version: 66.04
glider: 5
mission: 4
dive: 6
start: 10 15 108 23 4 49
data:
$ID,5
$MISSION,4
$DIVE,6
$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,-85607.672
$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,20
$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
$GPS1,225923,4807.541,-12223.119,12,2.1,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-69.4
$GPS2,230329,4807.553,-12223.113,15,2.2,34,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.025,-0.262
$KALMAN_X,-122.2,-107.4,-77.0,452.6,3.5
$KALMAN_Y,829.4,464.4,284.0,-2244.5,151.9
$MHEAD_RNG_PITCHd_Wd,156.3,1033,-18.1,-10.000
$D_GRID,107
$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,-146.6,0.0,0.0,0,122,0.00,0.00,-103.88,0.000,2,0.000,0.000,426,2165,3495
$GC,126,-1.44,-146.6,3.8,-8.3,18,151,10.10,2.65,-8.27,0.000,4,0.148,0.079,2331,3605,3838
$GC,209,-1.44,-146.6,20.0,-15.0,32,215,0.00,2.53,0.00,0.000,6,0.000,0.050,2330,2189,3838
$GC,279,-1.44,-146.6,30.4,-14.9,39,284,0.00,2.62,0.00,0.000,4,0.000,0.067,2330,3603,3838
$GC,308,-1.44,-146.6,34.6,-15.1,41,312,0.00,2.40,0.00,0.000,6,0.000,0.049,2331,2257,3838
$GC,505,-1.44,-146.6,62.4,-14.2,55,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2239,3838
$GC,814,-1.44,-146.6,106.6,-13.9,72,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2239,3838
$STATE,822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,822,begin apogee
$GC,829,-0.33,0.0,108.3,14.3,73,947,1.15,0.00,114.05,0.815,6,0.091,0.000,2572,2154,3240
$STATE,948,end apogee,CONTROL_FINISHED_OK
$STATE,948,begin climb
$GC,951,1.44,146.6,112.7,0.0,85,1072,1.77,2.70,112.53,0.789,4,0.059,0.064,2962,3593,2642
$GC,1097,1.44,146.6,97.8,16.6,98,1103,0.00,2.47,0.00,0.000,6,0.000,0.049,2963,2219,2642
$GC,1413,1.44,146.6,47.6,15.2,114,1417,0.00,2.60,0.00,0.000,4,0.000,0.060,2962,776,2642
$GC,1435,1.44,146.6,43.8,16.1,115,1442,0.00,2.55,0.00,0.000,6,0.000,0.052,2962,2191,2642
$GC,1635,1.44,146.6,14.4,15.5,137,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2190,2642
$GC,1709,1.44,146.6,5.1,10.6,150,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2190,2641
$STATE,1719,end climb,SURFACE_DEPTH_REACHED
$STATE,1719,begin surface coast
$FINISH,1.2,1.020409
$STATE,1765,end surface coast,CONTROL_FINISHED_OK
$STATE,1765,begin surface
$SM_CCo,1787,184.45,0.725,0,0,1200,500.17
$SM_GC,0.39,0.00,0.00,184.45,0.000,0.000,0.725,428,2190,1200,-10.22,0.00,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1745
$TCM_TEMP,18.10
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.5,19.4
$ALTIM_BOTTOM_PING,80.3,41.7
$24V_AH,24.0,0.970
$10V_AH,10.1,0.353
$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,24.300,20.650,226.575,184.450,0.000,37.756,25.630,77.924,2.250,0.000,0.000,35.113,286.367,884.370,477.374,377.430,238.863,33.330,710.173,0.000,352.893,0.000,10.201,0.000
$DEVICE_MAMPS,148.031,79.001,814.554,724.815,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,106.519,114.133,275.823,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6485,160
$CAP_FILE_SIZE,26737,0
$CFSIZE,254472192,253067264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,151008,233853,4807.342,-12223.046,14,3.6,33,18.3