version: 66.04
glider: 5
mission: 7
dive: 150
start: 9 23 109 15 39 7
data:
$ID,5
$MISSION,7
$DIVE,150
$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,-103024.12
$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,24
$R_STBD_OVSHOOT,33
$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
$GPS1,153337,6403.071,-1307.934,34,1.4,35,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-67.5
$GPS2,153819,6403.093,-1307.747,17,1.8,17,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,K1
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.214,-0.120
$KALMAN_X,-70736.1,820.6,-2140.8,-163792.2,69788.5
$KALMAN_Y,-20201.7,743.0,-356.3,291101.3,16112.6
$MHEAD_RNG_PITCHd_Wd,253.2,24318,-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,15,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.85,0.000,2,0.000,0.000,420,2157,2486
$GC,63,-1.22,-146.6,2.2,-3.6,2,127,11.45,2.53,-42.83,0.000,4,0.163,0.074,2470,3527,3429
$GC,354,-1.13,-146.6,32.0,-11.9,15,359,0.12,2.50,0.00,0.000,6,0.099,0.045,2497,2113,3430
$GC,681,-1.13,-146.6,62.8,-8.7,31,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2100,3430
$GC,990,-1.13,-146.6,92.0,-10.0,46,994,0.00,2.45,0.00,0.000,4,0.000,0.058,2496,724,3430
$GC,1012,-1.13,-146.6,94.2,-9.1,47,1016,0.00,2.47,0.00,0.000,6,0.000,0.048,2497,2122,3430
$GC,1333,-1.13,-146.6,125.6,-9.9,63,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2123,3430
$GC,1643,-1.13,-146.6,156.6,-9.4,79,1647,0.00,2.58,0.00,0.000,4,0.000,0.066,2497,3545,3430
$GC,1705,-1.13,-146.6,163.0,-9.9,83,1709,0.00,2.55,0.00,0.000,6,0.000,0.051,2497,2113,3430
$GC,2030,-1.13,-146.6,195.8,-10.2,104,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2099,3430
$GC,2342,-1.13,-146.6,229.1,-10.5,124,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2099,3430
$GC,2654,-1.13,-146.6,258.2,-8.4,144,2658,0.00,2.62,0.00,0.000,4,0.000,0.066,2497,3538,3430
$GC,2709,-1.13,-146.6,263.0,-8.2,147,2715,0.00,2.53,0.00,0.000,6,0.000,0.053,2497,2126,3430
$GC,3029,-1.13,-146.6,286.3,-7.6,168,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2114,3430
$GC,3340,-1.13,-146.6,314.7,-11.0,188,3344,0.00,2.60,0.00,0.000,4,0.000,0.068,2497,3536,3430
$GC,3402,-1.13,-146.6,322.0,-12.3,192,3407,0.00,2.53,0.00,0.000,6,0.000,0.054,2497,2129,3429
$GC,3727,-1.13,-146.6,357.3,-11.3,213,3731,0.00,2.60,0.00,0.000,4,0.000,0.068,2497,3537,3429
$GC,3823,-1.13,-146.6,367.4,-11.1,219,3827,0.00,2.50,0.00,0.000,6,0.000,0.054,2497,2141,3429
$GC,4147,-1.13,-146.6,399.5,-9.5,240,4152,0.00,2.60,0.00,0.000,4,0.000,0.071,2497,3541,3429
$GC,4176,-1.13,-146.6,402.9,-12.0,242,4181,0.00,2.53,0.00,0.000,6,0.000,0.060,2497,2148,3429
$GC,4501,-1.13,-146.6,433.8,-8.7,263,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2122,3429
$GC,4812,-1.13,-146.6,461.2,-8.5,283,4817,0.00,2.55,0.00,0.000,4,0.000,0.066,2497,721,3428
$STATE,4860,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4860,begin apogee
$GC,4870,-0.33,0.0,467.4,12.2,286,5001,0.77,0.00,126.32,1.118,6,0.074,0.000,2667,1870,2831
$STATE,5002,end apogee,CONTROL_FINISHED_OK
$STATE,5002,begin climb
$GC,5005,1.22,146.6,477.3,0.0,295,5141,1.55,2.60,127.18,1.081,4,0.058,0.062,3009,3261,2233
$GC,5176,1.21,189.8,472.2,6.4,305,5224,0.00,2.60,38.47,1.043,6,0.000,0.061,3009,1854,2057
$GC,5540,1.14,196.2,444.7,7.8,328,5552,0.00,2.65,6.80,0.858,4,0.000,0.065,3009,3261,2031
$GC,5580,1.09,196.2,441.1,10.1,330,5587,0.15,2.60,0.00,0.000,6,0.097,0.061,2982,1848,2031
$GC,5901,1.05,196.2,406.4,12.6,351,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1848,2030
$GC,6212,1.05,196.2,375.9,10.8,371,6216,0.00,2.60,0.00,0.000,4,0.000,0.065,2982,3261,2030
$GC,6352,1.05,196.2,362.1,9.3,379,6358,0.00,2.55,0.00,0.000,6,0.000,0.058,2982,1858,2029
$GC,6671,1.15,261.5,339.4,5.6,400,6734,0.00,2.62,55.70,1.043,4,0.000,0.063,2982,3259,1765
$GC,6787,1.33,331.5,332.7,5.5,407,6854,0.25,2.50,59.45,1.024,6,0.049,0.058,3043,1893,1478
$GC,7179,1.27,331.5,283.2,14.3,432,7184,0.12,2.65,0.00,0.000,4,0.097,0.069,3019,439,1478
$GC,7213,1.22,331.5,278.2,14.4,434,7218,0.00,2.60,0.00,0.000,6,0.000,0.051,3019,1890,1478
$GC,7532,1.22,331.5,236.9,12.7,454,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1904,1479
$GC,7845,1.22,331.5,200.2,11.4,474,7849,0.00,2.67,0.00,0.000,4,0.000,0.067,3019,442,1479
$GC,7878,1.18,331.5,196.3,11.8,476,7883,0.00,2.58,0.00,0.000,6,0.000,0.050,3019,1886,1479
$GC,8198,1.18,331.5,160.4,11.0,496,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1901,1480
$GC,8514,1.18,331.5,125.1,12.2,513,8518,0.00,2.65,0.00,0.000,4,0.000,0.065,3019,442,1480
$GC,8558,1.18,331.5,119.7,11.6,515,8562,0.00,2.55,0.00,0.000,6,0.000,0.048,3019,1879,1480
$GC,8879,1.18,331.5,84.9,10.8,531,8883,0.00,2.45,0.00,0.000,4,0.000,0.058,3019,3261,1480
$GC,8907,1.22,331.5,81.9,10.6,532,8911,0.00,2.50,0.00,0.000,6,0.000,0.051,3019,1862,1480
$GC,9223,1.22,331.5,50.1,9.0,547,9228,0.00,2.53,0.00,0.000,4,0.000,0.057,3019,3259,1480
$GC,9264,1.27,331.5,45.9,10.8,549,9268,0.00,2.42,0.00,0.000,6,0.000,0.051,3019,1888,1480
$GC,9598,1.27,331.5,10.1,10.6,565,9602,0.00,2.58,0.00,0.000,4,0.000,0.063,3019,443,1480
$GC,9653,1.27,331.5,3.8,10.6,567,9660,0.00,2.53,0.00,0.000,6,0.000,0.045,3019,1884,1481
$STATE,9678,end climb,SURFACE_DEPTH_REACHED
$STATE,9678,begin surface coast
$FINISH,0.6,1.027091
$STATE,9700,end surface coast,CONTROL_FINISHED_OK
$STATE,9700,begin surface
$SM_CCo,9784,0.00,0.000,0,0,1480,331.40
$SM_GC,1.48,11.25,0.00,0.00,0.036,0.000,0.000,417,2155,1480,-10.61,0.71,331.40
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1833
$TCM_TEMP,17.50
$XPDR_PINGS,28
$ALTIM_BOTTOM_PING,445.3,31.9
$24V_AH,23.9,27.295
$10V_AH,10.1,12.221
$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,25.675,92.025,413.925,0.000,0.000,37.758,29.115,107.815,10.750,0.000,0.000,17.217,1012.437,6925.582,485.821,1265.206,382.889,33.353,1145.894,0.000,1232.482,0.000,27.296,0.000
$DEVICE_MAMPS,163.371,73.632,1118.286,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,388.926,412.757,392.429,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28580,570
$CAP_FILE_SIZE,81547,0
$CFSIZE,254472192,243503104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,230909,182330,6401.293,-1307.697,36,2.0,42,-12.5