version: 66.04
glider: 5
mission: 7
dive: 32
start: 9 2 109 20 49 12
data:
$ID,5
$MISSION,7
$DIVE,32
$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,-100872.77
$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,44
$R_STBD_OVSHOOT,24
$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
$GPS1,204107,6126.287,-841.447,38,1.0,38,-9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.7
$GPS2,204820,6126.290,-841.411,14,1.3,14,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.196,0.176
$KALMAN_X,-35086.9,-406.2,-792.9,34935.8,18313.1
$KALMAN_Y,45892.1,-593.1,393.8,-64821.5,-8385.7
$MHEAD_RNG_PITCHd_Wd,320.9,45471,-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,-41.22,0.000,2,0.000,0.000,422,2129,2477
$GC,63,-1.44,-146.6,2.1,-4.1,2,119,10.80,2.58,-37.58,0.000,4,0.156,0.076,2421,3540,3430
$GC,374,-1.30,-146.6,47.3,-16.8,16,379,0.20,2.45,0.00,0.000,6,0.095,0.046,2462,2146,3430
$GC,702,-1.30,-146.6,90.6,-12.2,32,706,0.00,2.53,0.00,0.000,4,0.000,0.061,2462,717,3431
$GC,746,-1.30,-146.6,96.4,-12.7,34,750,0.00,2.47,0.00,0.000,6,0.000,0.047,2462,2132,3431
$GC,1067,-1.30,-146.6,137.5,-12.7,50,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2132,3431
$GC,1376,-1.30,-146.6,178.3,-13.0,65,1381,0.00,2.55,0.00,0.000,4,0.000,0.064,2462,716,3431
$GC,1490,-1.35,-146.6,191.9,-12.1,70,1495,0.00,2.47,0.00,0.000,6,0.000,0.048,2462,2128,3431
$GC,1812,-1.35,-146.6,232.7,-12.5,86,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2130,3431
$GC,2121,-1.35,-146.6,272.6,-12.5,101,2126,0.00,2.55,0.00,0.000,4,0.000,0.067,2462,722,3431
$GC,2162,-1.40,-146.6,277.9,-13.3,103,2166,0.00,2.45,0.00,0.000,6,0.000,0.051,2462,2115,3431
$GC,2489,-1.40,-146.6,318.9,-12.7,119,2493,0.00,2.53,0.00,0.000,4,0.000,0.064,2462,717,3431
$GC,2529,-1.45,-146.6,324.2,-14.0,121,2534,0.15,2.45,0.00,0.000,6,0.053,0.051,2422,2109,3431
$GC,2862,-1.37,-146.6,372.3,-14.4,137,2863,0.12,0.00,0.00,0.000,6,0.097,0.000,2446,2110,3431
$GC,3165,-1.37,-146.6,410.1,-12.1,152,3170,0.00,2.50,0.00,0.000,4,0.000,0.066,2445,721,3431
$GC,3187,-1.37,-146.6,412.9,-12.2,153,3192,0.00,2.42,0.00,0.000,6,0.000,0.051,2446,2103,3431
$STATE,3362,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3362,begin apogee
$GC,3369,-0.33,0.0,434.6,12.6,162,3496,1.05,0.00,122.93,1.077,6,0.081,0.000,2672,1905,2831
$STATE,3497,end apogee,CONTROL_FINISHED_OK
$STATE,3497,begin climb
$GC,3500,1.44,146.6,439.8,0.0,168,3632,1.75,2.67,122.65,1.039,4,0.054,0.064,3058,3320,2232
$GC,3762,1.33,146.6,421.6,11.2,180,3767,0.12,2.53,0.00,0.000,6,0.107,0.057,3037,1930,2232
$GC,4084,1.32,166.4,391.8,9.1,196,4109,0.00,2.65,17.92,0.954,4,0.000,0.071,3037,519,2152
$GC,4155,1.20,166.4,384.7,10.1,199,4160,0.15,2.50,0.00,0.000,6,0.096,0.048,3009,1926,2152
$GC,4477,1.33,214.1,358.4,7.8,215,4520,0.12,0.00,40.50,0.996,6,0.057,0.000,3042,1941,1957
$GC,4826,1.33,214.1,322.4,10.4,232,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1941,1957
$GC,5135,1.33,214.1,289.5,10.7,247,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1941,1957
$GC,5444,1.33,214.1,256.0,11.0,262,5448,0.00,2.60,0.00,0.000,4,0.000,0.068,3042,514,1957
$GC,5484,1.26,214.1,251.5,11.7,264,5489,0.12,2.45,0.00,0.000,6,0.096,0.051,3019,1914,1957
$GC,5812,1.31,217.8,218.6,9.8,280,5818,0.00,0.00,4.62,0.671,6,0.000,0.000,3018,1913,1943
$GC,6121,1.36,218.9,187.4,10.0,295,6122,0.10,0.00,0.00,0.000,6,0.061,0.000,3047,1913,1943
$GC,6429,1.36,218.9,153.4,11.3,310,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1914,1942
$GC,6739,1.36,218.9,119.9,10.7,325,6743,0.00,2.55,0.00,0.000,4,0.000,0.068,3047,515,1942
$GC,6795,1.29,218.9,113.2,12.2,327,6801,0.00,2.45,0.00,0.000,6,0.000,0.049,3047,1909,1942
$GC,7111,1.29,218.9,80.7,10.6,343,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1909,1942
$GC,7422,1.31,231.0,49.0,9.4,358,7444,0.00,2.62,12.05,0.773,4,0.000,0.067,3047,515,1889
$GC,7535,1.31,231.0,37.0,10.4,363,7540,0.00,2.42,0.00,0.000,6,0.000,0.049,3047,1895,1889
$GC,7864,1.33,243.7,5.3,9.4,379,7879,0.00,2.58,10.10,0.727,4,0.000,0.058,3047,3329,1836
$STATE,7887,end climb,SURFACE_DEPTH_REACHED
$STATE,7887,begin surface coast
$FINISH,0.5,1.026663
$STATE,7911,end surface coast,CONTROL_FINISHED_OK
$STATE,7911,begin surface
$SM_CCo,7936,29.77,0.772,0,0,1607,300.00
$SM_GC,1.38,0.00,0.00,29.77,0.000,0.000,0.772,424,2110,1607,-10.68,-0.40,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1817
$TCM_TEMP,19.40
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,372.3,71.1
$24V_AH,23.9,7.669
$10V_AH,10.1,3.819
$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,26.100,60.475,330.775,29.775,0.000,75.516,53.427,139.638,5.000,0.000,0.000,14.264,740.070,5878.813,444.226,911.199,438.233,33.345,917.456,0.000,890.790,0.000,22.430,0.000
$DEVICE_MAMPS,155.701,75.933,1076.868,772.369,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,259.139,280.291,301.025,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19151,380
$CAP_FILE_SIZE,66079,0
$CFSIZE,254472192,250105856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,020909,230307,6126.286,-842.157,28,1.8,28,-9.0