version: 66.04
glider: 5
mission: 7
dive: 24
start: 9 1 109 21 11 54
data:
$ID,5
$MISSION,7
$DIVE,24
$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,330
$T_MISSION,350
$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,-100687.85
$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,0.039999999
$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,20
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,360
$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,5
$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
$GPS1,210537,6130.376,-826.354,30,1.5,30,-8.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-66.4
$GPS2,211102,6130.397,-826.386,16,1.4,16,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.127,-0.231
$KALMAN_X,-52575.8,1512.2,1450.6,61405.6,-12652.7
$KALMAN_Y,47903.5,-790.0,-243.7,-58373.2,11482.7
$MHEAD_RNG_PITCHd_Wd,217.7,35533,-18.1,-10.000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.44,-146.6,0.0,0.0,0,81,0.00,0.00,-61.62,0.000,2,0.000,0.000,424,2148,2878
$GC,84,-1.44,-146.6,3.1,-4.0,3,117,11.05,2.50,-15.77,0.000,4,0.167,0.079,2422,3520,3430
$GC,372,-1.31,-146.6,55.0,-17.1,16,377,0.17,2.47,0.00,0.000,6,0.098,0.048,2457,2123,3431
$GC,699,-1.31,-146.6,101.5,-14.0,32,704,0.00,2.58,0.00,0.000,4,0.000,0.066,2457,3530,3431
$GC,766,-1.31,-146.6,111.2,-14.3,35,771,0.00,2.53,0.00,0.000,6,0.000,0.050,2457,2105,3431
$GC,1088,-1.31,-146.6,151.5,-11.7,51,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2095,3431
$GC,1397,-1.31,-146.6,188.7,-12.5,66,1402,0.00,2.60,0.00,0.000,4,0.000,0.069,2457,3528,3431
$GC,1453,-1.31,-146.6,196.2,-12.9,68,1459,0.00,2.53,0.00,0.000,6,0.000,0.054,2457,2109,3431
$GC,1768,-1.31,-146.6,238.0,-13.1,84,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2108,3431
$GC,2078,-1.31,-146.6,277.9,-12.8,99,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2104,3432
$GC,2387,-1.31,-146.6,318.7,-13.3,114,2391,0.00,2.60,0.00,0.000,4,0.000,0.070,2457,3518,3431
$GC,2420,-1.31,-146.6,323.4,-13.8,115,2426,0.00,2.53,0.00,0.000,6,0.000,0.057,2457,2109,3431
$GC,2736,-1.31,-146.6,365.4,-13.3,131,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2097,3431
$GC,3045,-1.31,-146.6,405.4,-12.5,146,3049,0.00,2.60,0.00,0.000,4,0.000,0.073,2457,3519,3431
$GC,3095,-1.31,-146.6,411.8,-12.1,148,3099,0.00,2.50,0.00,0.000,6,0.000,0.057,2457,2124,3431
$GC,3411,-1.31,-146.6,450.6,-12.3,163,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2118,3431
$GC,3720,-1.31,-146.6,488.8,-12.5,178,3724,0.00,2.58,0.00,0.000,4,0.000,0.073,2458,3519,3431
$GC,3759,-1.31,-146.6,493.9,-13.0,180,3764,0.00,2.50,0.00,0.000,6,0.000,0.058,2457,2127,3431
$GC,4087,-1.31,-146.6,534.7,-12.4,196,4091,0.00,2.53,0.00,0.000,4,0.000,0.069,2457,718,3431
$GC,4114,-1.31,-146.6,538.2,-13.2,197,4118,0.00,2.47,0.00,0.000,6,0.000,0.051,2457,2121,3431
$GC,4430,-1.31,-146.6,576.5,-12.2,212,4434,0.00,2.60,0.00,0.000,4,0.000,0.073,2457,3541,3431
$GC,4496,-1.31,-146.6,587.8,-18.1,215,4501,0.00,2.53,0.00,0.000,6,0.000,0.055,2457,2126,3431
$GC,4819,-1.36,-146.6,625.8,-11.7,231,4823,0.00,2.62,0.00,0.000,4,0.000,0.074,2457,3535,3431
$GC,4964,-1.36,-146.6,643.0,-10.6,237,4970,0.00,2.50,0.00,0.000,6,0.000,0.058,2457,2144,3431
$GC,5281,-1.43,-146.6,673.5,-8.6,253,5286,0.10,2.60,0.00,0.000,4,0.063,0.077,2429,3536,3430
$GC,5505,-1.43,-146.6,701.0,-14.0,263,5509,0.00,2.45,0.00,0.000,6,0.000,0.060,2428,2176,3430
$GC,5826,-1.48,-146.6,752.3,-14.2,279,5831,0.00,2.65,0.00,0.000,4,0.000,0.078,2429,719,3430
$GC,5860,-1.48,-146.6,755.7,-10.7,280,5867,0.00,2.58,0.00,0.000,6,0.000,0.061,2428,2148,3430
$GC,6177,-1.48,-146.6,794.2,-8.8,296,6181,0.00,2.67,0.00,0.000,4,0.000,0.084,2428,722,3429
$GC,6232,-1.53,-146.6,800.9,-11.9,298,6239,0.00,2.60,0.00,0.000,6,0.000,0.065,2428,2149,3429
$STATE,6484,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6484,begin apogee
$GC,6491,-0.33,0.0,836.8,14.2,311,6627,1.15,0.00,129.95,1.427,6,0.091,0.000,2670,1897,2831
$STATE,6627,end apogee,CONTROL_FINISHED_OK
$STATE,6627,begin climb
$GC,6630,1.44,146.6,839.8,0.0,318,6770,1.80,2.80,130.60,1.389,4,0.071,0.082,3055,3334,2233
$GC,6891,1.31,146.6,820.5,14.0,329,6896,0.12,2.65,0.00,0.000,6,0.130,0.071,3035,1921,2232
$GC,7213,1.22,166.9,789.6,9.1,345,7239,0.12,2.80,18.83,1.302,4,0.120,0.100,3012,521,2150
$GC,7492,1.05,166.9,757.9,12.0,357,7497,0.20,2.55,0.00,0.000,6,0.104,0.067,2975,1905,2149
$GC,7809,1.28,246.0,734.7,6.4,372,7885,0.20,2.78,69.62,1.388,4,0.064,0.094,3023,513,1828
$GC,7987,1.22,246.0,713.7,15.3,380,7991,0.00,2.58,0.00,0.000,6,0.000,0.069,3023,1899,1828
$GC,8308,1.22,246.0,678.6,10.1,396,8312,0.00,2.70,0.00,0.000,4,0.000,0.087,3023,3333,1827
$GC,8335,1.22,246.0,676.0,10.4,397,8340,0.00,2.72,0.00,0.000,6,0.000,0.077,3023,1890,1827
$GC,8651,1.22,246.0,642.7,10.7,412,8656,0.00,2.72,0.00,0.000,4,0.000,0.081,3023,3331,1826
$GC,8702,1.22,246.0,637.4,10.5,414,8706,0.00,2.70,0.00,0.000,6,0.000,0.074,3023,1890,1826
$GC,9018,1.22,246.0,600.4,11.7,429,9022,0.00,2.70,0.00,0.000,4,0.000,0.077,3023,3333,1826
$GC,9073,1.22,246.0,594.1,11.0,431,9079,0.00,2.60,0.00,0.000,6,0.000,0.069,3023,1927,1825
$GC,9389,1.22,246.0,561.4,10.1,447,9393,0.00,2.60,0.00,0.000,4,0.000,0.072,3023,3329,1825
$GC,9421,1.22,246.0,558.0,10.4,448,9428,0.00,2.55,0.00,0.000,6,0.000,0.065,3023,1940,1826
$GC,9738,1.24,259.2,527.4,9.4,464,9752,0.00,0.00,12.48,1.136,6,0.000,0.000,3023,1939,1774
$GC,10064,1.27,279.7,497.2,9.1,479,10085,0.00,0.00,19.12,1.144,6,0.000,0.000,3023,1940,1690
$GC,10393,1.28,285.8,466.0,9.7,495,10402,0.00,0.00,7.32,0.976,6,0.000,0.000,3023,1939,1665
$GC,10702,1.28,285.8,434.2,10.4,510,10703,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1940,1666
$GC,11012,1.32,285.8,400.6,11.1,525,11013,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1939,1666
$GC,11321,1.37,285.8,365.9,11.4,540,11325,0.00,2.53,0.00,0.000,4,0.000,0.065,3023,3327,1667
$GC,11339,1.44,285.8,363.8,11.7,541,11344,0.15,2.50,0.00,0.000,6,0.052,0.058,3065,1941,1667
$GC,11666,1.37,285.8,316.5,15.2,557,11668,0.12,0.00,0.00,0.000,6,0.099,0.000,3041,1941,1667
$GC,11975,1.37,285.8,276.4,12.5,572,11976,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1941,1668
$GC,12284,1.37,285.8,236.7,13.0,587,12289,0.00,2.60,0.00,0.000,4,0.000,0.072,3041,511,1669
$GC,12312,1.37,285.8,232.9,13.8,588,12317,0.00,2.55,0.00,0.000,6,0.000,0.048,3041,1959,1669
$GC,12628,1.37,285.8,194.2,12.1,603,12632,0.00,2.65,0.00,0.000,4,0.000,0.072,3041,514,1669
$GC,12655,1.37,285.8,190.4,13.1,604,12660,0.00,2.53,0.00,0.000,6,0.000,0.051,3041,1946,1669
$GC,12971,1.37,285.8,153.4,10.6,619,12975,0.00,2.62,0.00,0.000,4,0.000,0.071,3041,513,1669
$GC,12993,1.37,285.8,151.0,10.4,620,12997,0.00,2.50,0.00,0.000,6,0.000,0.050,3041,1932,1669
$GC,13316,1.37,285.8,112.7,12.4,636,13320,0.00,2.62,0.00,0.000,4,0.000,0.072,3040,513,1670
$GC,13339,1.37,285.8,109.5,12.6,637,13343,0.00,2.47,0.00,0.000,6,0.000,0.050,3041,1918,1670
$GC,13660,1.37,285.8,73.3,10.3,653,13665,0.00,2.58,0.00,0.000,4,0.000,0.072,3040,513,1670
$GC,13706,1.37,286.6,68.5,10.0,655,13710,0.00,2.42,0.00,0.000,6,0.000,0.050,3041,1894,1670
$GC,14028,1.41,286.6,36.3,10.5,671,14032,0.00,2.55,0.00,0.000,4,0.000,0.064,3041,3333,1671
$GC,14095,1.49,286.6,28.8,11.4,674,14104,0.12,2.53,3.75,0.535,6,0.057,0.054,3075,1914,1662
$STATE,14315,end climb,SURFACE_DEPTH_REACHED
$STATE,14315,begin surface coast
$FINISH,0.5,1.026470
$STATE,14341,end surface coast,CONTROL_FINISHED_OK
$STATE,14341,begin surface
$SM_CCo,14364,7.10,0.670,0,0,1608,300.00
$SM_GC,2.44,0.00,0.00,7.10,0.000,0.000,0.670,421,2148,1608,-10.69,0.48,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1841
$TCM_TEMP,17.80
$XPDR_PINGS,48
$ALTIM_BOTTOM_PING,771.2,73.4
$24V_AH,23.7,6.655
$10V_AH,10.1,3.425
$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,26.750,135.225,391.675,7.100,0.000,37.762,26.723,149.431,19.000,0.000,0.000,16.897,1304.149,10780.027,504.984,1638.219,475.902,33.353,1345.999,0.000,1589.658,0.000,49.520,0.000
$DEVICE_MAMPS,167.206,99.710,1427.387,670.358,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.069,506.329,395.534,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34787,686
$CAP_FILE_SIZE,114017,0
$CFSIZE,254472192,250372096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,47,0,0
$GPS,020909,011245,6130.587,-831.987,31,1.1,39,-9.0