version: 66.04
glider: 5
mission: 7
dive: 33
start: 9 2 109 23 8 30
data:
$ID,5
$MISSION,7
$DIVE,33
$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,-100884.85
$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,20
$R_STBD_OVSHOOT,26
$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
$GPS1,230307,6126.286,-842.157,28,1.8,28,-9.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-66.1
$GPS2,230738,6126.283,-842.150,11,1.6,11,-9.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.189,0.183
$KALMAN_X,-33141.6,-767.1,-971.1,32888.0,18519.3
$KALMAN_Y,42991.2,-762.8,553.9,-61927.7,-11334.0
$MHEAD_RNG_PITCHd_Wd,323.1,45064,-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,12,begin dive
$GC,15,-1.44,-146.6,0.0,0.0,0,68,0.00,0.00,-51.05,0.000,2,0.000,0.000,424,2108,2709
$GC,72,-1.44,-146.6,2.8,-3.2,3,115,10.95,2.60,-23.33,0.000,4,0.163,0.077,2421,3524,3429
$GC,357,-1.31,-146.6,48.9,-17.1,15,365,0.17,2.47,0.00,0.000,6,0.097,0.048,2457,2122,3430
$GC,673,-1.31,-146.6,91.8,-12.7,31,678,0.00,2.50,0.00,0.000,4,0.000,0.062,2458,719,3430
$GC,752,-1.35,-146.6,102.2,-12.7,34,759,0.00,2.47,0.00,0.000,6,0.000,0.047,2457,2131,3430
$GC,1069,-1.35,-146.6,143.8,-13.0,50,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2132,3431
$GC,1377,-1.35,-146.6,185.6,-13.5,65,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2132,3431
$GC,1687,-1.35,-146.6,226.9,-13.3,80,1691,0.00,2.55,0.00,0.000,4,0.000,0.064,2458,720,3431
$GC,1742,-1.39,-146.6,234.3,-13.4,82,1749,0.00,2.45,0.00,0.000,6,0.000,0.050,2458,2115,3431
$GC,2058,-1.39,-146.6,274.3,-12.4,98,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2115,3431
$GC,2368,-1.39,-146.6,309.7,-11.4,113,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2115,3431
$GC,2677,-1.39,-146.6,345.1,-12.0,128,2682,0.00,2.53,0.00,0.000,4,0.000,0.066,2458,716,3431
$GC,2722,-1.45,-146.6,351.1,-13.1,130,2727,0.12,2.47,0.00,0.000,6,0.057,0.051,2423,2124,3431
$GC,3050,-1.37,-146.6,395.9,-13.1,146,3055,0.12,2.58,0.00,0.000,4,0.097,0.071,2447,3531,3430
$GC,3106,-1.37,-146.6,404.1,-12.1,148,3112,0.00,2.53,0.00,0.000,6,0.000,0.057,2447,2121,3430
$GC,3423,-1.76,-146.6,434.0,-2.1,164,3428,0.35,2.60,0.00,0.000,4,0.041,0.070,2352,3535,3430
$GC,3682,-2.21,-146.6,433.9,0.0,175,3689,0.38,2.47,0.00,0.000,6,0.039,0.054,2255,2126,3430
$STATE,3726,end dive,NO_VERTICAL_VELOCITY
$STATE,3727,begin apogee
$GC,3734,-0.33,0.0,434.0,0.0,178,3861,1.88,0.00,122.78,1.083,6,0.055,0.000,2678,1916,2831
$STATE,3862,end apogee,CONTROL_FINISHED_OK
$STATE,3862,begin climb
$GC,3865,1.44,146.6,433.8,0.0,184,3997,1.70,2.65,121.95,1.038,4,0.048,0.062,3060,3324,2233
$GC,4147,1.33,146.6,411.6,10.5,197,4152,0.12,2.50,0.00,0.000,6,0.105,0.058,3037,1936,2232
$GC,4475,1.29,150.8,380.0,9.8,213,4482,0.00,0.00,5.32,0.746,6,0.000,0.000,3037,1936,2216
$GC,4784,1.25,156.7,350.5,9.7,228,4797,0.00,2.58,6.43,0.803,4,0.000,0.062,3037,3324,2192
$GC,4832,1.25,156.7,345.4,10.4,230,4837,0.00,2.55,0.00,0.000,6,0.000,0.058,3037,1915,2192
$GC,5154,1.25,160.2,313.6,9.8,246,5164,0.00,2.58,4.80,0.710,4,0.000,0.072,3037,513,2177
$GC,5216,1.15,160.2,307.0,11.1,249,5221,0.22,2.47,0.00,0.000,6,0.091,0.049,2994,1925,2177
$GC,5544,1.32,213.7,281.7,7.6,265,5596,0.17,2.70,44.78,0.966,4,0.049,0.068,3039,514,1959
$GC,5631,1.24,213.7,273.0,11.4,269,5636,0.12,2.50,0.00,0.000,6,0.094,0.050,3015,1916,1958
$GC,5953,1.33,234.1,242.2,9.1,285,5976,0.00,2.70,17.65,0.906,4,0.000,0.071,3015,508,1876
$GC,6010,1.33,234.1,236.2,10.2,287,6014,0.00,2.50,0.00,0.000,6,0.000,0.051,3015,1910,1876
$GC,6326,1.40,234.5,203.8,10.0,302,6328,0.15,0.00,0.00,0.000,6,0.052,0.000,3056,1913,1876
$GC,6635,1.36,234.5,167.1,12.1,317,6636,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1913,1876
$GC,6946,1.31,234.5,130.3,11.6,332,6951,0.12,2.60,0.00,0.000,4,0.094,0.070,3030,504,1876
$GC,7035,1.31,234.5,119.8,11.0,336,7040,0.00,2.45,0.00,0.000,6,0.000,0.050,3030,1895,1876
$GC,7358,1.32,236.4,87.5,9.9,352,7363,0.00,0.00,3.70,0.550,6,0.000,0.000,3030,1904,1867
$GC,7669,1.36,236.8,54.7,10.0,367,7673,0.00,2.53,0.00,0.000,4,0.000,0.069,3030,511,1867
$GC,7736,1.36,236.8,47.3,10.2,370,7740,0.00,2.40,0.00,0.000,6,0.000,0.048,3030,1881,1866
$GC,8058,1.49,271.3,19.0,8.4,386,8089,0.17,0.00,28.55,0.792,6,0.048,0.000,3082,1895,1724
$STATE,8202,end climb,SURFACE_DEPTH_REACHED
$STATE,8202,begin surface coast
$FINISH,0.6,1.026732
$STATE,8223,end surface coast,CONTROL_FINISHED_OK
$STATE,8223,begin surface
$SM_CCo,8246,15.10,0.747,0,0,1608,300.00
$SM_GC,1.36,0.00,0.00,15.10,0.000,0.000,0.747,422,2145,1608,-10.69,0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1838
$TCM_TEMP,17.60
$XPDR_PINGS,15
$24V_AH,23.9,7.782
$10V_AH,10.1,3.864
$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,28.325,66.650,355.950,15.100,0.000,37.756,27.060,109.386,7.500,0.000,0.000,11.460,781.086,5978.588,442.176,997.963,345.203,33.348,970.184,0.000,975.913,0.000,27.832,0.000
$DEVICE_MAMPS,162.604,77.467,1083.004,747.058,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,268.193,293.733,304.450,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19045,394
$CAP_FILE_SIZE,70927,0
$CFSIZE,254472192,250064896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,030909,012731,6126.099,-844.254,39,1.1,39,-9.1