version: 66.04
glider: 5
mission: 6
dive: 8
start: 7 30 109 1 1 6
data:
$ID,5
$MISSION,6
$DIVE,8
$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,-98727.156
$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,24
$R_STBD_OVSHOOT,19
$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
$GPS1,005624,4807.268,-12223.130,37,1.5,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-68.0
$GPS2,010052,4807.270,-12223.153,15,4.5,34,18.3
$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,140.9,534,-26.9,-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,-1.87,-46.8,0.0,0.0,0,125,0.00,0.00,-104.57,0.000,6,0.000,0.000,425,2226,3429
$GC,129,-1.93,-84.1,2.4,-3.7,19,149,10.65,2.62,-4.35,0.000,4,0.160,0.069,2374,808,3583
$GC,404,-1.69,-84.1,31.0,-12.4,59,410,0.30,2.55,0.00,0.000,6,0.120,0.055,2429,2225,3584
$GC,612,-1.60,-84.1,55.4,-11.4,76,617,0.10,2.60,0.00,0.000,4,0.126,0.058,2446,802,3584
$GC,668,-1.60,-84.1,62.1,-12.1,78,674,0.00,2.60,0.00,0.000,6,0.000,0.055,2446,2247,3585
$GC,984,-1.60,-84.1,97.5,-11.2,94,988,0.00,2.53,0.00,0.000,4,0.000,0.071,2446,3635,3585
$GC,1028,-1.51,-84.1,102.8,-12.2,96,1036,0.12,2.47,0.00,0.000,6,0.119,0.055,2469,2254,3585
$STATE,1107,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1107,begin apogee
$GC,1114,-0.33,0.0,111.3,10.5,104,1185,1.20,0.00,66.68,0.769,6,0.090,0.000,2723,2073,3239
$STATE,1186,end apogee,CONTROL_FINISHED_OK
$STATE,1186,begin climb
$GC,1189,1.93,84.1,113.4,0.0,111,1263,2.22,2.53,65.90,0.747,4,0.057,0.057,3224,696,2895
$GC,1276,1.55,84.1,104.3,16.1,119,1282,0.45,2.55,0.00,0.000,6,0.114,0.054,3142,2103,2895
$GC,1594,1.50,84.1,61.4,12.6,135,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2104,2895
$GC,1909,1.44,84.1,23.7,11.3,160,1914,0.15,2.55,0.00,0.000,4,0.113,0.066,3114,3507,2894
$GC,1967,1.44,84.1,16.9,11.5,166,1974,0.00,2.53,0.00,0.000,6,0.000,0.051,3114,2094,2894
$GC,2043,1.44,84.1,9.3,9.5,179,2049,0.00,2.60,0.00,0.000,4,0.000,0.067,3114,3507,2894
$GC,2079,1.44,84.1,5.6,10.4,185,2085,0.00,2.45,0.00,0.000,6,0.000,0.050,3114,2130,2893
$STATE,2095,end climb,SURFACE_DEPTH_REACHED
$STATE,2095,begin surface coast
$FINISH,1.2,1.019839
$STATE,2142,end surface coast,CONTROL_FINISHED_OK
$STATE,2142,begin surface
$SM_CCo,2166,216.32,0.693,0,0,1199,500.17
$SM_GC,-0.06,0.00,0.00,216.32,0.000,0.000,0.693,422,2237,1199,-10.94,0.51,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1862
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.6,38.9
$24V_AH,24.0,1.158
$10V_AH,10.1,0.839
$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,27.225,31.025,132.575,216.325,0.000,37.756,26.531,87.799,1.000,0.000,0.000,35.226,350.978,1151.224,447.801,460.163,251.114,0.000,692.506,0.000,435.593,0.000,9.869,0.000
$DEVICE_MAMPS,160.303,71.331,768.534,693.368,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,130.527,148.471,337.946,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9685,196
$CAP_FILE_SIZE,32998,0
$CFSIZE,254472192,252436480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,300709,014206,4807.130,-12223.047,28,1.2,39,18.3