version: 66.04
glider: 5
mission: 7
dive: 70
start: 9 9 109 10 28 0
data:
$ID,5
$MISSION,7
$DIVE,70
$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,-101587.08
$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,0.2
$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,27
$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
$GPS1,102230,6209.320,-943.580,20,1.5,38,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-62.7
$GPS2,102708,6209.367,-943.538,15,1.4,15,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.211,-0.066
$KALMAN_X,-80792.6,-1548.7,1221.8,25073.3,58242.2
$KALMAN_Y,43952.5,-1479.7,344.8,17876.5,42570.1
$MHEAD_RNG_PITCHd_Wd,262.5,45586,-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,15,-0.97,-146.6,0.0,0.0,0,59,0.00,0.00,-41.62,0.000,2,0.000,0.000,420,2149,2517
$GC,63,-0.97,-146.6,2.4,-3.5,2,119,11.45,2.60,-37.33,0.000,4,0.159,0.076,2523,3540,3430
$GC,207,-0.02,-146.6,14.2,-12.6,8,212,1.00,2.53,0.00,0.000,6,0.072,0.044,2740,2112,3430
$GC,523,-3.13,-146.6,37.6,-9.2,23,532,2.92,2.62,0.00,0.000,4,0.044,0.060,2043,3536,3431
$GC,584,-3.13,-146.6,55.8,-41.7,25,592,0.10,2.50,0.00,0.000,6,0.133,0.051,2059,2138,3431
$GC,910,-3.13,-146.6,174.0,-36.8,42,913,0.00,2.58,0.00,0.000,4,0.000,0.063,2059,3538,3432
$GC,971,-3.13,-146.6,199.1,-38.8,45,978,0.00,2.53,0.00,0.000,6,0.000,0.051,2059,2127,3431
$GC,1294,-3.13,-146.6,318.1,-37.0,66,1299,0.00,2.50,0.00,0.000,4,0.000,0.061,2059,726,3431
$GC,1328,-3.13,-146.6,332.0,-36.5,68,1333,0.00,2.47,0.00,0.000,6,0.000,0.047,2059,2125,3432
$GC,1653,-3.13,-146.6,450.9,-36.0,89,1658,0.00,2.55,0.00,0.000,4,0.000,0.062,2059,723,3432
$GC,1716,-3.13,-146.6,474.5,-37.2,93,1721,0.00,2.47,0.00,0.000,6,0.000,0.047,2059,2120,3432
$GC,2044,-3.13,-146.6,590.1,-31.4,114,2048,0.00,2.58,0.00,0.000,4,0.000,0.068,2059,3535,3432
$GC,2089,-3.13,-146.6,605.4,-31.9,117,2094,0.00,2.55,0.00,0.000,6,0.000,0.059,2059,2130,3431
$STATE,2255,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2255,begin apogee
$GC,2262,-0.33,0.0,656.6,30.0,128,2398,3.12,0.00,130.15,1.217,6,0.126,0.000,2669,1888,2831
$STATE,2399,end apogee,CONTROL_FINISHED_OK
$STATE,2399,begin climb
$GC,2402,0.97,146.6,661.0,0.0,137,2544,1.27,2.58,128.32,1.190,4,0.054,0.069,2956,523,2233
$GC,2804,-0.09,146.6,644.8,7.4,161,2810,1.10,2.53,0.00,0.000,6,0.078,0.053,2728,1930,2232
$GC,3132,2.69,191.6,627.1,4.8,182,3180,2.65,2.67,39.50,1.180,4,0.046,0.068,3344,3331,2050
$GC,3435,2.69,191.6,557.2,24.6,200,3439,0.00,2.45,0.00,0.000,6,0.000,0.064,3344,2006,2049
$GC,3760,2.69,191.6,474.0,25.7,221,3764,0.00,2.45,0.00,0.000,4,0.000,0.066,3344,3325,2047
$GC,3805,2.69,191.6,461.9,26.3,224,3810,0.00,2.47,0.00,0.000,6,0.000,0.062,3344,1979,2047
$GC,4131,2.69,191.6,376.8,26.2,245,4135,0.00,2.65,0.00,0.000,4,0.000,0.069,3344,514,2047
$GC,4254,2.69,191.6,343.2,27.5,252,4260,0.00,2.58,0.00,0.000,6,0.000,0.048,3344,1965,2046
$GC,4573,2.69,191.6,262.5,24.6,273,4578,0.00,2.65,0.00,0.000,4,0.000,0.067,3344,524,2046
$GC,4708,2.69,191.6,228.3,23.6,281,4713,0.00,2.53,0.00,0.000,6,0.000,0.048,3344,1951,2046
$GC,5028,2.69,191.6,154.4,24.8,301,5033,0.00,2.62,0.00,0.000,4,0.000,0.065,3344,517,2046
$GC,5141,2.69,191.6,122.3,30.0,307,5145,0.00,2.50,0.00,0.000,6,0.000,0.046,3344,1933,2046
$GC,5463,2.69,191.6,33.9,27.2,323,5467,0.00,2.58,0.00,0.000,4,0.000,0.064,3344,523,2046
$GC,5580,2.69,191.6,5.2,23.4,328,5585,0.00,2.42,0.00,0.000,6,0.000,0.048,3344,1895,2046
$STATE,5605,end climb,SURFACE_DEPTH_REACHED
$STATE,5605,begin surface coast
$FINISH,0.6,1.018251
$STATE,5627,end surface coast,CONTROL_FINISHED_OK
$STATE,5627,begin surface
$SM_CCo,5652,58.70,0.794,0,0,1607,300.00
$SM_GC,1.60,0.00,0.00,58.70,0.000,0.000,0.794,418,2146,1607,-10.70,0.45,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1837
$TCM_TEMP,17.20
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,624.1,38.3
$24V_AH,23.8,14.422
$10V_AH,10.1,6.492
$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,36.250,66.900,297.975,58.700,0.000,37.758,29.747,106.326,9.500,0.000,0.000,15.104,657.840,3685.327,436.735,886.398,335.029,33.350,911.654,0.000,856.238,0.000,40.592,0.000
$DEVICE_MAMPS,158.769,75.933,1217.229,793.845,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,224.370,242.456,204.757,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15944,330
$CAP_FILE_SIZE,61312,0
$CFSIZE,254472192,248020992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,090909,120430,6210.306,-943.912,39,1.5,40,-9.9