version: 66.04
glider: 5
mission: 7
dive: 29
start: 9 2 109 14 23 11
data:
$ID,5
$MISSION,7
$DIVE,29
$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,-100793.55
$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,39
$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
$GPS1,141730,6124.707,-839.159,42,1.3,42,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-67.6
$GPS2,142220,6124.691,-839.107,10,1.7,10,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.214,0.154
$KALMAN_X,-44473.5,383.2,63.8,44663.1,4808.5
$KALMAN_Y,56746.2,-1140.0,-1001.1,-76642.3,11279.8
$MHEAD_RNG_PITCHd_Wd,314.8,49037,-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,13,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,59,0.00,0.00,-41.03,0.000,2,0.000,0.000,420,2148,2481
$GC,63,-1.44,-146.6,2.2,-4.0,2,119,11.05,2.62,-39.33,0.000,4,0.164,0.071,2425,689,3430
$GC,249,-1.33,-146.6,26.2,-17.8,10,254,0.15,2.53,0.00,0.000,6,0.104,0.045,2453,2122,3430
$GC,565,-1.33,-146.6,71.8,-13.0,25,570,0.00,2.53,0.00,0.000,4,0.000,0.060,2454,717,3430
$GC,606,-1.33,-146.6,77.1,-13.4,27,610,0.00,2.47,0.00,0.000,6,0.000,0.047,2453,2131,3431
$GC,943,-1.33,-146.6,121.6,-13.4,43,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2131,3431
$GC,1247,-1.33,-146.6,164.5,-13.2,58,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2132,3432
$GC,1557,-1.33,-146.6,202.5,-11.7,73,1561,0.00,2.55,0.00,0.000,4,0.000,0.063,2453,718,3432
$GC,1590,-1.33,-146.6,206.9,-12.8,74,1596,0.00,2.47,0.00,0.000,6,0.000,0.048,2454,2124,3432
$GC,1906,-1.33,-146.6,247.0,-12.8,90,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2126,3432
$GC,2215,-1.33,-146.6,287.5,-12.8,105,2219,0.00,2.55,0.00,0.000,4,0.000,0.067,2454,717,3432
$GC,2282,-1.33,-146.6,295.9,-12.6,108,2286,0.00,2.45,0.00,0.000,6,0.000,0.050,2454,2110,3431
$GC,2602,-1.33,-146.6,336.2,-12.6,124,2607,0.00,2.53,0.00,0.000,4,0.000,0.065,2454,716,3432
$GC,2630,-1.33,-146.6,339.8,-12.7,125,2635,0.00,2.45,0.00,0.000,6,0.000,0.051,2454,2107,3432
$GC,2946,-1.33,-146.6,380.2,-12.7,140,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2108,3431
$STATE,3088,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3088,begin apogee
$GC,3095,-0.33,0.0,398.8,12.6,147,3222,1.00,0.00,123.12,1.058,6,0.082,0.000,2669,1907,2831
$STATE,3222,end apogee,CONTROL_FINISHED_OK
$STATE,3223,begin climb
$GC,3226,1.44,146.6,403.8,0.0,153,3356,1.75,2.70,122.05,1.016,4,0.055,0.062,3064,3323,2233
$GC,3392,1.28,146.6,396.1,11.0,161,3398,0.20,2.55,0.00,0.000,6,0.094,0.059,3025,1929,2232
$GC,3709,1.35,190.4,370.5,8.0,176,3752,0.00,2.62,37.50,0.977,4,0.000,0.064,3025,3332,2054
$GC,3780,1.36,196.3,364.1,9.7,179,3792,0.00,2.58,6.55,0.788,6,0.000,0.058,3025,1918,2030
$GC,4114,1.38,208.5,333.3,9.4,196,4132,0.00,0.00,11.85,0.896,6,0.000,0.000,3025,1918,1981
$GC,4442,1.38,209.7,300.4,9.9,212,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1918,1981
$GC,4751,1.41,223.4,270.3,9.4,227,4771,0.12,0.00,13.40,0.896,6,0.057,0.000,3059,1917,1920
$GC,5081,1.34,223.4,234.7,10.6,243,5086,0.12,2.55,0.00,0.000,4,0.094,0.070,3035,509,1920
$GC,5137,1.30,223.4,228.7,10.5,245,5143,0.00,2.50,0.00,0.000,6,0.000,0.048,3036,1926,1919
$GC,5453,1.32,236.3,198.4,9.4,261,5471,0.00,0.00,12.35,0.861,6,0.000,0.000,3036,1926,1867
$GC,5782,1.32,239.3,166.4,9.9,277,5791,0.00,2.60,4.22,0.627,4,0.000,0.070,3035,513,1855
$GC,5827,1.32,239.3,161.9,10.1,279,5831,0.00,2.47,0.00,0.000,6,0.000,0.051,3035,1913,1855
$GC,6154,1.33,244.4,131.3,9.8,295,6165,0.00,2.62,5.88,0.711,4,0.000,0.071,3035,506,1834
$GC,6210,1.33,244.4,125.1,11.1,297,6217,0.00,2.45,0.00,0.000,6,0.000,0.049,3035,1895,1834
$GC,6526,1.33,244.4,90.6,11.2,313,6531,0.00,2.55,0.00,0.000,4,0.000,0.061,3035,3331,1834
$GC,6567,1.40,244.4,86.0,10.9,315,6572,0.00,2.58,0.00,0.000,6,0.000,0.053,3035,1882,1834
$GC,6895,1.44,244.4,51.3,10.1,331,6897,0.10,0.00,0.00,0.000,6,0.059,0.000,3065,1882,1834
$GC,7203,1.44,244.4,19.5,10.4,346,7208,0.00,2.60,0.00,0.000,4,0.000,0.059,3065,3329,1834
$GC,7266,1.44,244.4,12.4,11.6,349,7270,0.00,2.50,0.00,0.000,6,0.000,0.050,3066,1911,1834
$STATE,7363,end climb,SURFACE_DEPTH_REACHED
$STATE,7363,begin surface coast
$FINISH,0.5,1.008066
$STATE,7386,end surface coast,CONTROL_FINISHED_OK
$STATE,7386,begin surface
$SM_CCo,7409,29.00,0.771,0,0,1608,300.00
$SM_GC,1.37,0.00,0.00,29.00,0.000,0.000,0.771,416,2157,1608,-10.71,0.76,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1832
$TCM_TEMP,17.00
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,320.4,86.8
$24V_AH,23.9,7.323
$10V_AH,10.1,3.692
$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,25.875,61.750,336.925,29.000,0.000,37.758,28.090,130.934,7.250,0.000,0.000,10.748,681.926,5442.561,462.884,799.433,353.566,33.352,889.029,0.000,781.711,0.000,24.567,0.000
$DEVICE_MAMPS,164.138,70.564,1058.460,770.835,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,241.391,263.051,290.719,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19132,355
$CAP_FILE_SIZE,60657,0
$CFSIZE,254472192,250212352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,020909,162802,6124.882,-840.669,12,1.4,12,-9.0