version: 66.04
glider: 5
mission: 7
dive: 73
start: 9 9 109 16 7 17
data:
$ID,5
$MISSION,7
$DIVE,73
$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,550
$T_MISSION,560
$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,-101646.59
$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,0.40000001
$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,18
$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
$GPS1,160136,6212.212,-945.510,30,0.9,30,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-64.7
$GPS2,160625,6212.218,-945.525,11,1.5,11,-9.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.214,-0.055
$KALMAN_X,-81205.3,-1022.6,4186.2,20254.4,46847.3
$KALMAN_Y,42099.1,-507.3,2983.5,21387.7,28485.4
$MHEAD_RNG_PITCHd_Wd,265.4,42973,-11.0,-6.000
$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,16,-0.97,-146.6,0.0,0.0,0,54,0.00,0.00,-36.15,0.000,2,0.000,0.000,421,2136,2386
$GC,57,-0.97,-146.6,2.1,-2.1,2,121,11.73,2.62,-43.00,0.000,4,0.166,0.072,2524,715,3430
$GC,139,0.44,-146.6,6.3,-8.2,5,146,1.48,2.53,0.00,0.000,6,0.067,0.045,2840,2146,3430
$GC,457,0.44,-146.6,31.5,-6.7,21,461,0.00,2.60,0.00,0.000,4,0.000,0.058,2841,707,3431
$GC,547,0.44,-146.6,37.9,-5.8,25,551,0.00,2.78,0.00,0.000,6,0.000,0.044,2840,2286,3431
$GC,869,0.44,-146.6,57.0,-6.4,41,873,0.00,2.25,0.00,0.000,4,0.000,0.063,2840,3539,3432
$GC,919,0.44,-146.6,60.7,-7.0,43,923,0.00,1.92,0.00,0.000,6,0.000,0.041,2840,2416,3432
$GC,1241,0.44,-146.6,88.2,-9.0,59,1245,0.00,2.05,0.00,0.000,4,0.000,0.064,2841,3545,3433
$GC,1253,0.44,-146.6,89.2,-8.7,59,1256,0.00,2.00,0.00,0.000,6,0.000,0.044,2841,2399,3433
$GC,1575,0.44,-146.6,114.2,-7.4,75,1580,0.00,3.00,0.00,0.000,4,0.000,0.057,2840,706,3433
$GC,1603,0.44,-146.6,116.2,-6.4,76,1607,0.00,2.70,0.00,0.000,6,0.000,0.043,2840,2248,3433
$STATE,1895,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1895,begin apogee
$GC,1903,-0.33,0.0,136.3,6.7,90,2028,0.80,0.00,120.90,0.856,6,0.058,0.000,2666,1899,2831
$STATE,2029,end apogee,CONTROL_FINISHED_OK
$STATE,2029,begin climb
$GC,2032,0.97,146.6,142.8,0.0,96,2160,1.30,2.58,119.62,0.828,4,0.054,0.061,2955,520,2233
$GC,2194,-0.52,183.0,139.4,5.0,103,2235,1.52,2.50,30.48,0.791,6,0.070,0.043,2631,1951,2085
$GC,2560,-0.47,216.7,121.0,5.1,121,2595,0.00,2.53,28.60,0.793,4,0.000,0.058,2631,3301,1947
$GC,2613,-0.40,258.4,118.2,4.9,123,2655,0.12,3.00,34.80,0.795,6,0.064,0.051,2662,1652,1777
$GC,2980,-0.40,258.4,96.3,6.4,141,2984,0.00,2.03,0.00,0.000,4,0.000,0.067,2662,516,1777
$GC,3053,-0.40,258.4,91.1,6.4,144,3057,0.00,1.80,0.00,0.000,6,0.000,0.045,2662,1567,1777
$GC,3381,-0.40,258.4,70.7,6.4,160,3386,0.00,3.12,0.00,0.000,4,0.000,0.056,2662,3303,1777
$GC,3468,-0.40,258.4,64.7,6.8,164,3473,0.00,3.10,0.00,0.000,6,0.000,0.051,2662,1584,1777
$GC,3797,-0.40,258.4,42.0,6.0,180,3801,0.00,1.88,0.00,0.000,4,0.000,0.067,2662,526,1777
$GC,3876,-0.40,260.8,37.3,5.9,183,3888,0.00,1.77,4.03,0.531,6,0.000,0.044,2662,1571,1767
$GC,4200,-0.34,298.1,20.0,5.0,199,4236,0.00,3.20,30.42,0.763,4,0.000,0.054,2662,3308,1615
$GC,4335,-0.29,325.4,12.9,5.3,204,4365,0.00,3.12,22.83,0.743,6,0.000,0.052,2662,1587,1504
$STATE,4514,end climb,SURFACE_DEPTH_REACHED
$STATE,4514,begin surface coast
$FINISH,0.8,1.015116
$STATE,4557,end surface coast,CONTROL_FINISHED_OK
$STATE,4557,begin surface
$SM_CCo,4640,0.00,0.000,0,0,1502,325.76
$SM_GC,1.64,9.68,0.00,0.00,0.033,0.000,0.000,420,2146,1502,-10.59,0.45,325.76
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1785
$TCM_TEMP,17.90
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,120.9,24.7
$24V_AH,24.0,14.797
$10V_AH,10.1,6.616
$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,26.625,56.625,391.675,0.000,0.000,37.756,26.646,119.118,2.250,0.000,0.000,11.913,459.376,3079.394,419.703,655.808,320.438,33.368,801.029,0.000,645.981,0.000,6.409,0.000
$DEVICE_MAMPS,165.672,72.098,855.972,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,145.077,158.448,370.221,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9637,215
$CAP_FILE_SIZE,47541,0
$CFSIZE,254472192,247926784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090909,172545,6212.206,-946.613,11,2.2,31,-9.9