version: 66.04
glider: 5
mission: 7
dive: 36
start: 9 3 109 5 45 43
data:
$ID,5
$MISSION,7
$DIVE,36
$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,-100925.8
$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,21
$R_STBD_OVSHOOT,37
$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
$GPS1,054026,6126.124,-849.670,12,2.0,12,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-65.5
$GPS2,054450,6126.124,-849.649,13,1.9,13,-9.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.263,-0.014
$KALMAN_X,-32891.4,-2147.0,-852.4,27303.6,16733.5
$KALMAN_Y,37774.1,1862.8,1007.9,-60102.5,-17737.5
$MHEAD_RNG_PITCHd_Wd,276.0,41424,-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,-41.05,0.000,2,0.000,0.000,421,2159,2472
$GC,62,-1.44,-146.6,2.1,-4.5,2,118,10.88,2.65,-38.40,0.000,4,0.156,0.074,2422,717,3429
$GC,306,-1.36,-146.6,35.0,-15.9,13,311,0.12,2.47,0.00,0.000,6,0.104,0.047,2447,2128,3429
$GC,633,-1.36,-146.6,75.3,-10.0,29,638,0.00,2.55,0.00,0.000,4,0.000,0.067,2448,3535,3429
$GC,662,-1.31,-146.6,78.8,-11.9,30,666,0.00,2.50,0.00,0.000,6,0.000,0.049,2447,2121,3430
$GC,978,-1.31,-146.6,117.0,-11.8,45,982,0.00,2.58,0.00,0.000,4,0.000,0.065,2447,3534,3430
$GC,1045,-1.31,-146.6,125.4,-12.4,48,1049,0.00,2.47,0.00,0.000,6,0.000,0.049,2448,2133,3430
$GC,1365,-1.31,-146.6,164.8,-12.8,64,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2120,3431
$GC,1675,-1.31,-146.6,206.4,-13.7,79,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2119,3430
$GC,1984,-1.31,-146.6,250.1,-14.2,94,1988,0.00,2.58,0.00,0.000,4,0.000,0.069,2448,3536,3430
$GC,2011,-1.31,-146.6,254.2,-15.1,95,2015,0.00,2.47,0.00,0.000,6,0.000,0.053,2448,2141,3430
$GC,2327,-1.31,-146.6,298.7,-14.0,110,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2128,3430
$GC,2636,-1.31,-146.6,342.0,-14.1,125,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2128,3430
$STATE,2922,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2922,begin apogee
$GC,2930,-0.33,0.0,380.3,13.2,139,3054,1.02,0.00,121.32,1.031,6,0.077,0.000,2669,1901,2831
$STATE,3055,end apogee,CONTROL_FINISHED_OK
$STATE,3055,begin climb
$GC,3058,1.44,146.6,385.4,0.0,145,3188,1.75,2.58,120.88,0.995,4,0.054,0.070,3058,516,2232
$GC,3246,1.27,161.3,377.0,9.3,154,3267,0.20,2.50,13.65,0.897,6,0.093,0.050,3020,1924,2172
$GC,3591,1.35,209.2,349.6,7.8,171,3637,0.00,2.62,40.25,0.960,4,0.000,0.069,3020,523,1977
$GC,3688,1.36,220.1,340.8,9.5,175,3703,0.00,2.47,10.18,0.858,6,0.000,0.049,3020,1912,1933
$GC,4033,1.44,238.9,308.9,9.1,192,4052,0.17,0.00,16.83,0.910,6,0.051,0.000,3066,1915,1857
$GC,4362,1.37,238.9,269.6,12.5,208,4367,0.12,2.58,0.00,0.000,4,0.097,0.071,3042,524,1856
$GC,4412,1.32,238.9,263.5,11.7,210,4417,0.00,2.42,0.00,0.000,6,0.000,0.050,3042,1900,1856
$GC,4728,1.32,238.9,229.0,10.8,225,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1902,1856
$GC,5038,1.32,238.9,196.5,10.3,240,5042,0.00,2.53,0.00,0.000,4,0.000,0.069,3042,524,1856
$GC,5071,1.27,238.9,192.7,10.7,241,5078,0.12,2.42,0.00,0.000,6,0.095,0.049,3018,1904,1856
$GC,5388,1.38,262.1,164.1,8.9,257,5410,0.12,0.00,19.73,0.859,6,0.054,0.000,3052,1916,1762
$GC,5717,1.38,262.1,122.8,13.2,273,5721,0.00,2.53,0.00,0.000,4,0.000,0.070,3052,524,1762
$GC,5744,1.33,262.1,119.0,14.0,274,5749,0.00,2.42,0.00,0.000,6,0.000,0.050,3052,1901,1762
$GC,6061,1.33,262.1,80.9,11.3,289,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1915,1762
$GC,6370,1.33,262.1,45.3,11.8,304,6374,0.00,2.53,0.00,0.000,4,0.000,0.062,3052,3329,1762
$GC,6403,1.37,262.1,41.3,11.8,305,6410,0.00,2.53,0.00,0.000,6,0.000,0.052,3052,1901,1762
$GC,6720,1.37,262.1,6.9,11.0,321,6724,0.00,2.55,0.00,0.000,4,0.000,0.061,3052,3322,1762
$STATE,6750,end climb,SURFACE_DEPTH_REACHED
$STATE,6750,begin surface coast
$FINISH,0.9,1.026701
$STATE,6767,end surface coast,CONTROL_FINISHED_OK
$STATE,6768,begin surface
$SM_CCo,6793,19.98,0.754,0,0,1608,300.00
$SM_GC,1.00,0.00,0.00,19.98,0.000,0.000,0.754,420,2116,1608,-10.70,-0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1833
$TCM_TEMP,19.50
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,321.9,65.7
$24V_AH,23.9,8.114
$10V_AH,10.1,3.985
$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,25.900,55.500,342.825,19.975,0.000,37.758,32.279,97.148,5.250,0.000,0.000,15.292,626.701,4955.793,433.592,757.649,317.373,33.341,843.834,0.000,744.104,0.000,18.821,0.000
$DEVICE_MAMPS,156.468,73.632,1030.848,753.961,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,219.491,238.761,275.087,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15954,323
$CAP_FILE_SIZE,55981,0
$CFSIZE,254472192,249987072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,030909,074041,6126.371,-851.915,45,1.4,45,-9.1