version: 66.04
glider: 5
mission: 7
dive: 34
start: 9 3 109 1 36 0
data:
$ID,5
$MISSION,7
$DIVE,34
$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,-100897.2
$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,22
$R_STBD_OVSHOOT,35
$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
$GPS1,012731,6126.099,-844.254,39,1.1,39,-9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-66.4
$GPS2,013508,6126.113,-844.255,11,1.4,11,-9.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.255,-0.066
$KALMAN_X,-32692.1,-1323.9,-1100.0,31277.8,16265.5
$KALMAN_Y,39617.9,-78.2,238.2,-59245.1,-13162.3
$MHEAD_RNG_PITCHd_Wd,264.6,44157,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.44,-146.6,0.0,0.0,0,61,0.00,0.00,-41.97,0.000,2,0.000,0.000,422,2143,2497
$GC,65,-1.44,-146.6,2.1,-3.4,2,118,10.90,2.60,-36.58,0.000,4,0.158,0.071,2425,715,3428
$GC,222,-1.33,-146.6,21.5,-17.8,9,227,0.15,2.47,0.00,0.000,6,0.099,0.048,2454,2121,3428
$GC,544,-1.33,-146.6,70.6,-15.6,25,548,0.00,2.53,0.00,0.000,4,0.000,0.061,2454,716,3428
$GC,610,-1.33,-146.6,81.2,-15.5,28,615,0.00,2.42,0.00,0.000,6,0.000,0.046,2455,2100,3428
$GC,932,-1.33,-146.6,126.4,-14.1,44,937,0.00,2.50,0.00,0.000,4,0.000,0.066,2455,714,3429
$GC,966,-1.33,-146.6,131.5,-15.0,45,972,0.00,2.42,0.00,0.000,6,0.000,0.048,2455,2094,3429
$GC,1282,-1.33,-146.6,174.5,-13.1,61,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2095,3429
$GC,1591,-1.33,-146.6,213.4,-12.4,76,1596,0.00,2.62,0.00,0.000,4,0.000,0.069,2455,3537,3429
$GC,1643,-1.33,-146.6,220.1,-12.5,78,1647,0.00,2.58,0.00,0.000,6,0.000,0.053,2455,2093,3429
$GC,1958,-1.33,-146.6,258.4,-12.4,93,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2079,3429
$GC,2269,-1.33,-146.6,296.6,-12.3,108,2273,0.00,2.65,0.00,0.000,4,0.000,0.071,2455,3537,3429
$GC,2301,-1.33,-146.6,301.1,-13.1,109,2307,0.00,2.58,0.00,0.000,6,0.000,0.055,2455,2096,3429
$GC,2617,-1.33,-146.6,340.2,-11.7,125,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2083,3429
$GC,2927,-1.33,-146.6,378.1,-11.7,140,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2071,3428
$STATE,3048,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3048,begin apogee
$GC,3056,-0.33,0.0,392.8,11.8,146,3180,0.95,0.00,121.32,1.046,6,0.053,0.000,2676,1887,2831
$STATE,3181,end apogee,CONTROL_FINISHED_OK
$STATE,3181,begin climb
$GC,3184,1.44,146.6,392.6,0.0,152,3316,1.70,2.67,121.15,1.008,4,0.050,0.061,3057,3326,2232
$GC,3336,1.47,225.9,389.9,6.4,159,3408,0.00,2.55,65.88,0.977,6,0.000,0.058,3057,1929,1909
$GC,3720,1.40,225.9,343.5,13.0,177,3724,0.00,2.60,0.00,0.000,4,0.000,0.071,3057,507,1909
$GC,3748,1.28,225.9,339.7,12.6,178,3753,0.17,2.53,0.00,0.000,6,0.092,0.049,3024,1940,1909
$GC,4064,1.28,225.9,307.7,10.3,193,4068,0.00,2.65,0.00,0.000,4,0.000,0.074,3024,507,1908
$GC,4126,1.28,225.9,300.8,11.4,196,4130,0.00,2.47,0.00,0.000,6,0.000,0.050,3024,1911,1908
$GC,4453,1.28,225.9,266.4,10.9,212,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1911,1907
$GC,4762,1.28,225.9,233.0,10.8,227,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1918,1907
$GC,5071,1.28,226.8,200.7,10.0,242,5076,0.00,2.58,0.00,0.000,4,0.000,0.074,3024,513,1907
$GC,5122,1.28,226.8,195.4,10.5,244,5126,0.00,2.45,0.00,0.000,6,0.000,0.050,3024,1904,1907
$GC,5438,1.31,245.7,166.6,9.1,259,5460,0.00,2.65,17.30,0.859,4,0.000,0.063,3024,3324,1828
$GC,5489,1.39,245.7,161.7,10.1,261,5494,0.10,2.55,0.00,0.000,6,0.058,0.054,3053,1911,1828
$GC,5811,1.39,245.7,126.0,11.4,277,5815,0.00,2.58,0.00,0.000,4,0.000,0.063,3053,3332,1829
$GC,5838,1.39,245.7,122.7,12.0,278,5842,0.00,2.53,0.00,0.000,6,0.000,0.054,3053,1915,1828
$GC,6154,1.39,245.7,87.6,10.7,293,6159,0.00,2.55,0.00,0.000,4,0.000,0.071,3053,509,1828
$GC,6188,1.32,245.7,83.7,11.4,294,6195,0.12,2.47,0.00,0.000,6,0.094,0.050,3030,1924,1828
$GC,6505,1.38,248.5,54.5,9.9,310,6511,0.00,0.00,3.95,0.561,6,0.000,0.000,3030,1925,1817
$GC,6816,1.46,256.4,23.6,9.6,325,6830,0.15,2.65,8.00,0.711,4,0.050,0.071,3071,509,1785
$GC,6907,1.38,256.4,12.6,12.7,329,6912,0.15,2.45,0.00,0.000,6,0.091,0.048,3042,1905,1785
$STATE,7004,end climb,SURFACE_DEPTH_REACHED
$STATE,7004,begin surface coast
$FINISH,0.4,1.015984
$STATE,7026,end surface coast,CONTROL_FINISHED_OK
$STATE,7026,begin surface
$SM_CCo,7050,22.60,0.761,0,0,1607,300.00
$SM_GC,0.96,0.00,0.00,22.60,0.000,0.000,0.761,418,2168,1607,-10.70,1.02,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1827
$TCM_TEMP,17.70
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,320.1,80.9
$24V_AH,23.9,7.898
$10V_AH,10.1,3.906
$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,25.700,66.950,337.600,22.600,0.000,75.516,54.199,167.319,6.750,0.000,0.000,11.723,657.463,5206.357,433.609,783.781,460.568,33.342,867.533,0.000,768.666,0.000,19.284,0.000
$DEVICE_MAMPS,158.002,73.632,1046.188,760.864,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,227.984,248.757,282.075,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15964,335
$CAP_FILE_SIZE,63349,0
$CFSIZE,254472192,250044416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,030909,033506,6125.296,-847.348,32,1.3,32,-9.1