version: 66.04
glider: 5
mission: 7
dive: 31
start: 9 2 109 18 41 18
data:
$ID,5
$MISSION,7
$DIVE,31
$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,-100857.88
$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,37
$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
$GPS1,183603,6125.667,-841.191,12,5.8,31,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-66.6
$GPS2,184025,6125.682,-841.161,16,1.9,16,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.193,0.179
$KALMAN_X,-38171.0,-62.9,-413.9,37509.6,14211.8
$KALMAN_Y,48071.6,-140.5,-108.6,-68059.2,-5087.7
$MHEAD_RNG_PITCHd_Wd,321.9,46474,-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,-41.05,0.000,2,0.000,0.000,415,2152,2476
$GC,62,-1.44,-146.6,2.2,-3.1,2,118,10.90,2.65,-37.92,0.000,4,0.158,0.071,2422,709,3429
$GC,293,-1.33,-146.6,33.6,-16.4,12,298,0.15,2.47,0.00,0.000,6,0.104,0.044,2451,2121,3429
$GC,609,-1.33,-146.6,78.2,-12.8,27,614,0.00,2.55,0.00,0.000,4,0.000,0.065,2451,3534,3430
$GC,672,-1.33,-146.6,86.5,-13.6,30,677,0.00,2.47,0.00,0.000,6,0.000,0.048,2451,2131,3430
$GC,1000,-1.33,-146.6,129.2,-13.6,46,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2118,3430
$GC,1310,-1.33,-146.6,171.8,-13.6,61,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2118,3430
$GC,1618,-1.33,-146.6,214.9,-14.2,76,1623,0.00,2.58,0.00,0.000,4,0.000,0.069,2452,3534,3430
$GC,1676,-1.33,-146.6,223.7,-16.2,78,1682,0.00,2.47,0.00,0.000,6,0.000,0.052,2452,2144,3431
$GC,1992,-1.33,-146.6,271.8,-15.5,94,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2131,3430
$GC,2301,-1.33,-146.6,315.6,-13.4,109,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2131,3430
$GC,2610,-1.33,-146.6,355.7,-13.2,124,2614,0.00,2.55,0.00,0.000,4,0.000,0.071,2452,3533,3430
$GC,2631,-1.33,-146.6,358.8,-13.6,125,2636,0.00,2.47,0.00,0.000,6,0.000,0.057,2452,2147,3430
$GC,2953,-1.33,-146.6,402.8,-13.4,141,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2136,3430
$STATE,3115,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3115,begin apogee
$GC,3122,-0.33,0.0,424.5,13.1,149,3249,1.02,0.00,122.78,1.070,6,0.081,0.000,2673,1894,2831
$STATE,3250,end apogee,CONTROL_FINISHED_OK
$STATE,3250,begin climb
$GC,3253,1.44,146.6,428.5,0.0,155,3384,1.75,2.58,122.07,1.035,4,0.055,0.070,3060,536,2233
$GC,3435,1.24,153.1,420.0,9.7,164,3452,0.22,2.45,7.22,0.822,6,0.093,0.048,3017,1923,2206
$GC,3761,1.37,232.7,397.7,6.4,180,3832,0.12,0.00,66.80,1.009,6,0.056,0.000,3050,1938,1882
$GC,4131,1.34,241.0,363.4,9.6,198,4145,0.00,2.62,8.68,0.858,4,0.000,0.069,3050,533,1848
$GC,4226,1.25,241.0,353.4,10.8,202,4231,0.17,2.45,0.00,0.000,6,0.093,0.050,3017,1913,1848
$GC,4548,1.39,288.5,327.3,7.8,218,4590,0.12,0.00,40.12,0.982,6,0.056,0.000,3051,1923,1654
$GC,4896,1.39,288.5,286.9,12.3,235,4900,0.00,2.55,0.00,0.000,4,0.000,0.073,3051,524,1654
$GC,4936,1.33,288.5,281.5,13.5,237,4940,0.00,2.45,0.00,0.000,6,0.000,0.049,3051,1909,1654
$GC,5263,1.33,288.5,237.2,14.0,253,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1923,1654
$GC,5572,1.33,288.5,194.8,13.2,268,5577,0.00,2.53,0.00,0.000,4,0.000,0.068,3051,525,1654
$GC,5651,1.28,288.5,184.3,13.0,271,5658,0.15,2.42,0.00,0.000,6,0.094,0.048,3022,1904,1654
$GC,5968,1.37,294.4,151.6,9.7,287,5981,0.00,2.58,6.47,0.736,4,0.000,0.069,3022,534,1630
$GC,6022,1.43,294.4,145.3,11.9,289,6027,0.15,2.38,0.00,0.000,6,0.052,0.049,3063,1888,1630
$GC,6338,1.43,294.4,101.5,14.2,304,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1897,1630
$GC,6647,1.43,294.4,59.5,13.0,319,6651,0.00,2.47,0.00,0.000,4,0.000,0.067,3064,531,1630
$GC,6688,1.38,294.4,53.8,14.0,321,6692,0.00,2.35,0.00,0.000,6,0.000,0.048,3064,1878,1630
$GC,7021,1.38,294.4,10.3,13.0,337,7025,0.00,2.45,0.00,0.000,4,0.000,0.064,3064,526,1629
$STATE,7073,end climb,SURFACE_DEPTH_REACHED
$STATE,7073,begin surface coast
$FINISH,1.8,1.026670
$STATE,7081,end surface coast,CONTROL_FINISHED_OK
$STATE,7082,begin surface
$SM_CCo,7107,2.95,0.401,0,0,1608,300.00
$SM_GC,2.67,0.00,0.00,2.95,0.000,0.000,0.401,422,2124,1608,-10.69,-0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1834
$TCM_TEMP,17.70
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,371.4,61.5
$24V_AH,23.9,7.553
$10V_AH,10.1,3.773
$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,26.150,55.725,374.150,2.950,0.000,37.757,25.642,99.042,6.250,0.000,0.000,18.796,656.063,5166.071,450.460,799.759,314.032,33.346,881.437,0.000,778.851,0.000,21.980,0.000
$DEVICE_MAMPS,158.002,72.865,1069.965,401.141,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,231.159,253.182,263.226,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16022,340
$CAP_FILE_SIZE,58189,0
$CFSIZE,254472192,250150912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,020909,204107,6126.287,-841.447,38,1.0,38,-9.0