version: 66.04
glider: 5
mission: 7
dive: 180
start: 9 29 109 3 44 21
data:
$ID,5
$MISSION,7
$DIVE,180
$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,412.5
$T_MISSION,440
$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,-103632.43
$T_RSLEEP,27
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,300
$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,6
$XPDR_INHIBIT,9
$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
$GPS1,033409,6359.216,-1327.850,28,1.5,30,-12.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-64.3
$GPS2,034332,6359.233,-1327.811,15,1.7,15,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,L1
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.138,0.203
$KALMAN_X,-54824.9,616.8,412.2,-199783.8,-5774.8
$KALMAN_Y,-11436.8,-521.5,121.8,275971.8,-4282.0
$MHEAD_RNG_PITCHd_Wd,46.8,2275,-14.8,-8.000
$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,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-61.12,0.000,2,0.000,0.000,422,2152,2758
$GC,83,-1.22,-146.6,3.0,-3.7,3,126,11.40,2.62,-22.30,0.000,4,0.162,0.070,2470,719,3431
$GC,379,-1.16,-146.6,41.2,-14.0,16,384,0.10,2.50,0.00,0.000,6,0.110,0.048,2489,2125,3431
$GC,703,-1.12,-146.6,81.8,-12.5,32,707,0.00,2.58,0.00,0.000,4,0.000,0.061,2489,708,3431
$GC,798,-1.12,-146.6,94.0,-11.6,36,802,0.00,2.53,0.00,0.000,6,0.000,0.048,2488,2132,3430
$GC,1115,-1.08,-146.6,130.2,-11.9,51,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2131,3431
$GC,1425,-1.04,-146.6,167.3,-11.9,68,1427,0.12,0.00,0.00,0.000,6,0.099,0.000,2516,2131,3431
$GC,1736,-1.04,-146.6,198.7,-9.4,88,1741,0.00,2.58,0.00,0.000,4,0.000,0.060,2516,708,3431
$GC,1783,-1.08,-146.6,203.1,-9.6,91,1787,0.00,2.53,0.00,0.000,6,0.000,0.050,2516,2131,3431
$GC,2107,-1.08,-146.6,234.1,-9.8,112,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2131,3431
$GC,2420,-1.11,-146.6,265.5,-9.7,132,2424,0.00,2.58,0.00,0.000,4,0.000,0.062,2516,711,3432
$GC,2500,-1.16,-146.6,273.6,-9.8,137,2505,0.12,2.50,0.00,0.000,6,0.058,0.050,2481,2120,3431
$GC,2827,-1.12,-146.6,311.7,-12.5,158,2828,0.10,0.00,0.00,0.000,6,0.100,0.000,2500,2120,3431
$GC,3137,-1.12,-146.6,343.4,-9.9,178,3141,0.00,2.55,0.00,0.000,4,0.000,0.062,2500,713,3431
$GC,3199,-1.12,-146.6,350.1,-10.8,182,3203,0.00,2.50,0.00,0.000,6,0.000,0.052,2500,2118,3431
$GC,3525,-1.45,-146.6,361.7,0.0,203,3527,0.32,0.00,0.00,0.000,6,0.051,0.000,2416,2118,3431
$STATE,3692,end dive,NO_VERTICAL_VELOCITY
$STATE,3692,begin apogee
$GC,3700,-0.33,0.0,361.7,0.0,214,3830,1.12,0.00,125.75,1.037,6,0.053,0.000,2676,1834,2831
$STATE,3831,end apogee,CONTROL_FINISHED_OK
$STATE,3831,begin climb
$GC,3834,1.22,146.6,361.6,0.0,223,3969,1.52,2.58,124.65,1.002,4,0.048,0.067,3015,446,2233
$GC,3995,1.17,200.5,357.4,6.0,233,4047,0.00,2.55,46.42,0.971,6,0.000,0.049,3015,1880,2012
$GC,4362,1.13,200.5,326.4,9.2,256,4367,0.12,2.47,0.00,0.000,4,0.097,0.064,2992,3239,2012
$GC,4391,1.13,200.5,323.8,8.4,258,4395,0.00,2.55,0.00,0.000,6,0.000,0.060,2993,1848,2012
$GC,4715,1.13,200.5,298.0,8.2,279,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1848,2012
$GC,5028,1.18,233.8,273.6,6.8,299,5061,0.00,2.60,28.58,0.953,4,0.000,0.062,2992,3242,1877
$GC,5084,1.18,233.8,269.3,8.6,302,5090,0.00,2.55,0.00,0.000,6,0.000,0.058,2992,1844,1877
$GC,5403,1.21,248.3,245.5,7.5,323,5423,0.00,2.62,13.40,0.902,4,0.000,0.061,2992,3239,1818
$GC,5442,1.26,251.4,242.6,7.9,325,5454,0.12,2.55,4.38,0.657,6,0.058,0.057,3025,1846,1806
$GC,5769,1.21,251.4,211.7,10.0,346,5773,0.00,2.55,0.00,0.000,4,0.000,0.061,3025,3246,1806
$GC,5831,1.21,251.4,205.1,10.4,350,5835,0.00,2.47,0.00,0.000,6,0.000,0.055,3025,1868,1805
$GC,6156,1.17,251.4,171.1,10.2,371,6161,0.15,2.50,0.00,0.000,4,0.087,0.060,2996,3238,1805
$GC,6207,1.23,251.4,166.4,9.1,374,6211,0.00,2.42,0.00,0.000,6,0.000,0.054,2996,1887,1805
$GC,6543,1.24,258.1,139.6,7.8,393,6552,0.00,0.00,7.15,0.762,6,0.000,0.000,2996,1887,1778
$GC,6870,1.28,258.1,113.0,8.4,409,6875,0.12,2.47,0.00,0.000,4,0.055,0.058,3029,3248,1778
$GC,6903,1.28,258.1,109.4,10.5,410,6909,0.00,2.42,0.00,0.000,6,0.000,0.052,3030,1891,1778
$GC,7222,1.24,258.1,76.8,10.4,426,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1891,1778
$GC,7529,1.20,258.1,46.2,9.6,441,7531,0.12,0.00,0.00,0.000,6,0.090,0.000,3005,1890,1778
$GC,7838,1.20,258.1,20.7,8.4,456,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1891,1778
$STATE,8061,end climb,SURFACE_DEPTH_REACHED
$STATE,8062,begin surface coast
$FINISH,0.7,1.027243
$STATE,8083,end surface coast,CONTROL_FINISHED_OK
$STATE,8084,begin surface
$SM_CCo,8108,23.67,0.777,0,0,1607,300.00
$SM_GC,1.69,0.00,0.00,23.67,0.000,0.000,0.777,423,2124,1607,-10.68,-0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1810
$TCM_TEMP,17.20
$XPDR_PINGS,25
$ALTIM_BOTTOM_PING,321.2,54.2
$24V_AH,23.9,32.160
$10V_AH,10.1,14.674
$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,26.675,61.700,350.325,23.675,0.000,75.522,63.127,233.570,8.750,0.000,0.000,15.272,845.682,5821.234,447.720,1007.420,572.261,33.363,969.723,0.000,986.023,0.000,20.104,0.000
$DEVICE_MAMPS,161.837,69.797,1036.984,776.971,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,319.077,344.243,356.509,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22342,468
$CAP_FILE_SIZE,72711,0
$CFSIZE,254472192,241610752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,290909,060106,6400.883,-1324.325,33,1.3,33,-12.7