version: 66.04
glider: 5
mission: 7
dive: 209
start: 10 3 109 2 26 18
data:
$ID,5
$MISSION,7
$DIVE,209
$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,-104243.95
$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,15
$R_STBD_OVSHOOT,16
$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
$GPS1,022025,6402.229,-1311.249,39,1.8,41,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-40.8
$GPS2,022530,6402.180,-1311.364,34,1.1,38,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.234,-0.074
$KALMAN_X,-29726.2,-411.9,-1802.9,-207111.7,69193.6
$KALMAN_Y,-22289.0,1354.8,189.0,290332.4,1621.5
$MHEAD_RNG_PITCHd_Wd,265.0,24361,-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,-146.6,0.0,0.0,0,113,0.00,0.00,-95.60,0.000,2,0.000,0.000,423,2131,2300
$GC,117,-1.22,-146.6,2.0,-1.1,5,205,10.95,2.60,-71.32,0.000,4,0.153,0.080,2474,3546,3429
$GC,398,-1.12,-146.6,29.8,-17.1,18,403,0.12,2.55,0.00,0.000,6,0.101,0.051,2499,2115,3429
$GC,725,-1.12,-146.6,76.3,-13.9,34,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2089,3429
$GC,1036,-1.05,-146.6,107.0,-6.7,49,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2101,3429
$GC,1344,-1.05,-146.6,136.0,-8.6,64,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2084,3429
$GC,1664,-1.05,-146.6,154.8,-3.0,81,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2086,3429
$GC,1977,-1.05,-146.6,188.8,-14.6,101,1981,0.00,2.50,0.00,0.000,4,0.000,0.063,2499,714,3429
$GC,2034,-1.05,-146.6,197.7,-14.1,104,2040,0.00,2.55,0.00,0.000,6,0.000,0.050,2499,2152,3429
$GC,2353,-1.05,-146.6,235.5,-11.6,125,2357,0.00,2.62,0.00,0.000,4,0.000,0.064,2499,713,3429
$GC,2399,-1.05,-146.6,240.2,-11.1,128,2403,0.00,2.53,0.00,0.000,6,0.000,0.051,2499,2128,3429
$GC,2723,-1.05,-146.6,287.8,-22.5,149,2728,0.00,2.58,0.00,0.000,4,0.000,0.067,2499,723,3430
$GC,2758,-1.05,-146.6,296.4,-25.5,151,2762,0.00,2.50,0.00,0.000,6,0.000,0.052,2499,2126,3429
$GC,3080,-1.05,-146.6,368.5,-21.3,171,3084,0.00,2.58,0.00,0.000,4,0.000,0.069,2499,723,3429
$STATE,3099,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3099,begin apogee
$GC,3108,-0.33,0.0,374.0,21.8,172,3239,0.75,0.00,127.30,1.034,6,0.078,0.000,2665,1868,2831
$STATE,3240,end apogee,CONTROL_FINISHED_OK
$STATE,3240,begin climb
$GC,3243,1.22,146.6,394.7,0.0,181,3374,1.55,0.00,126.00,1.014,6,0.061,0.000,3006,1868,2233
$GC,3681,1.40,282.9,415.9,3.1,209,3803,0.20,0.00,116.82,1.007,6,0.048,0.000,3058,1868,1677
$GC,4115,1.47,417.6,349.7,3.1,237,4240,0.00,2.72,114.75,0.969,4,0.000,0.074,3058,450,1128
$GC,4302,1.47,417.6,322.0,14.1,248,4308,0.00,2.53,0.00,0.000,6,0.000,0.052,3058,1848,1128
$GC,4621,1.43,417.6,280.8,14.1,269,4626,0.00,2.62,0.00,0.000,4,0.000,0.073,3058,446,1129
$GC,4661,1.35,417.6,275.3,13.8,271,4667,0.00,2.50,0.00,0.000,6,0.000,0.052,3058,1840,1129
$GC,4981,1.32,417.6,229.7,17.6,292,4986,0.15,2.55,0.00,0.000,4,0.091,0.061,3029,3259,1129
$GC,5014,1.39,417.6,225.0,12.2,294,5019,0.00,2.58,0.00,0.000,6,0.000,0.060,3029,1851,1129
$GC,5334,1.39,417.6,178.9,14.7,314,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1850,1129
$GC,5645,1.39,417.6,130.9,15.4,332,5649,0.00,2.58,0.00,0.000,4,0.000,0.060,3029,3265,1129
$GC,5672,1.45,417.6,126.6,15.1,333,5677,0.15,2.55,0.00,0.000,6,0.054,0.054,3070,1854,1129
$GC,5989,1.41,417.6,70.3,15.4,348,5994,0.00,2.55,0.00,0.000,4,0.000,0.070,3070,432,1129
$GC,6023,1.32,417.6,65.2,13.9,349,6030,0.20,2.53,0.00,0.000,6,0.087,0.050,3030,1861,1129
$GC,6340,1.32,417.6,30.5,12.8,365,6344,0.00,2.62,0.00,0.000,4,0.000,0.070,3030,436,1129
$GC,6373,1.35,417.6,25.7,13.0,366,6380,0.00,2.50,0.00,0.000,6,0.000,0.049,3029,1852,1128
$STATE,6625,end climb,SURFACE_DEPTH_REACHED
$STATE,6625,begin surface coast
$FINISH,0.5,1.013467
$STATE,6647,end surface coast,CONTROL_FINISHED_OK
$STATE,6647,begin surface
$SM_CCo,6731,0.00,0.000,0,0,1128,417.75
$SM_GC,1.20,11.30,0.00,0.00,0.037,0.000,0.000,421,2135,1128,-10.60,0.20,417.75
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1823
$TCM_TEMP,17.20
$XPDR_PINGS,28
$ALTIM_BOTTOM_PING,321.8,62.1
$24V_AH,23.9,36.376
$10V_AH,10.1,16.516
$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,25.375,56.375,484.875,0.000,0.000,37.758,28.192,110.601,9.750,0.000,0.000,41.233,664.498,4562.944,581.283,889.752,342.889,33.344,1072.451,0.000,841.101,0.000,22.375,0.000
$DEVICE_MAMPS,152.633,79.768,1033.916,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,256.563,277.359,310.099,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19190,380
$CAP_FILE_SIZE,57401,0
$CFSIZE,254472192,240214016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031009,041936,6400.746,-1315.220,30,1.2,31,-12.6