dive
$GC,15,-1.44,-146.6,0.0,0.0,0,58,0.00,0.00,-41.08,0.000,2,0.000,0.000,415,2164,2466
$GC,62,-1.44,-146.6,2.1,-3.8,2,118,10.90,2.50,-39.03,0.000,4,0.159,0.081,2421,3515,3430
$GC,254,-1.28,-146.6,27.6,-17.9,10,261,0.22,2.47,0.00,0.000,6,0.098,0.050,2466,2113,3431
$GC,571,-1.28,-146.6,74.3,-13.7,26,576,0.00,2.55,0.00,0.000,4,0.000,0.068,2467,3518,3431
$GC,605,-1.28,-146.6,79.2,-13.5,27,611,0.00,2.47,0.00,0.000,6,0.000,0.050,2467,2119,3431
$GC,922,-1.28,-146.6,120.6,-13.2,43,926,0.00,2.47,0.00,0.000,4,0.000,0.062,2466,718,3431
$GC,968,-1.33,-146.6,126.6,-13.2,45,973,0.00,2.42,0.00,0.000,6,0.000,0.048,2467,2107,3431
$GC,1296,-1.33,-146.6,165.6,-11.4,61,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2107,3431
$GC,1605,-1.33,-146.6,201.9,-12.1,76,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2107,3431
$GC,1914,-1.33,-146.6,237.1,-11.1,91,1919,0.00,2.60,0.00,0.000,4,0.000,0.071,2467,3534,3431
$GC,1942,-1.33,-146.6,240.5,-11.8,92,1947,0.00,2.53,0.00,0.000,6,0.000,0.054,2467,2115,3431
$GC,2258,-1.33,-146.6,274.7,-10.9,107,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2102,3431
$GC,2567,-1.33,-146.6,310.4,-11.9,122,2572,0.00,2.60,0.00,0.000,4,0.000,0.070,2467,3530,3431
$GC,2623,-1.33,-146.6,317.6,-12.7,124,2630,0.00,2.53,0.00,0.000,6,0.000,0.056,2467,2116,3431
$GC,2939,-1.33,-146.6,356.9,-12.6,140,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2105,3431
$GC,3249,-1.33,-146.6,395.9,-12.6,155,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2104,3431
$GC,3558,-1.37,-146.6,435.7,-12.9,170,3563,0.00,2.60,0.00,0.000,4,0.000,0.071,2467,3527,3431
$GC,3598,-1.37,-146.6,441.2,-13.3,172,3603,0.00,2.50,0.00,0.000,6,0.000,0.058,2467,2127,3431
$GC,3926,-1.37,-146.6,482.5,-12.7,188,3930,0.00,2.58,0.00,0.000,4,0.000,0.072,2467,3526,3431
$GC,3953,-1.37,-146.6,486.2,-13.3,189,3957,0.00,2.50,0.00,0.000,6,0.000,0.058,2467,2130,3431
$GC,4269,-1.41,-146.6,525.0,-12.2,204,4271,0.15,0.00,0.00,0.000,6,0.054,0.000,2427,2116,3431
$GC,4579,-1.35,-146.6,570.2,-14.5,219,4581,0.12,0.00,0.00,0.000,6,0.103,0.000,2451,2116,3431
$GC,4887,-1.35,-146.6,609.5,-12.3,234,4891,0.00,2.58,0.00,0.000,4,0.000,0.072,2450,3528,3430
$GC,4908,-1.35,-146.6,612.5,-12.9,235,4913,0.00,2.47,0.00,0.000,6,0.000,0.058,2450,2145,3430
$GC,5230,-1.35,-146.6,652.7,-12.6,251,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2133,3430
$GC,5539,-1.35,-146.6,690.7,-11.9,266,5543,0.00,2.55,0.00,0.000,4,0.000,0.068,2450,719,3430
$GC,5579,-1.40,-146.6,696.0,-14.1,268,5583,0.00,2.53,0.00,0.000,6,0.000,0.054,2450,2148,3430
$STATE,5696,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5696,begin apogee
$GC,5704,-0.33,0.0,710.4,12.2,274,5840,0.98,0.00,127.97,1.268,6,0.055,0.000,2673,1898,2831
$STATE,5840,end apogee,CONTROL_FINISHED_OK
$STATE,5840,begin climb
$GC,5843,1.44,146.6,710.2,0.0,281,5983,1.75,2.62,127.07,1.236,4,0.044,0.070,3068,525,2233
$GC,6000,1.21,153.8,703.8,9.7,288,6016,0.30,2.53,8.10,0.999,6,0.096,0.050,3010,1935,2203
$GC,6340,1.28,200.0,673.7,7.9,305,6387,0.00,2.67,40.92,1.181,4,0.000,0.072,3010,519,2015
$GC,6438,1.30,209.5,664.8,9.6,309,6454,0.00,2.42,10.10,1.046,6,0.000,0.051,3010,1888,1976
$GC,6776,1.31,218.6,633.1,9.6,326,6787,0.00,0.00,9.27,1.027,6,0.000,0.000,3010,1901,1939
$GC,7086,1.32,224.5,602.7,9.7,341,7100,0.10,2.58,6.60,0.942,4,0.061,0.070,3038,521,1915
$GC,7123,1.23,224.5,598.3,11.6,342,7129,0.12,2.42,0.00,0.000,6,0.097,0.050,3015,1881,1915
$GC,7439,1.25,235.6,567.5,9.5,358,7452,0.00,0.00,11.50,1.056,6,0.000,0.000,3015,1896,1870
$GC,7748,1.30,235.6,536.9,10.1,373,7752,0.00,2.53,0.00,0.000,4,0.000,0.071,3014,516,1870
$GC,7781,1.30,235.6,533.3,10.7,374,7785,0.00,2.40,0.00,0.000,6,0.000,0.052,3014,1869,1870
$GC,8097,1.34,237.5,501.9,9.9,389,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1874,1870
$GC,8407,1.41,255.2,471.9,9.2,404,8427,0.17,0.00,17.85,1.062,6,0.051,0.000,3060,1883,1790
$GC,8736,1.34,255.2,432.1,11.9,420,8740,0.12,2.50,0.00,0.000,4,0.095,0.071,3036,517,1790
$GC,8764,1.28,255.2,428.7,12.1,421,8768,0.00,2.38,0.00,0.000,6,0.000,0.049,3036,1861,1790
$GC,9085,1.28,255.2,392.5,11.4,437,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1865,1790
$GC,9394,1.28,255.2,357.0,11.5,452,9395,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1874,1790
$GC,9704,1.28,255.2,324.1,10.4,467,9708,0.00,2.45,0.00,0.000,4,0.000,0.071,3036,519,1790
$GC,9726,1.28,255.2,321.6,10.6,468,9730,0.00,2.35,0.00,0.000,6,0.000,0.048,3036,1860,1790
$GC,10047,1.28,255.2,287.4,10.5,484,10051,0.00,2.62,0.00,0.000,4,0.000,0.064,3036,3333,1790
$GC,10068,1.28,255.2,285.0,10.9,485,10073,0.00,2.62,0.00,0.000,6,0.000,0.056,3036,1867,1790
$GC,10390,1.28,255.2,251.0,10.7,501,10395,0.00,2.65,0.00,0.000,4,0.000,0.064,3037,3328,1790
$GC,10412,1.28,255.2,248.5,11.2,502,10417,0.00,2.60,0.00,0.000,6,0.000,0.057,3036,1875,1790
$GC,10733,1.28,255.2,214.7,10.4,518,10737,0.00,2.62,0.00,0.000,4,0.000,0.062,3036,3325,1790
$GC,10760,1.28,255.2,211.7,11.0,519,10765,0.00,2.58,0.00,0.000,6,0.000,0.054,3036,1876,1790
$GC,11076,1.33,285.9,183.1,8.6,534,11104,0.00,0.00,26.12,0.904,6,0.000,0.000,3036,1876,1665
$GC,11405,1.33,285.9,152.8,10.8,550,11410,0.00,2.62,0.00,0.000,4,0.000,0.063,3036,3325,1665
$GC,11439,1.40,285.9,148.9,11.5,551,11445,0.00,2.58,0.00,0.000,6,0.000,0.053,3036,1887,1665
$GC,11755,1.40,285.9,111.6,11.7,567,11757,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1887,1665
$GC,12065,1.44,285.9,70.4,12.9,582,12070,0.10,2.60,0.00,0.000,4,0.061,0.059,3067,3330,1665
$GC,12106,1.44,285.9,65.1,13.3,584,12110,0.00,2.55,0.00,0.000,6,0.000,0.052,3067,1890,1665
$GC,12433,1.44,285.9,22.7,11.9,600,12437,0.00,2.50,0.00,0.000,4,0.000,0.068,3067,504,1665
$GC,12489,1.38,285.9,15.2,12.6,602,12495,0.00,2.42,0.00,0.000,6,0.000,0.047,3067,1903,1665
$STATE,12596,end climb,SURFACE_DEPTH_REACHED
$STATE,12596,begin surface coast
$FINISH,0.6,1.002876
$STATE,12619,end surface coast,CONTROL_FINISHED_OK
$STATE,12620,begin surface
$SM_CCo,12643,7.38,0.680,0,0,1608,300.00
$SM_GC,2.42,0.00,0.00,7.38,0.000,0.000,0.680,421,2137,1608,-10.69,0.20,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1826
$TCM_TEMP,17.70
$XPDR_PINGS,36
$ALTIM_BOTTOM_PING,647.4,70.5
$24V_AH,23.8,6.971
$10V_AH,10.1,3.557
$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,26.475,107.025,385.525,7.375,0.000,37.760,34.216,150.298,14.750,0.000,0.000,19.898,1123.041,9636.598,499.665,1278.013,462.654,33.355,1177.025,0.000,1241.710,0.000,39.444,0.000
$DEVICE_MAMPS,158.769,80.535,1267.851,680.329,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.491,452.514,364.545,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31659,609
$CAP_FILE_SIZE,97526,0
$CFSIZE,254472192,250281984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,0,0
$GPS,020909,090840,6127.882,-837.238,36,1.2,39,-9.0