version: 66.04
glider: 5
mission: 7
dive: 201
start: 10 2 109 14 37 45
data:
$ID,5
$MISSION,7
$DIVE,201
$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,-104039.46
$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,22
$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
$GPS1,143137,6400.807,-1317.144,58,1.3,58,-12.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-53.9
$GPS2,143656,6400.797,-1317.161,14,1.8,14,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P6
$TGT_LATLONG,6402.820,-1325.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.051,0.240
$KALMAN_X,-51791.5,212.9,-563.3,-192036.6,5394.3
$KALMAN_Y,-28444.4,1065.2,32.0,294359.2,-9340.7
$MHEAD_RNG_PITCHd_Wd,24.5,7728,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,61,0.00,0.00,-41.12,0.000,2,0.000,0.000,421,2151,2394
$GC,65,-1.22,-146.6,2.1,-1.9,2,123,11.23,2.60,-41.05,0.000,4,0.156,0.070,2469,709,3428
$GC,136,-1.04,-146.6,8.0,-14.9,4,141,0.22,2.53,0.00,0.000,6,0.097,0.049,2515,2129,3429
$GC,452,-1.04,-146.6,44.9,-11.3,19,456,0.00,2.55,0.00,0.000,4,0.000,0.064,2516,3541,3429
$GC,463,-1.04,-146.6,46.3,-11.1,19,469,0.00,2.50,0.00,0.000,6,0.000,0.049,2516,2139,3429
$GC,779,-1.04,-146.6,76.5,-9.3,35,784,0.00,2.58,0.00,0.000,4,0.000,0.063,2516,3541,3429
$GC,1037,-1.04,-146.6,103.2,-10.3,46,1044,0.00,2.47,0.00,0.000,6,0.000,0.049,2516,2147,3429
$GC,1355,-1.04,-146.6,131.2,-8.8,62,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2136,3429
$GC,1674,-1.04,-146.6,161.2,-10.6,79,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2136,3430
$GC,1986,-1.04,-146.6,198.7,-12.4,99,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2134,3430
$GC,2299,-1.04,-146.6,231.5,-9.6,119,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2134,3430
$GC,2611,-1.04,-146.6,261.2,-9.6,139,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2134,3429
$GC,2924,-1.04,-146.6,296.2,-11.8,159,2929,0.00,2.55,0.00,0.000,4,0.000,0.064,2516,719,3430
$GC,2992,-1.07,-146.6,304.4,-12.3,163,2996,0.00,2.55,0.00,0.000,6,0.000,0.051,2516,2154,3430
$GC,3311,-1.07,-146.6,338.5,-9.7,183,3315,0.00,2.62,0.00,0.000,4,0.000,0.063,2516,710,3430
$GC,3374,-1.12,-146.6,344.6,-9.9,187,3379,0.00,2.58,0.00,0.000,6,0.000,0.051,2516,2155,3430
$GC,3704,-1.12,-146.6,373.8,-9.1,208,3708,0.00,2.62,0.00,0.000,4,0.000,0.064,2516,711,3430
$GC,3793,-1.15,-146.6,382.1,-9.1,213,3799,0.00,2.53,0.00,0.000,6,0.000,0.051,2516,2134,3430
$GC,4112,-1.15,-146.6,410.5,-9.0,234,4117,0.00,2.58,0.00,0.000,4,0.000,0.064,2516,716,3430
$GC,4169,-1.20,-146.6,414.8,-8.2,237,4176,0.15,2.50,0.00,0.000,6,0.058,0.051,2475,2126,3430
$GC,4489,-1.14,-146.6,451.0,-11.1,258,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2126,3430
$GC,4801,-1.50,-146.6,454.1,-0.1,278,4806,0.22,2.60,0.00,0.000,4,0.051,0.070,2408,714,3429
$STATE,4882,end dive,NO_VERTICAL_VELOCITY
$STATE,4882,begin apogee
$GC,4892,-0.33,0.0,454.1,0.0,283,5024,1.12,0.00,126.22,1.123,6,0.053,0.000,2672,1864,2831
$STATE,5024,end apogee,CONTROL_FINISHED_OK
$STATE,5024,begin climb
$GC,5027,1.22,146.6,454.0,0.0,292,5161,1.50,2.65,124.70,1.092,4,0.052,0.068,3007,3255,2233
$GC,5420,1.21,162.1,428.0,7.4,315,5442,0.00,2.58,14.52,0.994,6,0.000,0.064,3007,1855,2170
$GC,5758,1.17,167.0,402.1,7.8,337,5769,0.00,2.65,5.72,0.832,4,0.000,0.067,3007,3262,2149
$GC,5804,1.21,212.4,399.0,6.4,339,5852,0.00,2.62,39.40,1.063,6,0.000,0.064,3007,1845,1965
$GC,6167,1.21,212.4,368.9,11.4,362,6172,0.00,2.58,0.00,0.000,4,0.000,0.074,3007,439,1964
$GC,6215,1.15,212.4,363.1,11.7,365,6219,0.00,2.55,0.00,0.000,6,0.000,0.055,3007,1854,1964
$GC,6540,1.15,212.4,330.9,11.2,386,6544,0.00,2.55,0.00,0.000,4,0.000,0.064,3008,3264,1964
$GC,6589,1.15,212.4,324.9,11.5,389,6594,0.00,2.58,0.00,0.000,6,0.000,0.058,3007,1851,1963
$GC,6908,1.15,212.4,293.2,9.1,409,6913,0.00,2.58,0.00,0.000,4,0.000,0.062,3007,3255,1964
$GC,6965,1.15,212.4,287.4,10.3,412,6971,0.00,2.55,0.00,0.000,6,0.000,0.055,3007,1844,1963
$GC,7284,1.15,212.4,256.7,10.0,433,7288,0.00,2.58,0.00,0.000,4,0.000,0.062,3007,3260,1963
$GC,7356,1.15,212.4,248.4,15.0,437,7362,0.00,2.53,0.00,0.000,6,0.000,0.055,3007,1860,1963
$GC,7676,1.11,212.4,206.5,13.7,458,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1847,1963
$GC,7988,1.18,253.6,179.6,6.5,478,8024,0.00,0.00,34.67,0.942,6,0.000,0.000,3007,1847,1797
$GC,8331,1.30,326.1,164.8,5.4,500,8393,0.00,0.00,60.47,0.932,6,0.000,0.000,3007,1847,1501
$GC,8713,1.34,326.1,133.1,9.2,522,8718,0.12,2.55,0.00,0.000,4,0.055,0.058,3043,3257,1502
$GC,8775,1.34,326.1,125.8,10.8,525,8780,0.00,2.47,0.00,0.000,6,0.000,0.051,3043,1878,1502
$GC,9103,1.34,326.1,92.5,9.5,541,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1878,1502
$GC,9412,1.34,326.1,65.3,9.8,556,9416,0.00,2.60,0.00,0.000,4,0.000,0.066,3043,434,1503
$GC,9457,1.29,326.1,59.9,12.9,558,9461,0.00,2.60,0.00,0.000,6,0.000,0.048,3043,1901,1503
$GC,9778,1.29,326.1,23.1,11.3,574,9779,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1919,1503
$STATE,9981,end climb,SURFACE_DEPTH_REACHED
$STATE,9981,begin surface coast
$FINISH,0.3,1.027123
$STATE,10003,end surface coast,CONTROL_FINISHED_OK
$STATE,10003,begin surface
$SM_CCo,10087,0.00,0.000,0,0,1503,325.76
$SM_GC,0.92,11.38,0.00,0.00,0.036,0.000,0.000,418,2154,1503,-10.61,0.68,325.76
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1825
$TCM_TEMP,16.90
$XPDR_PINGS,33
$ALTIM_BOTTOM_PING,395.5,86.1
$24V_AH,23.9,35.392
$10V_AH,10.1,16.236
$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,25.950,82.000,405.725,0.000,0.000,37.759,26.002,140.186,11.500,0.000,0.000,14.121,1035.483,7176.152,482.571,1290.717,418.915,33.355,1141.307,0.000,1265.328,0.000,24.023,0.000
$DEVICE_MAMPS,155.701,74.399,1122.888,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.180,427.932,399.704,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28638,585
$CAP_FILE_SIZE,81463,0
$CFSIZE,254472192,240414720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,021009,172724,6402.069,-1313.830,55,1.8,55,-12.6