version: 66.04
glider: 5
mission: 7
dive: 56
start: 9 6 109 17 42 0
data:
$ID,5
$MISSION,7
$DIVE,56
$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,-101312.17
$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,16
$R_STBD_OVSHOOT,30
$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
$GPS1,173454,6150.506,-948.143,38,1.4,39,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-54.4
$GPS2,174108,6150.508,-948.318,14,1.4,14,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.126,0.182
$KALMAN_X,-98657.5,1069.5,1115.3,36095.9,-24381.4
$KALMAN_Y,15809.2,845.0,-410.8,9480.6,-6373.1
$MHEAD_RNG_PITCHd_Wd,44.5,26878,-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,16,-0.97,-146.6,0.0,0.0,0,119,0.00,0.00,-101.35,0.000,2,0.000,0.000,415,2145,2526
$GC,123,-0.97,-146.6,2.1,-1.1,5,175,11.40,2.60,-33.28,0.000,4,0.157,0.073,2527,717,3429
$GC,422,-0.89,-146.6,34.9,-11.6,18,427,0.10,2.50,0.00,0.000,6,0.105,0.048,2548,2137,3429
$GC,739,-0.83,-146.6,70.1,-10.9,33,744,0.00,2.58,0.00,0.000,4,0.000,0.064,2548,710,3429
$GC,812,-0.83,-146.6,77.8,-10.5,36,816,0.00,2.47,0.00,0.000,6,0.000,0.045,2548,2118,3429
$GC,1130,-0.77,-146.6,102.8,-7.3,51,1135,0.12,2.55,0.00,0.000,4,0.091,0.063,2574,3532,3429
$GC,1163,-0.77,-146.6,105.5,-6.6,52,1170,0.00,2.55,0.00,0.000,6,0.000,0.050,2574,2086,3429
$GC,1480,-0.77,-146.6,122.5,-5.6,68,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2069,3429
$GC,1789,-0.77,-146.6,142.3,-7.3,83,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2060,3429
$GC,2097,-0.77,-146.6,164.7,-7.4,98,2102,0.00,2.65,0.00,0.000,4,0.000,0.064,2574,3530,3429
$GC,2137,-0.77,-146.6,167.7,-7.2,100,2141,0.00,2.50,0.00,0.000,6,0.000,0.053,2574,2114,3429
$GC,2464,-0.77,-146.6,189.0,-6.4,116,2468,0.00,2.47,0.00,0.000,4,0.000,0.067,2574,721,3429
$GC,2497,-0.84,-146.6,191.4,-6.8,117,2503,0.00,2.45,0.00,0.000,6,0.000,0.048,2574,2114,3429
$GC,2813,-0.84,-146.6,212.8,-7.0,133,2817,0.00,2.53,0.00,0.000,4,0.000,0.066,2574,715,3429
$GC,2858,-0.90,-146.6,216.3,-8.0,135,2863,0.12,2.45,0.00,0.000,6,0.051,0.051,2537,2112,3429
$GC,3183,-0.83,-146.6,245.8,-9.2,151,3185,0.12,0.00,0.00,0.000,6,0.084,0.000,2564,2112,3428
$GC,3491,-0.83,-146.6,271.8,-8.4,166,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2112,3428
$GC,3798,-0.83,-146.6,298.6,-8.9,181,3802,0.00,2.53,0.00,0.000,4,0.000,0.068,2564,719,3428
$GC,3848,-0.83,-146.6,303.3,-9.4,183,3852,0.00,2.42,0.00,0.000,6,0.000,0.052,2564,2100,3428
$GC,4163,-0.83,-146.6,331.8,-9.0,198,4168,0.00,2.50,0.00,0.000,4,0.000,0.070,2564,722,3427
$GC,4197,-0.83,-146.6,335.0,-9.3,199,4203,0.00,2.42,0.00,0.000,6,0.000,0.049,2564,2104,3427
$GC,4513,-0.83,-146.6,359.7,-7.1,215,4517,0.00,2.50,0.00,0.000,4,0.000,0.069,2563,724,3427
$GC,4553,-0.87,-146.6,362.5,-6.9,217,4557,0.00,2.40,0.00,0.000,6,0.000,0.051,2564,2089,3427
$GC,4880,-0.87,-146.6,384.6,-7.2,233,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2089,3427
$GC,5189,-0.87,-146.6,406.7,-7.1,248,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2089,3427
$GC,5498,-0.87,-146.6,428.8,-7.0,263,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2089,3427
$GC,5808,-0.87,-146.6,453.4,-8.5,278,5812,0.00,2.47,0.00,0.000,4,0.000,0.069,2564,725,3426
$GC,5847,-0.87,-146.6,457.0,-10.2,280,5851,0.00,2.38,0.00,0.000,6,0.000,0.051,2563,2076,3426
$GC,6174,-0.87,-146.6,485.5,-8.8,296,6179,0.00,2.45,0.00,0.000,4,0.000,0.070,2564,725,3426
$GC,6215,-0.92,-146.6,489.3,-9.7,298,6219,0.00,2.38,0.00,0.000,6,0.000,0.052,2564,2075,3426
$GC,6541,-0.92,-146.6,517.9,-8.8,314,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2075,3426
$GC,6851,-0.92,-146.6,547.3,-9.8,329,6852,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2075,3425
$GC,7160,-0.92,-146.6,578.2,-9.6,344,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2075,3425
$GC,7469,-0.92,-146.6,603.8,-8.3,359,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2075,3425
$GC,7779,-0.92,-146.6,630.6,-8.5,374,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2075,3425
$GC,8088,-0.92,-146.6,650.4,-5.6,389,8092,0.00,2.47,0.00,0.000,4,0.000,0.071,2563,719,3425
$GC,8155,-0.98,-146.6,654.5,-6.2,392,8160,0.15,2.38,0.00,0.000,6,0.052,0.051,2520,2069,3425
$GC,8477,-0.91,-146.6,681.9,-9.7,408,8479,0.12,0.00,0.00,0.000,6,0.087,0.000,2548,2070,3424
$GC,8785,-0.91,-146.6,709.3,-8.1,423,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2070,3424
$GC,9094,-0.91,-146.6,734.9,-9.2,438,9099,0.00,2.47,0.00,0.000,4,0.000,0.074,2548,721,3424
$GC,9230,-0.95,-146.6,746.0,-8.8,444,9234,0.00,2.40,0.00,0.000,6,0.000,0.058,2547,2072,3424
$GC,9551,-0.95,-146.6,767.4,-5.5,460,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2073,3424
$GC,9860,-0.95,-146.6,787.3,-7.8,475,9862,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2073,3423
$GC,10170,-1.00,-146.6,813.9,-9.3,490,10174,0.00,2.53,0.00,0.000,4,0.000,0.085,2548,728,3422
$GC,10210,-1.07,-146.6,817.0,-7.8,492,10215,0.15,2.47,0.00,0.000,6,0.056,0.067,2506,2095,3422
$GC,10540,-0.91,-146.6,843.1,-12.5,508,10542,0.20,0.00,0.00,0.000,6,0.091,0.000,2547,2096,3420
$GC,10846,-0.91,-146.6,873.7,-6.4,523,10847,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2108,3420
$STATE,10987,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10988,begin apogee
$GC,10995,-0.33,0.0,883.7,6.8,530,11130,0.60,0.00,130.12,1.483,6,0.087,0.000,2673,1906,2831
$STATE,11131,end apogee,CONTROL_FINISHED_OK
$STATE,11131,begin climb
$GC,11134,0.97,146.6,886.3,0.0,537,11279,1.27,2.78,132.80,1.440,4,0.059,0.091,2956,518,2233
$GC,11488,0.86,223.4,864.6,3.9,553,11565,0.12,2.58,68.97,1.405,6,0.102,0.069,2934,1939,1919
$GC,11881,0.86,223.4,836.3,7.5,572,11886,0.00,2.75,0.00,0.000,4,0.000,0.096,2934,510,1918
$GC,11944,0.80,223.4,829.8,11.7,575,11948,0.00,2.55,0.00,0.000,6,0.000,0.071,2934,1888,1918
$GC,12272,0.94,345.8,803.1,2.6,591,12388,0.00,2.83,108.47,1.420,4,0.000,0.085,2934,3325,1421
$GC,12409,1.03,345.8,791.4,8.2,597,12414,0.17,2.72,0.00,0.000,6,0.058,0.083,2976,1913,1421
$GC,12725,0.96,345.8,764.4,10.4,612,12730,0.12,2.67,0.00,0.000,4,0.100,0.094,2952,510,1422
$GC,12766,0.88,345.8,760.8,9.2,614,12770,0.00,2.58,0.00,0.000,6,0.000,0.070,2952,1912,1422
$GC,13093,0.88,376.5,745.6,5.2,630,13124,0.00,0.00,28.98,1.378,6,0.000,0.000,2952,1927,1296
$GC,13440,0.92,399.6,726.1,5.4,647,13469,0.00,2.80,21.80,1.356,4,0.000,0.097,2952,510,1201
$GC,13521,1.04,476.0,722.8,3.9,650,13598,0.00,2.58,69.05,1.386,6,0.000,0.074,2952,1907,890
$GC,13921,1.11,476.0,698.9,9.5,670,13926,0.15,2.70,0.00,0.000,4,0.060,0.094,2990,510,890
$GC,13994,1.05,476.0,688.2,15.5,673,13999,0.00,2.47,0.00,0.000,6,0.000,0.066,2990,1854,889
$GC,14311,0.98,476.0,648.5,13.2,688,14316,0.17,2.60,0.00,0.000,4,0.094,0.087,2951,505,890
$GC,14351,1.02,476.0,643.4,11.1,690,14355,0.00,2.42,0.00,0.000,6,0.000,0.063,2951,1838,889
$GC,14679,1.12,476.0,614.5,8.1,706,14681,0.15,0.00,0.00,0.000,6,0.055,0.000,2992,1854,890
$GC,14988,1.06,476.0,578.9,12.1,721,14993,0.00,2.50,0.00,0.000,4,0.000,0.081,2992,504,890
$GC,15033,0.99,476.0,573.2,12.3,723,15038,0.15,2.38,0.00,0.000,6,0.088,0.056,2962,1832,890
$GC,15355,1.07,476.0,544.3,9.2,739,15356,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1847,891
$GC,15664,1.15,476.0,516.4,8.8,754,15669,0.15,2.47,0.00,0.000,4,0.050,0.075,3003,507,892
$GC,15705,1.06,476.0,511.9,12.3,756,15709,0.15,2.33,0.00,0.000,6,0.087,0.053,2973,1822,892
$GC,16031,1.06,476.0,479.9,9.3,772,16032,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1837,893
$GC,16340,1.06,476.0,451.4,9.1,787,16344,0.00,2.45,0.00,0.000,4,0.000,0.077,2973,502,893
$GC,16368,1.06,476.0,448.8,9.2,788,16372,0.00,2.33,0.00,0.000,6,0.000,0.051,2973,1818,893
$GC,16685,1.11,476.0,422.4,8.3,803,16686,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1833,894
$GC,16994,1.16,476.0,395.9,8.4,818,16995,0.12,0.00,0.00,0.000,6,0.051,0.000,3010,1833,894
$GC,17303,1.05,476.0,359.2,12.1,833,17308,0.17,2.45,0.00,0.000,4,0.084,0.073,2971,500,895
$GC,17343,1.05,476.0,354.9,9.4,835,17347,0.00,2.33,0.00,0.000,6,0.000,0.052,2971,1821,895
$GC,17670,1.10,476.0,328.2,8.3,851,17675,0.00,2.67,0.00,0.000,4,0.000,0.067,2971,3318,895
$GC,17693,1.21,476.0,326.0,8.4,852,17699,0.17,2.72,0.00,0.000,6,0.046,0.060,3019,1806,895
$GC,18015,1.06,476.0,283.8,13.8,868,18017,0.22,0.00,0.00,0.000,6,0.081,0.000,2974,1806,895
$GC,18324,1.11,476.0,253.5,9.3,883,18329,0.00,2.72,0.00,0.000,4,0.000,0.063,2974,3313,896
$GC,18358,1.25,476.0,250.3,9.2,884,18365,0.20,2.70,0.00,0.000,6,0.043,0.058,3028,1810,896
$GC,18675,1.08,476.0,207.1,13.7,900,18677,0.25,0.00,0.00,0.000,6,0.082,0.000,2977,1810,896
$GC,18983,1.12,476.0,181.7,7.0,915,18988,0.00,2.70,0.00,0.000,4,0.000,0.062,2977,3313,896
$GC,19017,1.24,476.0,179.4,6.7,916,19023,0.17,2.67,0.00,0.000,6,0.046,0.056,3026,1819,896
$GC,19333,1.09,476.0,145.1,12.0,932,19335,0.22,0.00,0.00,0.000,6,0.081,0.000,2981,1819,897
$GC,19642,1.09,476.0,118.8,8.7,947,19647,0.00,2.70,0.00,0.000,4,0.000,0.061,2981,3315,896
$GC,19688,1.22,476.0,114.2,9.3,949,19693,0.12,2.65,0.00,0.000,6,0.050,0.056,3020,1831,896
$GC,20010,1.10,476.0,71.7,14.0,965,20015,0.17,2.67,0.00,0.000,4,0.085,0.061,2982,3314,896
$GC,20032,1.10,476.0,68.2,14.6,966,20037,0.00,2.60,0.00,0.000,6,0.000,0.057,2982,1858,897
$GC,20354,1.10,476.0,40.6,7.9,982,20358,0.00,2.45,0.00,0.000,4,0.000,0.076,2982,505,897
$GC,20403,1.10,476.0,36.2,9.4,984,20407,0.00,2.33,0.00,0.000,6,0.000,0.049,2982,1843,897
$GC,20721,1.19,476.0,14.1,8.4,999,20723,0.10,0.00,0.00,0.000,6,0.053,0.000,3016,1859,898
$STATE,20840,end climb,SURFACE_DEPTH_REACHED
$STATE,20840,begin surface coast
$FINISH,0.6,1.026763
$STATE,20862,end surface coast,CONTROL_FINISHED_OK
$STATE,20862,begin surface
$SM_CCo,20946,0.00,0.000,0,0,897,474.41
$SM_GC,1.16,11.15,0.00,0.00,0.034,0.000,0.000,418,2122,897,-10.59,-0.25,474.41
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1836
$TCM_TEMP,18.00
$XPDR_PINGS,58
$ALTIM_BOTTOM_PING,820.3,71.7
$24V_AH,23.7,11.823
$10V_AH,10.0,5.443
$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,28.825,158.100,560.200,0.000,0.000,37.762,31.019,165.733,22.000,0.000,0.000,14.653,1825.418,16032.236,682.827,2176.540,592.607,33.366,1816.376,0.000,2125.390,0.000,50.547,0.000
$DEVICE_MAMPS,157.235,96.642,1483.378,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,690.379,749.910,572.730,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50562,1006
$CAP_FILE_SIZE,155323,0
$CFSIZE,254472192,248737792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,51,0,0
$GPS,060909,233225,6151.931,-950.927,42,1.4,42,-9.8