version: 66.04
glider: 5
mission: 6
dive: 7
start: 7 30 109 0 5 11
data:
$ID,5
$MISSION,6
$DIVE,7
$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,62.5
$T_MISSION,70
$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,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,-98691.305
$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,2220
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,28
$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,0
$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,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
$GPS1,235749,4807.550,-12223.137,7,1.5,7,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-68.6
$GPS2,000456,4807.565,-12223.165,15,1.1,15,18.3
$SPEED_LIMITS,0.139,0.245
$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,150.7,1066,-14.8,-8.000
$D_GRID,150
$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,-1.22,-146.6,0.0,0.0,0,128,0.00,0.00,-109.43,0.000,2,0.000,0.000,421,2261,3674
$GC,132,-1.22,-146.6,3.2,-6.1,19,158,11.55,2.67,-4.05,0.000,4,0.163,0.071,2530,811,3838
$GC,400,-1.08,-146.6,32.2,-10.8,55,407,0.17,2.53,0.00,0.000,6,0.093,0.055,2566,2219,3840
$GC,598,-1.02,-146.6,50.0,-8.6,74,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2219,3840
$GC,907,-1.02,-146.6,77.3,-8.8,89,911,0.00,2.58,0.00,0.000,4,0.000,0.075,2566,3629,3840
$GC,973,-1.02,-146.6,83.5,-9.5,92,978,0.00,2.55,0.00,0.000,6,0.000,0.056,2566,2207,3840
$GC,1299,-1.02,-146.6,110.6,-7.9,114,1303,0.00,2.65,0.00,0.000,6,0.000,0.074,2566,3632,3839
$STATE,1304,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1304,begin apogee
$GC,1314,-0.33,0.0,111.2,8.2,114,1432,0.70,0.00,114.45,0.767,6,0.074,0.000,2721,2093,3239
$STATE,1433,end apogee,CONTROL_FINISHED_OK
$STATE,1433,begin climb
$GC,1436,1.22,146.6,114.6,0.0,126,1557,1.55,2.62,113.12,0.740,4,0.054,0.061,3068,686,2641
$GC,1597,0.88,146.6,99.0,13.6,140,1603,0.40,2.58,0.00,0.000,6,0.094,0.058,2991,2101,2641
$GC,1919,0.88,146.6,70.8,8.3,156,1924,0.00,2.60,0.00,0.000,4,0.000,0.071,2991,3514,2640
$GC,1953,0.88,146.6,67.8,8.5,157,1959,0.00,2.55,0.00,0.000,6,0.000,0.055,2990,2099,2640
$GC,2272,0.89,153.7,42.2,7.7,177,2281,0.00,0.00,6.80,0.624,6,0.000,0.000,2990,2098,2612
$GC,2473,0.92,168.0,26.6,7.5,196,2495,0.00,2.70,12.25,0.694,4,0.000,0.070,2991,3507,2553
$GC,2523,0.97,168.0,22.4,8.5,200,2530,0.00,2.47,0.00,0.000,6,0.000,0.054,2990,2130,2553
$GC,2731,1.00,189.0,6.4,7.2,234,2757,0.12,2.60,17.10,0.707,4,0.051,0.063,3026,693,2468
$STATE,2761,end climb,SURFACE_DEPTH_REACHED
$STATE,2761,begin surface coast
$FINISH,0.4,1.018847
$STATE,2813,end surface coast,CONTROL_FINISHED_OK
$STATE,2813,begin surface
$SM_CCo,2838,158.82,0.701,0,0,1200,500.17
$SM_GC,0.12,0.00,0.00,158.82,0.000,0.000,0.701,425,2242,1200,-10.93,0.62,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1890
$TCM_TEMP,17.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.4,40.5
$24V_AH,24.0,1.079
$10V_AH,10.1,0.809
$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,26.000,36.700,263.725,158.825,0.000,75.518,52.246,141.684,1.250,0.000,0.000,15.649,409.028,1594.612,489.275,566.079,378.482,0.000,810.386,0.000,557.880,0.000,11.052,0.000
$DEVICE_MAMPS,162.604,75.166,767.000,701.038,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,165.565,187.538,427.544,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12834,248
$CAP_FILE_SIZE,38902,0
$CFSIZE,254472192,252456960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,300709,005624,4807.268,-12223.130,37,1.5,37,18.3