version: 66.04
glider: 5
mission: 7
dive: 27
start: 9 2 109 9 14 48
data:
$ID,5
$MISSION,7
$DIVE,27
$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,-100739.75
$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,21
$R_STBD_OVSHOOT,34
$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
$GPS1,090840,6127.882,-837.238,36,1.2,39,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-65.3
$GPS2,091356,6127.889,-837.220,15,1.1,15,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.129,-0.230
$KALMAN_X,-51821.9,1280.7,1235.1,51576.5,-6253.6
$KALMAN_Y,56484.8,-2087.2,-593.0,-69918.9,9994.7
$MHEAD_RNG_PITCHd_Wd,218.2,24960,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.44,-146.6,0.0,0.0,0,61,0.00,0.00,-42.00,0.000,2,0.000,0.000,421,2138,2480
$GC,65,-1.44,-146.6,2.1,-3.3,2,121,11.05,2.58,-37.70,0.000,4,0.165,0.078,2423,3531,3430
$GC,228,-1.29,-146.6,23.4,-18.3,9,234,0.20,2.50,0.00,0.000,6,0.097,0.048,2463,2119,3431
$GC,546,-1.29,-146.6,69.6,-14.7,24,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2107,3431
$GC,854,-1.29,-146.6,106.2,-11.5,39,858,0.00,2.55,0.00,0.000,4,0.000,0.065,2464,3524,3431
$GC,881,-1.29,-146.6,109.8,-12.6,40,885,0.00,2.50,0.00,0.000,6,0.000,0.049,2464,2112,3431
$GC,1197,-1.29,-146.6,148.6,-11.5,55,1202,0.00,2.58,0.00,0.000,4,0.000,0.066,2464,3524,3431
$GC,1292,-1.29,-146.6,160.0,-12.4,59,1297,0.00,2.47,0.00,0.000,6,0.000,0.049,2464,2127,3431
$GC,1608,-1.29,-146.6,197.5,-11.9,74,1613,0.00,2.55,0.00,0.000,4,0.000,0.067,2464,3522,3431
$GC,1649,-1.29,-146.6,202.3,-12.0,76,1653,0.00,2.45,0.00,0.000,6,0.000,0.051,2464,2142,3432
$GC,1976,-1.29,-146.6,240.5,-11.8,92,1980,0.00,2.55,0.00,0.000,4,0.000,0.070,2465,3531,3432
$GC,1997,-1.29,-146.6,243.4,-12.3,93,2001,0.00,2.45,0.00,0.000,6,0.000,0.052,2464,2151,3432
$GC,2318,-1.29,-146.6,281.7,-12.2,109,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2138,3432
$GC,2628,-1.29,-146.6,320.7,-12.7,124,2632,0.00,2.53,0.00,0.000,4,0.000,0.070,2464,3523,3432
$GC,2661,-1.29,-146.6,325.1,-13.1,125,2667,0.00,2.42,0.00,0.000,6,0.000,0.054,2464,2166,3432
$GC,2977,-1.29,-146.6,365.2,-13.0,141,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2153,3432
$GC,3286,-1.29,-146.6,405.0,-13.0,156,3291,0.00,2.50,0.00,0.000,4,0.000,0.071,2464,3520,3431
$GC,3326,-1.29,-146.6,410.4,-13.8,158,3331,0.00,2.40,0.00,0.000,6,0.000,0.056,2464,2173,3431
$GC,3653,-1.29,-146.6,454.0,-12.5,174,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2161,3431
$GC,3963,-1.29,-146.6,493.5,-12.7,189,3967,0.00,2.47,0.00,0.000,4,0.000,0.072,2464,3520,3431
$GC,4001,-1.29,-146.6,499.0,-13.9,190,4007,0.00,2.40,0.00,0.000,6,0.000,0.056,2464,2175,3431
$STATE,4315,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4315,begin apogee
$GC,4322,-0.33,0.0,538.1,12.3,206,4452,0.98,0.00,125.80,1.154,6,0.082,0.000,2674,1899,2831
$STATE,4452,end apogee,CONTROL_FINISHED_OK
$STATE,4452,begin climb
$GC,4455,1.44,146.6,542.6,0.0,212,4588,1.70,2.65,124.45,1.118,4,0.047,0.063,3058,3321,2233
$GC,4726,1.33,146.6,526.8,10.1,224,4731,0.12,2.53,0.00,0.000,6,0.103,0.054,3037,1928,2233
$GC,5042,1.35,202.8,501.2,7.4,239,5098,0.00,2.70,48.47,1.078,4,0.000,0.070,3036,512,2004
$GC,5117,1.27,202.8,494.3,11.0,242,5121,0.00,2.53,0.00,0.000,6,0.000,0.050,3036,1921,2004
$GC,5433,1.27,202.8,457.4,11.5,257,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1936,2004
$GC,5742,1.27,202.8,423.3,10.5,272,5746,0.00,2.62,0.00,0.000,4,0.000,0.073,3036,506,2004
$GC,5809,1.18,202.8,415.5,11.8,275,5814,0.17,2.47,0.00,0.000,6,0.094,0.050,3004,1908,2004
$GC,6131,1.29,222.0,385.9,9.1,291,6151,0.10,0.00,17.33,0.985,6,0.059,0.000,3031,1918,1925
$GC,6460,1.29,222.0,351.9,10.3,307,6464,0.00,2.58,0.00,0.000,4,0.000,0.071,3031,506,1925
$GC,6522,1.24,222.0,345.2,10.7,310,6526,0.00,2.47,0.00,0.000,6,0.000,0.050,3031,1906,1924
$GC,6850,1.25,227.0,312.5,9.8,326,6857,0.00,0.00,5.65,0.775,6,0.000,0.000,3031,1909,1905
$GC,7159,1.26,232.6,282.2,9.7,341,7172,0.00,2.62,6.75,0.811,4,0.000,0.070,3031,506,1881
$GC,7203,1.26,232.6,277.3,11.1,343,7207,0.00,2.47,0.00,0.000,6,0.000,0.049,3031,1904,1881
$GC,7529,1.27,234.8,244.4,9.9,359,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1904,1882
$GC,7839,1.27,238.9,214.1,9.8,374,7847,0.00,0.00,6.65,0.780,6,0.000,0.000,3031,1904,1857
$GC,8171,1.27,238.9,178.6,10.9,390,8175,0.00,2.53,0.00,0.000,4,0.000,0.063,3031,3325,1857
$GC,8199,1.32,238.9,175.3,11.6,391,8203,0.00,2.55,0.00,0.000,6,0.000,0.053,3031,1897,1857
$GC,8515,1.32,238.9,138.8,11.2,406,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1897,1857
$GC,8824,1.32,238.9,105.8,10.7,421,8828,0.00,2.58,0.00,0.000,4,0.000,0.062,3031,3326,1857
$GC,8857,1.37,238.9,101.9,11.0,422,8864,0.00,2.53,0.00,0.000,6,0.000,0.052,3031,1903,1857
$GC,9175,1.37,238.9,67.6,10.3,438,9176,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1903,1857
$GC,9483,1.50,287.1,38.7,7.8,453,9530,0.17,2.65,39.15,0.817,4,0.051,0.059,3082,3318,1660
$GC,9597,1.50,287.1,25.4,13.3,458,9602,0.00,2.58,0.00,0.000,6,0.000,0.053,3081,1882,1660
$STATE,9773,end climb,SURFACE_DEPTH_REACHED
$STATE,9773,begin surface coast
$FINISH,0.5,1.001869
$STATE,9794,end surface coast,CONTROL_FINISHED_OK
$STATE,9794,begin surface
$SM_CCo,9817,6.82,0.662,0,0,1608,300.00
$SM_GC,2.48,0.00,0.00,6.82,0.000,0.000,0.662,417,2145,1608,-10.70,0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1825
$TCM_TEMP,17.70
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,495.1,52.7
$24V_AH,23.9,7.097
$10V_AH,10.1,3.608
$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,26.000,81.825,374.250,6.825,0.000,37.761,26.437,138.915,9.500,0.000,0.000,15.818,889.005,7337.623,449.524,1071.891,400.077,33.353,1023.518,0.000,1038.442,0.000,35.523,0.000
$DEVICE_MAMPS,164.905,78.234,1154.335,661.921,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,319.288,348.746,328.490,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22264,468
$CAP_FILE_SIZE,77539,0
$CFSIZE,254472192,250257408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,0,0
$GPS,020909,115943,6126.309,-838.250,30,2.0,30,-9.0