version: 66.04
glider: 5
mission: 7
dive: 40
start: 9 3 109 14 33 6
data:
$ID,5
$MISSION,7
$DIVE,40
$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,-101002.88
$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,25
$R_STBD_OVSHOOT,22
$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
$GPS1,142737,6128.332,-859.411,28,1.6,28,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-64.1
$GPS2,143213,6128.361,-859.424,15,1.8,32,-9.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.135,0.226
$KALMAN_X,-33265.0,-434.7,-619.6,17104.8,10207.0
$KALMAN_Y,40590.3,401.1,512.4,-56817.1,-9353.2
$MHEAD_RNG_PITCHd_Wd,338.4,33705,-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,-146.6,0.0,0.0,0,58,0.00,0.00,-41.10,0.000,2,0.000,0.000,420,2147,2477
$GC,62,-1.44,-146.6,2.1,-3.9,2,118,11.10,2.58,-38.12,0.000,4,0.166,0.076,2424,3538,3429
$GC,374,-1.33,-146.6,45.5,-13.9,16,379,0.15,2.50,0.00,0.000,6,0.102,0.046,2453,2118,3430
$GC,702,-1.33,-146.6,87.9,-13.2,32,707,0.00,2.47,0.00,0.000,4,0.000,0.061,2454,717,3430
$GC,788,-1.33,-146.6,99.6,-13.4,36,792,0.00,2.47,0.00,0.000,6,0.000,0.048,2454,2131,3431
$GC,1115,-1.33,-146.6,140.3,-12.5,52,1119,0.00,2.55,0.00,0.000,4,0.000,0.064,2453,718,3431
$GC,1157,-1.33,-146.6,145.6,-13.4,54,1161,0.00,2.47,0.00,0.000,6,0.000,0.048,2453,2126,3431
$GC,1484,-1.33,-146.6,190.3,-13.9,70,1488,0.00,2.55,0.00,0.000,4,0.000,0.066,2454,718,3431
$GC,1534,-1.38,-146.6,197.7,-14.7,72,1538,0.00,2.47,0.00,0.000,6,0.000,0.051,2454,2122,3431
$GC,1850,-1.38,-146.6,240.2,-12.9,87,1854,0.00,2.53,0.00,0.000,4,0.000,0.064,2454,721,3431
$GC,1891,-1.42,-146.6,245.5,-13.0,89,1895,0.00,2.45,0.00,0.000,6,0.000,0.050,2454,2108,3431
$GC,2218,-1.42,-146.6,285.8,-12.9,105,2222,0.00,2.50,0.00,0.000,4,0.000,0.064,2454,723,3431
$GC,2245,-1.42,-146.6,289.6,-13.7,106,2249,0.00,2.42,0.00,0.000,6,0.000,0.051,2454,2102,3431
$GC,2561,-1.42,-146.6,328.9,-12.3,121,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2102,3431
$GC,2871,-1.42,-146.6,367.6,-12.5,136,2875,0.00,2.50,0.00,0.000,4,0.000,0.066,2454,720,3430
$GC,2898,-1.42,-146.6,371.4,-12.8,137,2902,0.00,2.42,0.00,0.000,6,0.000,0.053,2454,2095,3431
$GC,3214,-1.42,-146.6,410.8,-12.3,152,3218,0.00,2.50,0.00,0.000,4,0.000,0.067,2454,718,3430
$GC,3241,-1.42,-146.6,414.4,-12.7,153,3245,0.00,2.42,0.00,0.000,6,0.000,0.051,2454,2093,3430
$GC,3557,-1.42,-146.6,454.2,-13.1,168,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2093,3430
$STATE,3616,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3617,begin apogee
$GC,3624,-0.33,0.0,461.9,12.7,171,3750,1.00,0.00,122.28,1.092,6,0.079,0.000,2670,1899,2831
$STATE,3750,end apogee,CONTROL_FINISHED_OK
$STATE,3751,begin climb
$GC,3754,1.44,146.6,467.1,0.0,177,3884,1.75,2.55,121.57,1.058,4,0.058,0.067,3054,529,2232
$GC,3923,1.26,152.5,459.8,9.7,185,3940,0.17,2.47,6.45,0.811,6,0.093,0.049,3022,1921,2209
$GC,4249,1.30,173.0,430.9,9.1,201,4274,0.00,2.60,18.33,0.974,4,0.000,0.064,3022,3320,2126
$GC,4326,1.33,190.5,423.5,9.2,204,4347,0.00,2.53,15.93,0.962,6,0.000,0.059,3022,1935,2054
$GC,4664,1.37,220.3,393.1,8.6,221,4691,0.00,0.00,25.73,0.987,6,0.000,0.000,3022,1935,1932
$GC,4993,1.37,220.3,361.7,10.1,237,4997,0.00,2.58,0.00,0.000,4,0.000,0.070,3022,512,1931
$GC,5032,1.37,220.3,357.0,12.0,239,5037,0.10,2.47,0.00,0.000,6,0.060,0.051,3050,1924,1931
$GC,5359,1.33,220.3,318.1,11.6,255,5364,0.00,2.60,0.00,0.000,4,0.000,0.069,3050,510,1931
$GC,5399,1.23,220.3,313.0,13.0,257,5404,0.20,2.47,0.00,0.000,6,0.090,0.052,3012,1911,1931
$GC,5729,1.34,249.7,282.3,8.7,273,5757,0.12,0.00,25.38,0.945,6,0.056,0.000,3046,1926,1812
$GC,6056,1.34,249.7,248.9,10.3,289,6060,0.00,2.58,0.00,0.000,4,0.000,0.071,3046,506,1812
$GC,6134,1.29,249.7,240.1,11.3,292,6140,0.00,2.47,0.00,0.000,6,0.000,0.050,3046,1911,1812
$GC,6449,1.29,249.7,207.3,10.8,308,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1916,1812
$GC,6759,1.29,249.7,172.2,11.3,323,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1924,1811
$GC,7069,1.29,249.7,136.8,11.1,338,7073,0.00,2.55,0.00,0.000,4,0.000,0.070,3046,514,1811
$GC,7141,1.24,249.7,128.2,12.2,341,7146,0.15,2.42,0.00,0.000,6,0.091,0.051,3017,1897,1811
$GC,7459,1.33,249.7,95.3,11.3,356,7464,0.00,2.53,0.00,0.000,4,0.000,0.067,3016,512,1811
$GC,7538,1.38,249.7,85.2,12.5,359,7546,0.12,2.42,0.00,0.000,6,0.055,0.049,3050,1894,1811
$GC,7856,1.38,249.7,44.2,12.4,375,7860,0.00,2.53,0.00,0.000,4,0.000,0.063,3051,3328,1812
$GC,7934,1.45,249.7,34.2,11.6,378,7941,0.00,2.55,0.00,0.000,6,0.000,0.053,3051,1887,1812
$STATE,8249,end climb,SURFACE_DEPTH_REACHED
$STATE,8249,begin surface coast
$FINISH,0.5,1.001693
$STATE,8269,end surface coast,CONTROL_FINISHED_OK
$STATE,8269,begin surface
$SM_CCo,8293,25.62,0.768,0,0,1608,300.00
$SM_GC,1.05,0.00,0.00,25.62,0.000,0.000,0.768,421,2137,1608,-10.69,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1839
$TCM_TEMP,17.70
$XPDR_PINGS,25
$ALTIM_BOTTOM_PING,420.1,51.0
$24V_AH,23.9,8.563
$10V_AH,10.1,4.161
$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,26.200,80.900,335.650,25.625,0.000,37.760,26.876,96.485,10.000,0.000,0.000,34.620,779.502,6059.554,446.838,986.035,336.713,33.342,965.312,0.000,939.198,0.000,28.027,0.000
$DEVICE_MAMPS,165.672,75.933,1092.208,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,269.111,294.927,297.506,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19160,395
$CAP_FILE_SIZE,70710,0
$CFSIZE,254472192,249827328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,0,0
$GPS,030909,165306,6129.541,-902.477,36,1.0,41,-9.2