version: 66.04
glider: 5
mission: 6
dive: 4
start: 7 29 109 21 20 58
data:
$ID,5
$MISSION,6
$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,150
$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,2
$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,122
$TGT_DEFAULT_LON,48
$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,-98574.93
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2800
$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,2151
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,3239
$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,-25.153585
$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,25
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$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
$GPS1,211206,4808.030,-12223.037,13,1.3,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-66.9
$GPS2,212013,4808.060,-12223.023,10,1.3,15,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,160.9,1964,-18.1,-10.000
$D_GRID,101
$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,-146.6,0.0,0.0,0,157,0.00,0.00,-137.93,0.000,2,0.000,0.000,425,2170,3716
$GC,160,-1.44,-146.6,3.8,-9.7,24,181,11.07,2.45,-2.88,0.000,4,0.156,0.073,2482,3549,3837
$GC,436,-1.17,-146.6,36.8,-12.7,60,441,0.28,2.45,0.00,0.000,6,0.091,0.046,2541,2152,3837
$GC,634,-1.17,-146.6,56.2,-9.8,75,638,0.00,2.53,0.00,0.000,4,0.000,0.066,2540,3549,3837
$GC,891,-1.17,-146.6,82.7,-10.4,86,897,0.00,2.45,0.00,0.000,6,0.000,0.051,2540,2167,3836
$STATE,1091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1091,begin apogee
$GC,1098,-0.33,0.0,101.6,9.5,97,1216,0.82,0.00,112.55,0.723,6,0.070,0.000,2724,2067,3239
$STATE,1217,end apogee,CONTROL_FINISHED_OK
$STATE,1217,begin climb
$GC,1220,1.44,146.6,104.5,0.0,109,1342,1.73,2.55,111.85,0.700,4,0.052,0.061,3115,700,2641
$GC,1365,1.07,146.6,88.6,16.2,119,1372,0.40,2.53,0.00,0.000,6,0.096,0.053,3037,2092,2640
$GC,1681,1.03,146.6,51.4,11.0,135,1686,0.00,2.58,0.00,0.000,4,0.000,0.071,3036,3507,2639
$GC,1711,1.03,146.6,48.0,11.9,137,1715,0.00,2.50,0.00,0.000,6,0.000,0.053,3036,2115,2638
$GC,1909,1.03,146.6,26.7,10.4,155,1913,0.00,2.55,0.00,0.000,4,0.000,0.065,3036,690,2637
$GC,1919,0.99,146.6,25.3,10.8,155,1930,0.00,2.58,0.00,0.000,6,0.000,0.058,3036,2120,2637
$GC,2126,1.02,166.7,4.9,9.1,187,2139,0.00,0.00,11.32,0.640,2,0.000,0.000,3036,2120,2560
$STATE,2139,end climb,SURFACE_DEPTH_REACHED
$STATE,2140,begin surface coast
$FINISH,1.2,1.018525
$STATE,2201,end surface coast,CONTROL_FINISHED_OK
$STATE,2201,begin surface
$SM_CCo,2225,166.40,0.668,0,0,1200,500.17
$SM_GC,0.38,0.00,0.00,166.40,0.000,0.000,0.668,424,2170,1200,-10.93,0.54,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1864
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,24.8,25.1
$ALTIM_BOTTOM_PING,80.3,36.6
$24V_AH,24.1,0.759
$10V_AH,10.1,0.699
$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,25.775,25.300,235.725,166.400,0.000,0.000,0.000,0.000,1.250,0.000,0.000,15.184,356.643,1064.924,482.133,507.785,79.150,0.000,780.424,0.000,500.457,0.000,10.334,0.000
$DEVICE_MAMPS,155.701,165.672,723.281,668.057,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,132.846,148.508,344.825,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9669,200
$CAP_FILE_SIZE,52971,0
$CFSIZE,254472192,252518400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,290709,220201,4807.919,-12223.127,32,1.3,33,18.3