version: 66.04
glider: 5
mission: 7
dive: 28
start: 9 2 109 12 5 51
data:
$ID,5
$MISSION,7
$DIVE,28
$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,-100782.17
$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,33
$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
$GPS1,115943,6126.309,-838.250,30,2.0,30,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-66.2
$GPS2,120501,6126.289,-838.195,41,1.4,41,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.163,-0.207
$KALMAN_X,-48099.4,849.1,389.8,48272.8,-970.5
$KALMAN_Y,57425.8,-1935.4,-895.3,-73672.9,11375.9
$MHEAD_RNG_PITCHd_Wd,227.3,22604,-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,16,-1.44,-146.6,0.0,0.0,0,59,0.00,0.00,-41.28,0.000,2,0.000,0.000,417,2148,2475
$GC,63,-1.44,-146.6,2.2,-3.9,2,116,11.00,0.00,-39.47,0.000,6,0.161,0.000,2425,2143,3430
$GC,417,-1.30,-146.6,56.0,-16.5,19,419,0.17,0.00,0.00,0.000,6,0.094,0.000,2459,2143,3431
$GC,724,-1.30,-146.6,101.3,-14.5,34,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2143,3431
$GC,1034,-1.30,-146.6,142.5,-13.3,49,1038,0.00,2.58,0.00,0.000,4,0.000,0.063,2459,717,3431
$GC,1066,-1.30,-146.6,146.9,-13.2,50,1073,0.00,2.45,0.00,0.000,6,0.000,0.046,2459,2122,3431
$GC,1383,-1.30,-146.6,189.4,-13.7,66,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2122,3431
$GC,1692,-1.30,-146.6,232.3,-13.8,81,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2123,3431
$GC,2001,-1.30,-146.6,273.2,-13.1,96,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2123,3432
$GC,2310,-1.30,-146.6,313.3,-13.0,111,2315,0.00,2.53,0.00,0.000,4,0.000,0.065,2460,719,3431
$GC,2384,-1.35,-146.6,323.1,-13.8,114,2388,0.00,2.50,0.00,0.000,6,0.000,0.050,2459,2141,3431
$GC,2699,-1.35,-146.6,362.4,-12.0,129,2704,0.00,2.58,0.00,0.000,4,0.000,0.065,2459,719,3431
$GC,2727,-1.35,-146.6,366.0,-12.3,130,2731,0.00,2.50,0.00,0.000,6,0.000,0.052,2459,2145,3431
$GC,3043,-1.35,-146.6,405.5,-13.4,145,3047,0.00,2.60,0.00,0.000,4,0.000,0.066,2459,711,3431
$GC,3110,-1.41,-146.6,414.9,-13.6,148,3114,0.00,2.50,0.00,0.000,6,0.000,0.050,2459,2129,3431
$STATE,3222,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3222,begin apogee
$GC,3229,-0.33,0.0,430.1,13.2,154,3357,0.98,0.00,123.90,1.079,6,0.081,0.000,2669,1899,2831
$STATE,3357,end apogee,CONTROL_FINISHED_OK
$STATE,3358,begin climb
$GC,3361,1.44,146.6,435.7,0.0,160,3489,1.75,0.00,123.78,1.039,6,0.053,0.000,3058,1898,2233
$GC,3795,1.31,146.6,403.7,10.0,181,3800,0.15,2.50,0.00,0.000,4,0.099,0.069,3031,531,2233
$GC,3836,1.22,146.6,399.1,10.9,183,3840,0.00,2.45,0.00,0.000,6,0.000,0.048,3031,1920,2233
$GC,4163,1.29,189.8,371.4,8.0,199,4206,0.00,2.62,36.92,0.992,4,0.000,0.067,3030,534,2056
$GC,4240,1.24,200.8,364.3,9.5,202,4256,0.00,2.42,10.77,0.899,6,0.000,0.049,3030,1899,2012
$GC,4578,1.24,200.8,331.0,10.6,219,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1912,2011
$GC,4887,1.26,212.8,300.3,9.5,234,4908,0.00,2.60,11.48,0.894,4,0.000,0.069,3030,533,1962
$GC,4942,1.22,212.8,294.2,11.2,236,4946,0.00,2.40,0.00,0.000,6,0.000,0.048,3030,1891,1963
$GC,5258,1.22,212.8,260.4,10.9,251,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1894,1962
$GC,5568,1.22,214.8,228.3,9.9,266,5571,0.00,2.47,0.00,0.000,4,0.000,0.070,3030,534,1962
$GC,5636,1.22,214.8,221.2,10.6,269,5640,0.00,2.40,0.00,0.000,6,0.000,0.050,3030,1896,1962
$GC,5963,1.24,226.5,189.4,9.5,285,5981,0.00,0.00,12.35,0.854,6,0.000,0.000,3030,1899,1907
$GC,6292,1.25,235.3,157.0,9.6,301,6303,0.00,0.00,9.18,0.805,6,0.000,0.000,3030,1899,1871
$GC,6601,1.25,235.3,126.4,10.2,316,6605,0.00,2.50,0.00,0.000,4,0.000,0.067,3030,529,1870
$GC,6641,1.25,235.3,122.2,11.0,318,6645,0.00,2.38,0.00,0.000,6,0.000,0.047,3030,1883,1870
$GC,6969,1.30,235.3,87.8,11.1,334,6973,0.00,2.55,0.00,0.000,4,0.000,0.061,3030,3323,1870
$GC,6991,1.35,235.3,85.2,10.9,335,6995,0.00,2.53,0.00,0.000,6,0.000,0.052,3031,1903,1870
$GC,7313,1.41,235.3,51.3,10.8,351,7317,0.00,2.58,0.00,0.000,4,0.000,0.060,3030,3332,1870
$GC,7346,1.49,235.3,47.8,10.3,352,7353,0.17,2.55,0.00,0.000,6,0.050,0.051,3076,1893,1870
$GC,7664,1.43,235.3,11.2,11.2,368,7668,0.00,2.47,0.00,0.000,4,0.000,0.067,3076,513,1870
$GC,7692,1.32,235.3,7.6,12.0,369,7697,0.22,2.42,0.00,0.000,6,0.091,0.045,3032,1905,1870
$STATE,7737,end climb,SURFACE_DEPTH_REACHED
$STATE,7737,begin surface coast
$FINISH,0.6,1.026652
$STATE,7759,end surface coast,CONTROL_FINISHED_OK
$STATE,7759,begin surface
$SM_CCo,7783,33.53,0.774,0,0,1608,300.00
$SM_GC,1.71,0.00,0.00,33.53,0.000,0.000,0.774,420,2147,1608,-10.70,0.51,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1846
$TCM_TEMP,17.80
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,397.1,41.1
$24V_AH,23.9,7.210
$10V_AH,10.1,3.650
$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,25.725,60.775,328.375,33.525,0.000,37.760,30.289,119.767,7.000,0.000,0.000,41.798,709.060,5799.159,462.604,822.921,348.745,33.358,886.999,0.000,779.742,0.000,23.519,0.000
$DEVICE_MAMPS,161.070,69.797,1079.169,773.903,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,253.388,278.517,290.722,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19085,372
$CAP_FILE_SIZE,62340,0
$CFSIZE,254472192,250236928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,020909,141730,6124.707,-839.159,42,1.3,42,-9.0