version: 66.04
glider: 5
mission: 7
dive: 30
start: 9 2 109 16 34 50
data:
$ID,5
$MISSION,7
$DIVE,30
$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,-100838.45
$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,23
$R_STBD_OVSHOOT,36
$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
$GPS1,162802,6124.882,-840.669,12,1.4,12,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-67.8
$GPS2,163400,6124.877,-840.641,38,0.9,44,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.197,0.175
$KALMAN_X,-41252.8,100.1,-193.1,40653.1,9806.4
$KALMAN_Y,51427.8,-322.3,-838.6,-71960.9,1632.3
$MHEAD_RNG_PITCHd_Wd,320.6,47917,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.44,-146.6,0.0,0.0,0,61,0.00,0.00,-41.10,0.000,2,0.000,0.000,416,2146,2485
$GC,65,-1.44,-146.6,2.2,-3.6,2,121,11.05,2.65,-37.67,0.000,4,0.163,0.071,2424,712,3429
$GC,286,-1.35,-146.6,31.4,-16.4,12,291,0.12,2.47,0.00,0.000,6,0.104,0.044,2448,2128,3429
$GC,614,-1.31,-146.6,79.5,-14.4,28,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2127,3430
$GC,923,-1.27,-146.6,123.1,-14.3,43,928,0.00,2.55,0.00,0.000,4,0.000,0.068,2448,3533,3431
$GC,964,-1.22,-146.6,128.9,-14.3,45,969,0.15,2.50,0.00,0.000,6,0.094,0.051,2479,2114,3431
$GC,1294,-1.27,-146.6,167.5,-11.7,61,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2104,3431
$GC,1601,-1.33,-146.6,202.1,-10.9,76,1603,0.12,0.00,0.00,0.000,6,0.054,0.000,2442,2104,3431
$GC,1911,-1.29,-146.6,243.2,-13.4,91,1912,0.10,0.00,0.00,0.000,6,0.100,0.000,2461,2100,3431
$GC,2219,-1.29,-146.6,282.3,-12.7,106,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2100,3431
$GC,2533,-1.29,-146.6,322.4,-13.0,121,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2100,3430
$GC,2838,-1.29,-146.6,364.5,-14.1,136,2843,0.00,2.60,0.00,0.000,4,0.000,0.071,2461,3538,3431
$GC,2928,-1.29,-146.6,377.5,-13.9,140,2933,0.00,2.53,0.00,0.000,6,0.000,0.058,2461,2125,3430
$STATE,3020,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3020,begin apogee
$GC,3027,-0.33,0.0,389.4,12.5,145,3153,0.98,0.00,121.90,1.047,6,0.077,0.000,2672,1902,2831
$STATE,3154,end apogee,CONTROL_FINISHED_OK
$STATE,3154,begin climb
$GC,3157,1.44,146.6,395.0,0.0,151,3287,1.73,2.62,121.60,1.010,4,0.058,0.068,3058,517,2233
$GC,3350,1.30,178.7,386.9,8.5,160,3385,0.17,2.50,27.90,0.959,6,0.094,0.048,3025,1930,2102
$GC,3710,1.36,218.0,358.4,8.2,178,3751,0.00,2.70,33.55,0.965,4,0.000,0.068,3025,517,1942
$GC,3786,1.36,218.0,351.5,10.3,181,3792,0.00,2.50,0.00,0.000,6,0.000,0.050,3025,1918,1942
$GC,4102,1.37,218.8,321.5,10.0,197,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1933,1942
$GC,4411,1.37,218.8,289.4,10.5,212,4415,0.00,2.58,0.00,0.000,4,0.000,0.071,3025,518,1941
$GC,4488,1.37,218.8,280.4,11.3,215,4495,0.00,2.45,0.00,0.000,6,0.000,0.048,3025,1906,1941
$GC,4805,1.37,218.8,246.2,10.9,231,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1907,1941
$GC,5114,1.37,218.8,212.7,10.5,246,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1921,1941
$GC,5424,1.43,230.1,182.9,9.5,261,5442,0.15,0.00,11.32,0.834,6,0.051,0.000,3067,1921,1892
$GC,5752,1.35,230.1,145.9,11.1,277,5757,0.15,2.55,0.00,0.000,4,0.093,0.067,3037,520,1892
$GC,5797,1.35,230.1,140.7,10.8,279,5801,0.00,2.45,0.00,0.000,6,0.000,0.049,3036,1913,1891
$GC,6119,1.38,248.9,110.3,9.1,295,6138,0.00,0.00,16.48,0.828,6,0.000,0.000,3037,1928,1816
$GC,6450,1.42,249.0,78.1,10.0,311,6454,0.00,2.58,0.00,0.000,4,0.000,0.067,3037,513,1816
$GC,6514,1.42,249.0,70.7,11.5,314,6518,0.00,2.45,0.00,0.000,6,0.000,0.048,3037,1910,1816
$GC,6842,1.49,255.6,38.7,9.7,330,6856,0.15,2.60,7.03,0.700,4,0.051,0.060,3078,3326,1788
$GC,6901,1.49,255.6,31.1,12.8,332,6908,0.00,2.50,0.00,0.000,6,0.000,0.051,3078,1913,1788
$STATE,7132,end climb,SURFACE_DEPTH_REACHED
$STATE,7132,begin surface coast
$FINISH,0.4,1.026671
$STATE,7154,end surface coast,CONTROL_FINISHED_OK
$STATE,7154,begin surface
$SM_CCo,7177,22.88,0.765,0,0,1608,300.00
$SM_GC,1.25,0.00,0.00,22.88,0.000,0.000,0.765,415,2145,1608,-10.72,0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1818
$TCM_TEMP,17.80
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,322.4,75.9
$24V_AH,23.9,7.436
$10V_AH,10.1,3.734
$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,26.425,46.525,339.775,22.875,0.000,39.014,25.367,163.921,7.250,0.000,0.000,44.283,661.398,5263.102,435.498,826.498,383.380,33.356,860.235,0.000,779.280,0.000,21.687,0.000
$DEVICE_MAMPS,163.371,71.331,1046.955,764.699,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,234.518,255.031,289.035,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15985,345
$CAP_FILE_SIZE,58187,0
$CFSIZE,254472192,250183680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,020909,183603,6125.667,-841.191,12,5.8,31,-9.0