version: 66.04
glider: 5
mission: 7
dive: 200
start: 10 2 109 11 16 52
data:
$ID,5
$MISSION,7
$DIVE,200
$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,-104024.72
$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,30
$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
$GPS1,110637,6359.699,-1315.912,30,1.3,30,-12.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-57.2
$GPS2,111602,6359.779,-1315.605,12,1.6,12,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P6
$TGT_LATLONG,6402.820,-1325.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.100,0.224
$KALMAN_X,-52668.1,-422.3,94.0,-189843.5,3973.5
$KALMAN_Y,-25538.6,1100.8,412.5,289117.3,-6512.8
$MHEAD_RNG_PITCHd_Wd,348.4,9800,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.25,0.000,2,0.000,0.000,423,2128,2367
$GC,63,-1.22,-146.6,2.0,-3.0,2,127,11.23,2.53,-45.10,0.000,4,0.156,0.073,2470,3536,3430
$GC,354,-1.14,-146.6,38.4,-12.9,15,359,0.12,2.53,0.00,0.000,6,0.105,0.048,2494,2115,3430
$GC,681,-1.14,-146.6,77.4,-11.5,31,685,0.00,2.47,0.00,0.000,4,0.000,0.058,2494,718,3431
$GC,839,-1.14,-146.6,96.1,-11.7,38,843,0.00,2.47,0.00,0.000,6,0.000,0.048,2494,2114,3431
$GC,1160,-1.14,-146.6,133.1,-11.4,54,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2114,3431
$GC,1481,-1.14,-146.6,169.1,-11.0,72,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2113,3431
$GC,1794,-1.14,-146.6,202.6,-10.4,92,1798,0.00,2.53,0.00,0.000,4,0.000,0.060,2493,715,3431
$GC,1839,-1.14,-146.6,207.7,-11.1,95,1843,0.00,2.50,0.00,0.000,6,0.000,0.051,2494,2120,3431
$GC,2164,-1.14,-146.6,244.8,-11.8,116,2169,0.00,2.53,0.00,0.000,4,0.000,0.061,2494,721,3431
$GC,2232,-1.14,-146.6,253.0,-11.4,120,2236,0.00,2.47,0.00,0.000,6,0.000,0.051,2494,2111,3432
$GC,2557,-1.14,-146.6,289.8,-10.8,141,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2112,3432
$GC,2870,-1.14,-146.6,324.1,-10.7,161,2874,0.00,2.53,0.00,0.000,4,0.000,0.061,2494,717,3431
$GC,2942,-1.14,-146.6,332.2,-10.8,165,2949,0.00,2.45,0.00,0.000,6,0.000,0.051,2494,2098,3431
$GC,3263,-1.14,-146.6,367.5,-11.6,186,3267,0.00,2.50,0.00,0.000,4,0.000,0.061,2494,717,3431
$GC,3330,-1.14,-146.6,375.5,-10.9,190,3334,0.00,2.45,0.00,0.000,6,0.000,0.051,2494,2096,3431
$GC,3649,-1.14,-146.6,406.4,-8.9,210,3653,0.00,2.50,0.00,0.000,4,0.000,0.064,2494,717,3431
$GC,3766,-1.14,-146.6,417.9,-9.5,217,3770,0.00,2.40,0.00,0.000,6,0.000,0.051,2494,2067,3431
$GC,4088,-1.11,-146.6,446.2,-7.7,237,4092,0.00,2.45,0.00,0.000,4,0.000,0.063,2494,714,3431
$GC,4174,-1.11,-146.6,454.9,-10.0,242,4178,0.00,2.38,0.00,0.000,6,0.000,0.053,2494,2047,3431
$GC,4504,-1.11,-146.6,490.3,-10.3,263,4508,0.00,2.42,0.00,0.000,4,0.000,0.065,2494,716,3431
$GC,4554,-1.11,-146.6,494.2,-8.4,266,4558,0.00,2.38,0.00,0.000,6,0.000,0.054,2494,2044,3431
$GC,4876,-1.07,-146.6,523.1,-9.5,286,4881,0.00,2.45,0.00,0.000,4,0.000,0.070,2494,713,3431
$GC,4973,-1.07,-146.6,533.9,-14.8,292,4977,0.00,2.35,0.00,0.000,6,0.000,0.056,2494,2020,3431
$GC,5301,-1.04,-146.6,565.1,-9.2,313,5306,0.12,2.80,0.00,0.000,4,0.104,0.078,2519,3535,3430
$GC,5351,-1.12,-146.6,570.4,-9.4,316,5356,0.00,2.72,0.00,0.000,6,0.000,0.066,2519,2036,3429
$STATE,5370,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5371,begin apogee
$GC,5379,-0.33,0.0,572.4,9.2,317,5509,0.68,0.00,127.15,1.227,6,0.058,0.000,2674,1833,2831
$STATE,5510,end apogee,CONTROL_FINISHED_OK
$STATE,5510,begin climb
$GC,5513,1.22,146.6,570.9,0.0,326,5647,1.50,2.70,125.95,1.183,4,0.046,0.069,3015,3258,2233
$GC,5730,1.16,151.5,560.3,7.8,338,5741,0.00,2.60,6.00,0.887,6,0.000,0.068,3015,1869,2213
$GC,6064,1.08,151.5,531.6,8.7,360,6069,0.17,2.60,0.00,0.000,4,0.095,0.070,2979,3258,2212
$GC,6143,1.08,151.5,524.8,10.7,365,6148,0.00,2.58,0.00,0.000,6,0.000,0.068,2978,1869,2212
$GC,6469,1.22,239.6,500.9,4.8,386,6551,0.15,2.75,75.30,1.170,4,0.058,0.077,3016,423,1854
$GC,6653,1.16,239.6,478.5,14.3,397,6657,0.00,2.65,0.00,0.000,6,0.000,0.058,3016,1875,1853
$GC,6972,1.08,239.6,448.3,8.0,417,6974,0.20,0.00,0.00,0.000,6,0.089,0.000,2977,1893,1853
$GC,7287,1.23,310.0,429.6,5.4,437,7353,0.17,2.80,59.80,1.141,4,0.057,0.075,3023,443,1567
$GC,7424,1.17,310.0,418.4,9.4,445,7429,0.12,2.60,0.00,0.000,6,0.097,0.058,3001,1865,1567
$GC,7746,1.21,310.0,392.6,8.1,465,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1880,1567
$GC,8055,1.24,310.0,365.7,8.9,485,8060,0.00,2.67,0.00,0.000,4,0.000,0.074,3001,436,1567
$GC,8122,1.24,310.0,358.2,11.4,489,8127,0.00,2.55,0.00,0.000,6,0.000,0.054,3001,1852,1567
$GC,8442,1.28,310.0,325.7,9.9,509,8447,0.10,2.53,0.00,0.000,4,0.061,0.063,3029,3257,1567
$GC,8475,1.28,310.0,321.9,10.5,511,8479,0.00,2.58,0.00,0.000,6,0.000,0.059,3029,1844,1567
$GC,8795,1.28,310.0,286.6,10.9,531,8799,0.00,2.55,0.00,0.000,4,0.000,0.070,3029,435,1568
$GC,8851,1.23,310.0,280.1,12.4,534,8857,0.00,2.53,0.00,0.000,6,0.000,0.051,3029,1850,1568
$GC,9170,1.23,310.0,248.2,10.0,555,9174,0.00,2.53,0.00,0.000,4,0.000,0.061,3029,3261,1568
$GC,9209,1.23,310.0,244.3,10.1,557,9215,0.00,2.58,0.00,0.000,6,0.000,0.055,3029,1835,1568
$GC,9528,1.23,310.0,209.2,11.2,578,9532,0.00,2.60,0.00,0.000,4,0.000,0.060,3029,3263,1569
$GC,9566,1.23,310.0,204.8,11.3,580,9573,0.00,2.53,0.00,0.000,6,0.000,0.053,3029,1855,1569
$GC,9886,1.23,310.0,172.4,10.8,601,9887,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1855,1570
$GC,10197,1.23,310.0,134.7,11.9,619,10201,0.00,2.55,0.00,0.000,4,0.000,0.058,3029,3262,1570
$GC,10264,1.23,310.0,126.6,12.4,622,10268,0.00,2.50,0.00,0.000,6,0.000,0.051,3029,1862,1570
$GC,10585,1.23,310.0,90.4,11.9,638,10587,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1861,1570
$GC,10896,1.23,310.0,54.1,11.5,653,10900,0.00,2.53,0.00,0.000,4,0.000,0.058,3029,3258,1571
$GC,10946,1.27,310.0,48.1,11.8,655,10950,0.00,2.47,0.00,0.000,6,0.000,0.049,3029,1866,1571
$GC,11264,1.27,310.0,17.6,9.8,670,11268,0.00,2.55,0.00,0.000,4,0.000,0.064,3029,440,1571
$GC,11304,1.27,310.0,12.0,13.2,672,11308,0.00,2.53,0.00,0.000,6,0.000,0.048,3029,1868,1571
$STATE,11442,end climb,SURFACE_DEPTH_REACHED
$STATE,11442,begin surface coast
$FINISH,0.7,1.027046
$STATE,11506,end surface coast,CONTROL_FINISHED_OK
$STATE,11506,begin surface
$SM_CCo,11590,0.00,0.000,0,0,1570,309.32
$SM_GC,1.36,11.27,0.00,0.00,0.036,0.000,0.000,422,2139,1570,-10.59,0.23,309.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1825
$TCM_TEMP,17.00
$XPDR_PINGS,38
$ALTIM_BOTTOM_PING,546.4,35.7
$24V_AH,23.8,35.259
$10V_AH,10.1,16.178
$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,25.850,117.575,394.200,0.000,0.000,75.519,66.141,224.994,14.500,0.000,0.000,12.690,1238.831,8232.805,474.095,1560.484,643.661,33.364,1275.179,0.000,1520.922,0.000,37.227,0.000
$DEVICE_MAMPS,156.468,78.234,1227.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,467.019,497.312,414.768,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34870,682
$CAP_FILE_SIZE,103538,0
$CFSIZE,254472192,240431104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,021009,143137,6400.807,-1317.144,58,1.3,58,-12.6