version: 66.04
glider: 5
mission: 7
dive: 39
start: 9 3 109 12 18 47
data:
$ID,5
$MISSION,7
$DIVE,39
$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,-100967.63
$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,45
$R_STBD_OVSHOOT,31
$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
$GPS1,121331,6128.330,-855.443,39,1.8,39,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-64.3
$GPS2,121756,6128.367,-855.529,8,1.5,8,-9.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.252,0.076
$KALMAN_X,-33460.8,-457.7,-806.3,20948.2,11109.1
$KALMAN_Y,39445.7,1635.5,629.4,-57006.5,-12481.5
$MHEAD_RNG_PITCHd_Wd,296.0,35217,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.80,0.000,2,0.000,0.000,421,2150,2921
$GC,82,-1.44,-146.6,3.3,-4.9,3,113,11.05,2.53,-13.82,0.000,4,0.165,0.079,2420,3544,3430
$GC,366,-1.33,-146.6,50.8,-16.9,15,374,0.15,2.47,0.00,0.000,6,0.101,0.048,2451,2141,3431
$GC,684,-1.33,-146.6,93.0,-12.1,31,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2129,3431
$GC,992,-1.33,-146.6,129.7,-11.8,46,996,0.00,2.53,0.00,0.000,4,0.000,0.064,2451,717,3431
$GC,1054,-1.33,-146.6,137.5,-12.6,49,1059,0.00,2.47,0.00,0.000,6,0.000,0.050,2451,2125,3432
$GC,1381,-1.33,-146.6,179.8,-13.0,65,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2125,3431
$GC,1691,-1.33,-146.6,218.7,-12.7,80,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2127,3432
$GC,2000,-1.33,-146.6,258.1,-12.6,95,2004,0.00,2.53,0.00,0.000,4,0.000,0.066,2452,720,3432
$GC,2040,-1.37,-146.6,263.2,-13.4,97,2044,0.00,2.47,0.00,0.000,6,0.000,0.051,2452,2129,3432
$GC,2366,-1.37,-146.6,303.3,-12.2,113,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2129,3432
$GC,2675,-1.37,-146.6,342.4,-12.9,128,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2129,3432
$GC,2985,-1.37,-146.6,381.5,-12.5,143,2989,0.00,2.58,0.00,0.000,4,0.000,0.076,2452,3538,3431
$GC,3018,-1.37,-146.6,385.8,-12.7,144,3024,0.00,2.55,0.00,0.000,6,0.000,0.058,2452,2115,3431
$STATE,3269,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3269,begin apogee
$GC,3276,-0.33,0.0,417.1,12.2,157,3402,1.02,0.00,121.80,1.059,6,0.080,0.000,2674,1900,2831
$STATE,3402,end apogee,CONTROL_FINISHED_OK
$STATE,3402,begin climb
$GC,3405,1.44,146.6,422.1,0.0,163,3532,1.73,0.00,121.12,1.025,6,0.052,0.000,3057,1900,2233
$GC,3838,1.39,174.2,392.4,8.7,184,3865,0.00,0.00,24.15,0.968,6,0.000,0.000,3057,1900,2120
$GC,4167,1.32,186.2,361.1,9.5,200,4189,0.12,2.70,11.43,0.896,4,0.100,0.064,3035,3324,2071
$GC,4223,1.34,200.1,355.7,9.4,202,4243,0.00,2.53,12.82,0.910,6,0.000,0.059,3035,1936,2014
$GC,4565,1.35,201.6,322.3,9.9,219,4570,0.00,2.60,0.00,0.000,4,0.000,0.072,3035,510,2014
$GC,4600,1.27,201.6,318.6,10.7,220,4606,0.00,2.50,0.00,0.000,6,0.000,0.051,3034,1930,2014
$GC,4916,1.27,201.6,285.4,10.7,236,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1930,2014
$GC,5225,1.27,201.6,252.3,10.5,251,5229,0.00,2.60,0.00,0.000,4,0.000,0.071,3035,513,2014
$GC,5281,1.21,201.6,245.8,11.2,253,5288,0.15,2.47,0.00,0.000,6,0.094,0.049,3006,1918,2014
$GC,5598,1.34,233.8,217.8,8.5,269,5628,0.15,0.00,28.38,0.913,6,0.054,0.000,3045,1926,1877
$GC,5926,1.34,233.8,183.1,10.6,285,5930,0.00,2.58,0.00,0.000,4,0.000,0.070,3045,510,1877
$GC,5989,1.28,233.8,176.1,11.6,288,5993,0.00,2.47,0.00,0.000,6,0.000,0.050,3046,1916,1877
$GC,6316,1.28,233.8,140.1,11.1,304,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1917,1877
$GC,6625,1.28,233.8,105.3,11.7,319,6630,0.00,2.58,0.00,0.000,4,0.000,0.069,3045,512,1877
$GC,6766,1.23,233.8,87.4,12.8,325,6771,0.17,2.45,0.00,0.000,6,0.089,0.048,3011,1909,1877
$GC,7083,1.35,244.0,54.6,9.5,340,7098,0.12,2.60,9.55,0.747,4,0.057,0.071,3045,508,1836
$GC,7214,1.35,244.0,39.3,11.5,345,7218,0.00,2.40,0.00,0.000,6,0.000,0.048,3045,1884,1836
$GC,7548,1.38,261.1,7.3,9.2,361,7570,0.00,2.53,14.35,0.751,4,0.000,0.064,3045,508,1766
$STATE,7591,end climb,SURFACE_DEPTH_REACHED
$STATE,7591,begin surface coast
$FINISH,0.5,1.026706
$STATE,7615,end surface coast,CONTROL_FINISHED_OK
$STATE,7615,begin surface
$SM_CCo,7641,20.27,0.762,0,0,1608,300.00
$SM_GC,1.02,0.00,0.00,20.27,0.000,0.000,0.762,420,2148,1608,-10.70,0.48,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1853
$TCM_TEMP,16.80
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,371.2,54.3
$24V_AH,23.9,8.449
$10V_AH,10.1,4.116
$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,26.100,56.375,343.600,20.275,0.000,37.758,27.769,104.760,7.500,0.000,0.000,11.146,704.142,5595.783,454.112,856.772,327.320,33.346,901.027,0.000,842.450,0.000,21.957,0.000
$DEVICE_MAMPS,164.905,79.001,1059.227,761.631,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,247.675,268.559,287.173,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19074,364
$CAP_FILE_SIZE,60588,0
$CFSIZE,254472192,249880576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,030909,142737,6128.332,-859.411,28,1.6,28,-9.2