version: 66.04
glider: 5
mission: 7
dive: 37
start: 9 3 109 7 49 17
data:
$ID,5
$MISSION,7
$DIVE,37
$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,-100942.02
$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,19
$R_STBD_OVSHOOT,28
$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
$GPS1,074041,6126.371,-851.915,45,1.4,45,-9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-65.3
$GPS2,074826,6126.342,-851.957,15,0.9,15,-9.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.167,0.204
$KALMAN_X,-31799.6,-1949.9,-750.1,23867.7,18142.0
$KALMAN_Y,40623.0,2231.7,876.3,-62798.3,-12399.2
$MHEAD_RNG_PITCHd_Wd,329.8,40026,-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,13,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,69,0.00,0.00,-51.17,0.000,2,0.000,0.000,420,2112,2709
$GC,73,-1.44,-146.6,2.7,-3.2,3,116,11.02,2.60,-23.48,0.000,4,0.163,0.075,2422,3530,3430
$GC,370,-1.31,-146.6,49.2,-14.8,16,375,0.17,2.50,0.00,0.000,6,0.094,0.047,2458,2111,3431
$GC,693,-1.31,-146.6,88.0,-12.5,32,697,0.00,2.60,0.00,0.000,4,0.000,0.064,2458,3536,3431
$GC,778,-1.31,-146.6,98.5,-12.5,36,782,0.00,2.50,0.00,0.000,6,0.000,0.048,2458,2116,3431
$GC,1105,-1.31,-146.6,139.9,-12.9,52,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2114,3431
$GC,1413,-1.31,-146.6,177.7,-12.1,67,1418,0.00,2.60,0.00,0.000,4,0.000,0.067,2458,3537,3431
$GC,1502,-1.31,-146.6,188.6,-12.4,71,1507,0.00,2.50,0.00,0.000,6,0.000,0.050,2458,2123,3431
$GC,1824,-1.31,-146.6,228.1,-12.6,87,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2112,3432
$GC,2133,-1.31,-146.6,267.2,-12.1,102,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2109,3431
$GC,2442,-1.31,-146.6,305.4,-12.7,117,2447,0.00,2.58,0.00,0.000,4,0.000,0.070,2458,3536,3431
$GC,2505,-1.31,-146.6,313.6,-13.1,120,2509,0.00,2.50,0.00,0.000,6,0.000,0.055,2458,2133,3431
$GC,2832,-1.31,-146.6,354.2,-12.5,136,2836,0.00,2.58,0.00,0.000,4,0.000,0.071,2458,3531,3431
$GC,2871,-1.31,-146.6,359.1,-12.7,138,2876,0.00,2.50,0.00,0.000,6,0.000,0.056,2458,2130,3431
$GC,3199,-1.31,-146.6,399.1,-12.3,154,3203,0.00,2.50,0.00,0.000,4,0.000,0.067,2458,721,3431
$STATE,3206,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3206,begin apogee
$GC,3216,-0.33,0.0,400.5,12.2,154,3343,0.95,0.00,121.68,1.045,6,0.075,0.000,2669,1933,2831
$STATE,3343,end apogee,CONTROL_FINISHED_OK
$STATE,3343,begin climb
$GC,3346,1.44,146.6,406.3,0.0,161,3472,1.77,0.00,120.75,1.010,6,0.053,0.000,3059,1933,2233
$GC,3775,1.38,166.6,375.9,9.1,182,3798,0.00,2.70,17.90,0.934,4,0.000,0.068,3058,508,2150
$GC,3930,1.21,166.6,359.9,10.7,188,3937,0.25,2.50,0.00,0.000,6,0.090,0.048,3011,1921,2151
$GC,4246,1.34,211.8,334.4,7.9,204,4287,0.12,0.00,37.97,0.970,6,0.054,0.000,3044,1933,1967
$GC,4595,1.34,211.8,298.6,10.2,221,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1933,1967
$GC,4905,1.34,211.8,266.6,10.6,236,4909,0.00,2.60,0.00,0.000,4,0.000,0.071,3045,510,1967
$GC,4977,1.26,211.8,258.0,11.8,239,4982,0.15,2.47,0.00,0.000,6,0.092,0.049,3016,1914,1966
$GC,5294,1.32,211.8,226.7,10.1,254,5298,0.00,2.58,0.00,0.000,4,0.000,0.071,3016,514,1966
$GC,5334,1.32,211.8,222.2,10.9,256,5338,0.00,2.47,0.00,0.000,6,0.000,0.051,3016,1916,1966
$GC,5661,1.39,211.8,187.9,10.7,272,5662,0.15,0.00,0.00,0.000,6,0.052,0.000,3056,1927,1966
$GC,5970,1.34,211.8,151.6,11.3,287,5974,0.00,2.58,0.00,0.000,4,0.000,0.070,3056,510,1966
$GC,6020,1.23,211.8,145.8,10.8,289,6025,0.22,2.47,0.00,0.000,6,0.088,0.049,3012,1917,1966
$GC,6338,1.39,256.3,119.9,8.0,304,6381,0.15,0.00,35.88,0.857,6,0.051,0.000,3053,1929,1786
$GC,6692,1.39,256.3,79.2,12.0,321,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1930,1786
$GC,7000,1.39,256.3,42.6,12.0,336,7004,0.00,2.58,0.00,0.000,4,0.000,0.067,3053,512,1786
$GC,7040,1.34,256.3,37.7,12.4,338,7045,0.00,2.47,0.00,0.000,6,0.000,0.048,3053,1921,1786
$GC,7368,1.34,256.3,3.0,10.6,354,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1936,1785
$STATE,7385,end climb,SURFACE_DEPTH_REACHED
$STATE,7385,begin surface coast
$FINISH,0.4,1.016667
$STATE,7407,end surface coast,CONTROL_FINISHED_OK
$STATE,7407,begin surface
$SM_CCo,7431,22.62,0.758,0,0,1608,300.00
$SM_GC,0.90,0.00,0.00,22.62,0.000,0.000,0.758,423,2144,1608,-10.68,0.40,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1837
$TCM_TEMP,17.70
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,320.7,89.8
$24V_AH,23.9,8.229
$10V_AH,10.1,4.029
$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,26.325,55.850,334.175,22.625,0.000,75.515,52.963,170.455,5.250,0.000,0.000,15.594,693.374,5488.027,449.766,840.208,460.251,33.341,881.134,0.000,821.033,0.000,21.655,0.000
$DEVICE_MAMPS,162.604,75.166,1045.421,757.796,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,242.348,264.732,294.068,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15948,356
$CAP_FILE_SIZE,61472,0
$CFSIZE,254472192,249946112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,030909,095454,6127.521,-853.259,25,1.6,43,-9.1