version: 66.04
glider: 5
mission: 7
dive: 210
start: 10 3 109 4 26 5
data:
$ID,5
$MISSION,7
$DIVE,210
$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,-104259.41
$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,18
$R_STBD_OVSHOOT,21
$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
$GPS1,041936,6400.746,-1315.220,30,1.2,31,-12.6
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-45.2
$GPS2,042514,6400.702,-1315.303,14,1.2,14,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.221,-0.107
$KALMAN_X,-26927.7,-5589.7,-2148.9,-207846.6,62774.6
$KALMAN_Y,-18554.9,-3119.6,-163.7,288689.9,12743.6
$MHEAD_RNG_PITCHd_Wd,256.7,20833,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.05,0.000,2,0.000,0.000,420,2150,2708
$GC,103,-1.22,-146.6,2.3,-1.8,4,146,10.95,2.53,-26.42,0.000,4,0.153,0.075,2472,3541,3429
$GC,399,-1.11,-146.6,45.2,-18.2,17,404,0.15,2.53,0.00,0.000,6,0.095,0.047,2504,2119,3429
$GC,723,-1.11,-146.6,81.9,-11.2,33,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2100,3430
$GC,1031,-1.11,-146.6,120.3,-11.9,48,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2093,3430
$GC,1345,-1.11,-146.6,155.3,-10.6,64,1349,0.00,2.50,0.00,0.000,4,0.000,0.064,2504,720,3429
$GC,1434,-1.11,-146.6,165.5,-11.3,69,1440,0.00,2.47,0.00,0.000,6,0.000,0.051,2504,2117,3429
$GC,1753,-1.11,-146.6,198.8,-10.0,90,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2117,3429
$GC,2065,-1.11,-146.6,229.7,-9.5,110,2070,0.00,2.55,0.00,0.000,4,0.000,0.064,2505,714,3429
$GC,2116,-1.11,-146.6,235.1,-9.8,113,2120,0.00,2.47,0.00,0.000,6,0.000,0.052,2504,2103,3430
$GC,2437,-1.11,-146.6,267.5,-10.3,133,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2103,3429
$GC,2748,-1.11,-146.6,299.6,-10.6,153,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2103,3429
$GC,3060,-1.11,-146.6,328.6,-9.0,173,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2103,3429
$GC,3372,-1.11,-146.6,353.2,-9.6,193,3376,0.00,2.62,0.00,0.000,4,0.000,0.073,2504,3538,3429
$GC,3435,-1.11,-146.6,357.6,-8.2,197,3439,0.00,2.62,0.00,0.000,6,0.000,0.062,2504,2096,3429
$GC,3759,-1.11,-146.6,390.0,-8.9,218,3763,0.00,2.53,0.00,0.000,4,0.000,0.076,2504,709,3429
$GC,3890,-1.15,-146.6,408.9,-20.3,226,3894,0.00,2.42,0.00,0.000,6,0.000,0.054,2504,2064,3428
$GC,4219,-1.15,-146.6,446.5,-7.1,247,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2084,3428
$GC,4527,-1.15,-146.6,472.1,-6.3,267,4532,0.00,2.70,0.00,0.000,4,0.000,0.075,2504,3540,3428
$GC,4540,-1.15,-146.6,472.7,-4.0,268,4544,0.00,2.78,0.00,0.000,6,0.000,0.067,2504,2032,3427
$GC,4864,-1.15,-146.6,502.5,-10.5,289,4868,0.00,2.83,0.00,0.000,4,0.000,0.076,2504,3542,3426
$GC,5011,-1.15,-146.6,514.6,-6.7,298,5015,0.00,2.70,0.00,0.000,6,0.000,0.065,2504,2070,3427
$STATE,5316,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5316,begin apogee
$GC,5326,-0.33,0.0,537.2,8.4,318,5460,0.77,0.00,130.18,1.189,6,0.081,0.000,2669,1841,2832
$STATE,5461,end apogee,CONTROL_FINISHED_OK
$STATE,5461,begin climb
$GC,5464,1.22,146.6,542.0,0.0,327,5604,1.55,2.65,129.68,1.157,4,0.061,0.081,3009,448,2233
$GC,5625,1.45,361.5,540.5,0.2,337,5823,0.25,2.58,186.15,1.130,6,0.054,0.059,3068,1868,1357
$GC,6144,1.38,361.5,461.6,21.2,370,6149,0.12,2.70,0.00,0.000,4,0.101,0.082,3045,443,1358
$GC,6208,1.30,361.5,448.7,19.8,374,6212,0.00,2.53,0.00,0.000,6,0.000,0.061,3045,1822,1358
$GC,6532,1.23,361.5,390.8,28.4,395,6537,0.17,2.60,0.00,0.000,4,0.097,0.083,3010,446,1358
$GC,6650,1.23,361.5,370.8,15.5,402,6654,0.00,2.42,0.00,0.000,6,0.000,0.059,3010,1781,1358
$GC,6970,1.33,406.0,351.4,6.4,422,7018,0.12,2.78,39.38,1.063,4,0.065,0.071,3042,3261,1175
$GC,7106,1.40,406.0,330.1,15.8,430,7111,0.00,2.67,0.00,0.000,6,0.000,0.065,3041,1819,1175
$GC,7431,1.40,406.0,283.4,14.5,451,7435,0.00,2.67,0.00,0.000,4,0.000,0.067,3041,3262,1175
$GC,7453,1.40,406.0,279.7,15.1,452,7459,0.00,2.62,0.00,0.000,6,0.000,0.062,3042,1832,1175
$GC,7772,1.40,406.0,229.6,16.2,473,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1831,1175
$GC,8084,1.40,406.0,171.3,19.3,493,8088,0.00,2.62,0.00,0.000,4,0.000,0.062,3041,3262,1175
$GC,8106,1.40,406.0,166.8,20.0,494,8112,0.00,2.58,0.00,0.000,6,0.000,0.057,3042,1842,1175
$GC,8434,1.40,406.0,106.4,17.3,512,8438,0.00,2.55,0.00,0.000,4,0.000,0.072,3042,436,1176
$GC,8478,1.40,406.0,98.4,16.4,514,8482,0.00,2.50,0.00,0.000,6,0.000,0.051,3042,1840,1176
$GC,8799,1.40,406.0,50.3,13.9,530,8803,0.00,2.53,0.00,0.000,4,0.000,0.061,3042,3258,1176
$GC,8821,1.44,406.0,47.1,13.7,531,8826,0.00,2.60,0.00,0.000,6,0.000,0.055,3042,1816,1176
$GC,9145,1.41,406.0,5.5,12.8,547,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1815,1177
$STATE,9161,end climb,SURFACE_DEPTH_REACHED
$STATE,9161,begin surface coast
$FINISH,1.1,1.027143
$STATE,9183,end surface coast,CONTROL_FINISHED_OK
$STATE,9183,begin surface
$SM_CCo,9267,0.00,0.000,0,0,1176,405.73
$SM_GC,1.15,11.43,0.00,0.00,0.041,0.000,0.000,427,2142,1176,-10.59,0.31,405.73
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1868
$TCM_TEMP,16.90
$XPDR_PINGS,26
$ALTIM_BOTTOM_PING,520.5,24.6
$24V_AH,23.9,36.547
$10V_AH,10.1,16.571
$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,25.525,78.825,485.375,0.000,0.000,37.758,27.745,166.723,11.250,0.000,0.000,14.836,971.569,6434.837,545.585,1222.197,437.316,33.343,1194.145,0.000,1187.245,0.000,34.915,0.000
$DEVICE_MAMPS,153.400,82.836,1188.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,374.956,403.065,339.318,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28615,549
$CAP_FILE_SIZE,78551,0
$CFSIZE,254472192,240148480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,031009,070157,6400.375,-1319.013,28,2.3,47,-12.6