version: 66.04
glider: 5
mission: 7
dive: 72
start: 9 9 109 13 39 19
data:
$ID,5
$MISSION,7
$DIVE,72
$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,-101634.05
$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,45
$R_STBD_OVSHOOT,30
$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
$GPS1,133322,6211.211,-944.593,14,3.5,34,-9.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-58.3
$GPS2,133828,6211.251,-944.540,12,2.3,31,-9.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.211,-0.067
$KALMAN_X,-79143.8,-1456.5,2320.8,21365.4,86982.4
$KALMAN_Y,42542.8,-793.8,2062.5,20366.9,48762.7
$MHEAD_RNG_PITCHd_Wd,262.2,44063,-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,-41.85,0.000,2,0.000,0.000,421,2126,2505
$GC,63,-0.97,-146.6,2.3,-2.6,2,112,11.55,0.00,-34.47,0.000,6,0.163,0.000,2528,2125,3428
$GC,437,-0.32,-146.6,44.9,-11.8,20,439,0.68,0.00,0.00,0.000,6,0.072,0.000,2677,2126,3428
$GC,746,-2.52,-146.6,65.9,-6.7,35,755,2.05,2.53,0.00,0.000,4,0.038,0.057,2179,741,3429
$GC,762,-2.21,-146.6,67.5,-7.3,35,769,0.43,2.45,0.00,0.000,6,0.119,0.043,2259,2137,3429
$GC,1079,-2.21,-146.6,139.5,-22.7,51,1083,0.00,2.53,0.00,0.000,4,0.000,0.065,2259,3534,3429
$GC,1336,-2.21,-146.6,203.1,-24.7,65,1343,0.00,2.50,0.00,0.000,6,0.000,0.050,2259,2126,3430
$GC,1659,1.53,-146.6,282.9,-25.3,86,1668,3.90,2.62,0.00,0.000,4,0.097,0.072,3075,3538,3431
$GC,1765,1.53,-146.6,291.5,-10.3,92,1769,0.00,2.58,0.00,0.000,6,0.000,0.055,3075,2102,3431
$GC,2086,1.53,-146.6,317.3,-7.4,112,2090,0.00,2.47,0.00,0.000,4,0.000,0.064,3075,720,3431
$GC,2170,1.53,-146.6,323.3,-6.2,117,2174,0.00,2.38,0.00,0.000,6,0.000,0.048,3075,2064,3431
$GC,2490,1.53,-146.6,341.9,-5.2,137,2494,0.00,2.65,0.00,0.000,4,0.000,0.063,3075,3541,3431
$GC,2632,1.53,-146.6,350.7,-5.6,145,2639,0.00,2.72,0.00,0.000,6,0.000,0.055,3075,2024,3431
$GC,2952,1.53,-146.6,369.3,-6.0,166,2957,0.00,2.78,0.00,0.000,4,0.000,0.064,3075,3541,3430
$GC,3070,1.53,-146.6,377.9,-8.1,173,3075,0.00,2.83,0.00,0.000,6,0.000,0.058,3075,1973,3430
$GC,3390,1.53,-146.6,406.2,-10.6,193,3395,0.00,2.85,0.00,0.000,4,0.000,0.069,3075,3536,3429
$GC,3520,1.53,-146.6,421.8,-11.2,201,3525,0.00,2.90,0.00,0.000,6,0.000,0.058,3075,1919,3429
$GC,3845,1.53,-146.6,461.8,-12.5,222,3850,0.00,2.95,0.00,0.000,4,0.000,0.063,3076,3538,3429
$GC,3979,1.53,-146.6,480.0,-13.7,230,3984,0.00,2.97,0.00,0.000,6,0.000,0.058,3076,1888,3429
$GC,4299,1.53,-146.6,518.1,-11.5,250,4304,0.00,3.03,0.00,0.000,4,0.000,0.067,3076,3535,3429
$GC,4396,1.53,-146.6,529.2,-12.7,256,4401,0.00,3.08,0.00,0.000,6,0.000,0.058,3076,1823,3428
$GC,4721,1.53,-146.6,560.0,-8.8,277,4726,0.00,3.12,0.00,0.000,4,0.000,0.067,3076,3531,3428
$GC,4737,1.53,-146.6,561.2,-6.9,278,4742,0.00,3.12,0.00,0.000,6,0.000,0.058,3076,1802,3428
$GC,5057,1.53,-146.6,584.4,-6.1,298,5062,0.00,3.17,0.00,0.000,4,0.000,0.067,3076,3533,3428
$GC,5130,1.53,-146.6,588.6,-7.5,302,5136,0.00,3.20,0.00,0.000,6,0.000,0.061,3076,1772,3427
$GC,5449,1.53,-146.6,603.7,-6.4,323,5454,0.00,3.22,0.00,0.000,4,0.000,0.067,3077,3534,3427
$GC,5546,1.53,-146.6,611.8,-9.7,329,5551,0.00,3.17,0.00,0.000,6,0.000,0.059,3076,1778,3427
$GC,5872,1.53,-146.6,635.6,-8.3,350,5877,0.00,3.22,0.00,0.000,4,0.000,0.067,3077,3535,3426
$STATE,5920,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5920,begin apogee
$GC,5930,-0.33,0.0,639.7,8.8,353,6064,1.85,0.00,129.73,1.253,6,0.075,0.000,2671,1918,2831
$STATE,6065,end apogee,CONTROL_FINISHED_OK
$STATE,6065,begin climb
$GC,6068,0.97,146.6,644.6,0.0,362,6210,1.27,2.67,132.10,1.213,4,0.052,0.075,2956,506,2233
$GC,6393,-0.15,146.6,630.7,6.6,381,6400,1.17,2.55,0.00,0.000,6,0.076,0.052,2709,1923,2232
$GC,6714,3.11,256.1,616.1,3.0,402,6825,3.10,2.75,97.32,1.196,4,0.044,0.074,3432,514,1787
$GC,7079,3.11,256.1,498.0,38.4,424,7084,0.00,2.45,0.00,0.000,6,0.000,0.051,3432,1881,1787
$GC,7405,3.11,256.1,370.8,39.8,445,7409,0.00,2.55,0.00,0.000,4,0.000,0.067,3432,502,1787
$GC,7663,3.11,256.1,266.8,39.1,460,7670,0.00,2.42,0.00,0.000,6,0.000,0.048,3432,1870,1787
$GC,7983,3.11,256.1,151.9,35.4,481,7987,0.00,2.50,0.00,0.000,4,0.000,0.063,3432,501,1787
$GC,8028,3.11,256.1,135.3,36.0,484,8032,0.00,2.42,0.00,0.000,6,0.000,0.047,3432,1872,1786
$GC,8350,3.11,256.1,24.9,35.2,500,8354,0.00,2.50,0.00,0.000,4,0.000,0.064,3432,504,1786
$STATE,8410,end climb,SURFACE_DEPTH_REACHED
$STATE,8410,begin surface coast
$FINISH,0.9,1.026771
$STATE,8415,end surface coast,CONTROL_FINISHED_OK
$STATE,8416,begin surface
$SM_CCo,8443,23.27,0.782,0,0,1608,300.00
$SM_GC,1.41,0.00,0.00,23.27,0.000,0.000,0.782,421,2138,1608,-10.69,0.28,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1846
$TCM_TEMP,19.00
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,621.2,28.2
$24V_AH,23.8,14.697
$10V_AH,10.1,6.579
$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,39.150,99.775,359.150,23.275,0.000,37.755,31.676,121.726,10.250,0.000,0.000,32.784,957.635,5662.163,473.468,1313.958,378.821,33.362,1140.214,0.000,1256.812,0.000,38.128,0.000
$DEVICE_MAMPS,163.371,75.166,1253.278,781.573,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,342.856,365.269,276.993,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25379,503
$CAP_FILE_SIZE,82297,0
$CFSIZE,254472192,247914496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,090909,160136,6212.212,-945.510,30,0.9,30,-9.9