version: 66.04
glider: 5
mission: 4
dive: 4
start: 10 15 108 21 47 21
data:
$ID,5
$MISSION,4
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,50
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$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,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,-85555.734
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2650
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2190
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,3240
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-24.906118
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$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,0.0043761111
$SEABIRD_T_H,0.00064345129
$SEABIRD_T_I,2.5632376e-05
$SEABIRD_T_J,2.7382036e-06
$SEABIRD_C_G,-10.188265
$SEABIRD_C_H,1.1432956
$SEABIRD_C_I,-0.00020702372
$SEABIRD_C_J,0.00012956691
$GPS1,214120,4807.840,-12223.227,14,1.2,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-68.4
$GPS2,214603,4807.865,-12223.222,11,1.4,11,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.051,-0.259
$KALMAN_X,-111.0,-79.5,-71.3,272.7,-46.8
$KALMAN_Y,476.2,326.4,272.0,-1165.0,194.1
$MHEAD_RNG_PITCHd_Wd,150.6,1625,-18.1,-10.000
$D_GRID,105
$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,-146.6,0.0,0.0,0,110,0.00,0.00,-92.53,0.000,2,0.000,0.000,428,2204,3220
$GC,114,-1.44,-146.6,3.2,-6.1,16,145,10.05,0.00,-16.35,0.000,6,0.146,0.000,2331,2203,3839
$GC,214,-1.44,-146.6,17.9,-13.7,33,219,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2203,3839
$GC,285,-1.44,-146.6,28.4,-14.7,41,286,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2203,3839
$GC,485,-1.44,-146.6,56.7,-14.1,58,490,0.00,2.53,0.00,0.000,4,0.000,0.067,2331,3595,3839
$GC,552,-1.44,-146.6,67.2,-15.9,61,557,0.00,2.53,0.00,0.000,6,0.000,0.050,2331,2184,3839
$STATE,820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,820,begin apogee
$GC,826,-0.33,0.0,105.7,13.7,76,944,1.15,0.00,114.10,0.828,6,0.091,0.000,2572,2165,3240
$STATE,945,end apogee,CONTROL_FINISHED_OK
$STATE,945,begin climb
$GC,948,1.44,146.6,110.1,0.0,88,1069,1.77,2.60,112.30,0.797,4,0.059,0.060,2960,782,2642
$GC,1099,1.44,146.6,93.8,15.9,100,1106,0.00,2.55,0.00,0.000,6,0.000,0.052,2960,2186,2642
$GC,1416,1.44,146.6,45.0,15.0,117,1420,0.00,2.58,0.00,0.000,4,0.000,0.064,2960,3603,2641
$GC,1449,1.44,146.6,39.5,16.1,119,1455,0.00,2.53,0.00,0.000,6,0.000,0.050,2960,2193,2641
$GC,1650,1.44,146.6,9.5,14.5,144,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2175,2641
$STATE,1699,end climb,SURFACE_DEPTH_REACHED
$STATE,1699,begin surface coast
$FINISH,1.9,1.020023
$STATE,1751,end surface coast,CONTROL_FINISHED_OK
$STATE,1751,begin surface
$SM_CCo,1773,189.68,0.740,0,0,1200,500.17
$SM_GC,0.40,0.00,0.00,189.68,0.000,0.000,0.740,428,2166,1200,-10.22,-0.68,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1749
$TCM_TEMP,18.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.3,19.1
$ALTIM_BOTTOM_PING,92.5,27.2
$24V_AH,24.0,0.778
$10V_AH,10.1,0.301
$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,24.275,15.300,226.400,189.675,0.000,37.757,25.766,112.019,2.250,0.000,0.000,11.866,289.145,864.222,473.560,372.815,290.490,32.329,710.411,0.000,370.912,0.000,11.690,0.000
$DEVICE_MAMPS,145.730,67.496,827.593,740.155,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,108.901,116.613,279.299,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6488,162
$CAP_FILE_SIZE,26641,0
$CFSIZE,254472192,253108224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,151008,222057,4807.703,-12223.158,14,1.2,14,18.3