version: 66.04
glider: 5
mission: 7
dive: 59
start: 9 7 109 12 53 9
data:
$ID,5
$MISSION,7
$DIVE,59
$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,-101396.69
$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,18
$R_STBD_OVSHOOT,31
$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
$GPS1,124556,6151.745,-948.492,43,2.9,62,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-51.2
$GPS2,125216,6151.777,-948.419,15,2.8,34,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.157,0.156
$KALMAN_X,-115903.7,279.8,9010.8,46179.1,-46502.9
$KALMAN_Y,-613.5,676.4,2938.5,25070.0,-20104.6
$MHEAD_RNG_PITCHd_Wd,55.2,24527,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.53,0.000,2,0.000,0.000,421,2155,2512
$GC,123,-0.97,-146.6,2.2,-1.2,5,176,11.27,2.62,-35.38,0.000,4,0.152,0.072,2523,707,3429
$GC,390,-0.87,-146.6,30.1,-11.6,17,395,0.12,2.50,0.00,0.000,6,0.092,0.044,2551,2129,3428
$GC,712,-0.80,-146.6,58.5,-8.4,33,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2129,3428
$GC,1021,-0.74,-146.6,83.4,-8.1,48,1026,0.15,2.58,0.00,0.000,4,0.084,0.061,2583,712,3428
$GC,1054,-0.81,-146.6,86.1,-8.0,49,1061,0.00,2.50,0.00,0.000,6,0.000,0.045,2582,2145,3428
$GC,1372,-0.81,-146.6,108.4,-6.9,65,1377,0.00,2.58,0.00,0.000,4,0.000,0.061,2583,717,3428
$GC,1437,-0.88,-146.6,112.7,-6.6,68,1442,0.15,2.47,0.00,0.000,6,0.046,0.044,2537,2136,3428
$GC,1765,-0.80,-146.6,137.7,-7.6,84,1770,0.15,2.58,0.00,0.000,4,0.077,0.060,2570,715,3428
$GC,1805,-0.86,-146.6,140.7,-7.6,86,1810,0.00,2.47,0.00,0.000,6,0.000,0.045,2571,2132,3428
$GC,2132,-0.86,-146.6,165.3,-8.2,102,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2132,3428
$GC,2442,-0.86,-146.6,190.4,-8.4,117,2446,0.00,2.55,0.00,0.000,4,0.000,0.061,2570,715,3429
$GC,2520,-0.90,-146.6,197.3,-9.0,120,2526,0.00,2.47,0.00,0.000,6,0.000,0.047,2570,2130,3428
$GC,2836,-0.90,-146.6,225.5,-8.3,136,2841,0.00,2.58,0.00,0.000,4,0.000,0.065,2570,707,3428
$GC,2882,-0.94,-146.6,229.4,-8.7,138,2887,0.15,2.47,0.00,0.000,6,0.048,0.048,2524,2116,3428
$GC,3203,-0.84,-146.6,259.6,-9.3,154,3205,0.17,0.00,0.00,0.000,6,0.077,0.000,2563,2118,3428
$GC,3512,-0.84,-146.6,284.4,-7.5,169,3517,0.00,2.55,0.00,0.000,4,0.000,0.064,2563,707,3428
$GC,3553,-0.84,-146.6,287.4,-7.7,171,3557,0.00,2.47,0.00,0.000,6,0.000,0.048,2563,2118,3428
$GC,3879,-0.84,-146.6,313.3,-8.4,187,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2118,3427
$GC,4189,-0.84,-146.6,343.1,-9.9,202,4193,0.00,2.53,0.00,0.000,4,0.000,0.064,2563,716,3427
$GC,4267,-0.84,-146.6,350.8,-9.4,205,4273,0.00,2.45,0.00,0.000,6,0.000,0.048,2563,2112,3427
$GC,4583,-0.84,-146.6,376.3,-7.3,221,4588,0.00,2.53,0.00,0.000,4,0.000,0.065,2563,715,3426
$GC,4618,-0.84,-146.6,378.9,-7.2,222,4625,0.00,2.45,0.00,0.000,6,0.000,0.049,2563,2109,3426
$GC,4934,-0.84,-146.6,400.2,-6.4,238,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2109,3426
$GC,5244,-0.84,-146.6,419.7,-6.2,253,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2109,3426
$GC,5553,-0.84,-146.6,439.3,-6.3,268,5557,0.00,2.53,0.00,0.000,4,0.000,0.066,2563,714,3425
$GC,5593,-0.89,-146.6,441.9,-6.4,270,5597,0.00,2.42,0.00,0.000,6,0.000,0.049,2563,2093,3425
$GC,5920,-0.89,-146.6,461.5,-6.5,286,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2093,3425
$GC,6229,-0.89,-146.6,484.5,-7.7,301,6233,0.00,2.62,0.00,0.000,4,0.000,0.071,2563,3538,3424
$GC,6256,-0.89,-146.6,486.8,-8.0,302,6261,0.00,2.60,0.00,0.000,6,0.000,0.056,2563,2081,3424
$GC,6572,-0.89,-146.6,507.4,-6.1,317,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2082,3424
$GC,6881,-0.89,-146.6,527.2,-7.0,332,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2067,3424
$GC,7190,-0.89,-146.6,547.5,-6.2,347,7195,0.00,2.67,0.00,0.000,4,0.000,0.070,2563,3532,3424
$GC,7240,-0.89,-146.6,550.9,-7.3,349,7244,0.00,2.58,0.00,0.000,6,0.000,0.055,2563,2086,3424
$GC,7556,-0.89,-146.6,571.4,-6.0,364,7557,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2071,3424
$GC,7866,-0.89,-146.6,586.6,-3.6,379,7867,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2071,3424
$GC,8175,-0.89,-146.6,598.0,-3.7,394,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2072,3424
$GC,8484,-0.89,-146.6,624.2,-12.3,409,8488,0.00,2.42,0.00,0.000,4,0.000,0.068,2563,718,3424
$GC,8562,-0.94,-146.6,632.7,-9.1,412,8567,0.12,2.42,0.00,0.000,6,0.052,0.049,2524,2100,3424
$GC,8881,-0.86,-146.6,652.9,-4.4,427,8886,0.15,2.53,0.00,0.000,4,0.081,0.067,2557,719,3424
$GC,8982,-0.91,-146.6,657.5,-4.8,431,8988,0.00,2.40,0.00,0.000,6,0.000,0.050,2557,2085,3424
$GC,9298,-0.91,-146.6,675.1,-6.7,447,9302,0.00,2.47,0.00,0.000,4,0.000,0.069,2557,722,3424
$GC,9385,-0.97,-146.6,680.9,-8.0,451,9389,0.12,2.38,0.00,0.000,6,0.052,0.051,2518,2071,3424
$GC,9712,-0.88,-146.6,708.6,-7.0,467,9717,0.15,2.50,0.00,0.000,4,0.085,0.071,2551,716,3423
$GC,9872,-0.93,-146.6,714.9,-4.3,474,9876,0.00,2.38,0.00,0.000,6,0.000,0.054,2550,2049,3423
$GC,10193,-0.98,-146.6,743.1,-10.9,490,10198,0.00,2.67,0.00,0.000,4,0.000,0.075,2551,3526,3422
$GC,10377,-0.98,-146.6,757.3,-6.6,498,10382,0.00,2.65,0.00,0.000,6,0.000,0.066,2551,2068,3422
$STATE,10401,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10401,begin apogee
$GC,10409,-0.33,0.0,759.8,9.0,499,10545,0.57,0.00,128.73,1.336,6,0.079,0.000,2674,1898,2830
$STATE,10545,end apogee,CONTROL_FINISHED_OK
$STATE,10545,begin climb
$GC,10549,0.97,146.6,767.1,0.0,506,10687,1.25,2.70,129.88,1.302,4,0.047,0.071,2965,3318,2233
$GC,10847,2.72,912.8,748.8,-15.0,519,11260,1.67,2.53,398.95,1.230,6,0.049,0.058,3339,1912,389
$GC,11577,1.61,912.8,435.6,58.5,555,11587,1.23,2.60,3.60,0.607,4,0.120,0.066,3099,3321,390
$GC,11723,1.46,912.8,396.8,18.0,561,11731,0.17,2.58,2.38,0.335,6,0.093,0.061,3064,1914,390
$GC,12039,1.20,912.8,331.3,20.8,577,12048,0.25,2.62,2.25,0.284,4,0.088,0.071,3009,507,390
$GC,12088,1.15,912.8,322.7,13.3,579,12093,0.00,2.47,0.00,0.000,6,0.000,0.050,3009,1897,390
$GC,12410,1.15,912.8,280.2,13.6,595,12415,0.00,2.60,0.10,0.159,4,0.000,0.071,3009,503,391
$GC,12472,1.15,912.8,271.4,13.9,598,12478,0.00,2.40,0.38,0.144,6,0.000,0.048,3009,1862,391
$GC,12800,1.15,912.8,224.9,13.8,614,12809,0.00,2.55,2.35,0.314,4,0.000,0.069,3009,510,390
$GC,12845,1.15,912.8,218.8,12.9,616,12849,0.00,2.35,0.00,0.000,6,0.000,0.048,3010,1840,390
$GC,13172,1.15,912.8,180.9,10.4,632,13177,0.00,2.47,0.05,0.188,4,0.000,0.070,3009,507,391
$GC,13201,1.15,912.8,177.9,10.4,633,13206,0.00,2.33,0.05,0.187,6,0.000,0.048,3009,1826,390
$GC,13518,1.15,912.8,145.3,11.3,648,13522,0.00,2.45,0.05,0.184,4,0.000,0.069,3009,504,391
$GC,13551,1.15,912.8,141.0,13.0,649,13558,0.00,2.30,0.08,0.164,6,0.000,0.048,3010,1812,391
$GC,13869,1.15,912.8,103.0,11.3,665,13873,0.00,2.40,0.10,0.157,4,0.000,0.067,3009,509,391
$GC,13902,1.15,912.8,99.0,10.4,666,13908,0.00,2.25,0.10,0.158,6,0.000,0.047,3009,1799,391
$GC,14218,1.15,912.8,64.2,11.7,682,14222,0.00,0.00,1.95,0.139,6,0.000,0.000,3009,1815,391
$GC,14528,1.15,912.8,33.1,10.1,697,14537,0.00,2.42,2.25,0.262,4,0.000,0.067,3009,503,390
$GC,14574,1.20,912.8,27.8,10.8,699,14578,0.00,2.25,0.00,0.000,6,0.000,0.046,3009,1801,390
$STATE,14864,end climb,SURFACE_DEPTH_REACHED
$STATE,14865,begin surface coast
$FINISH,0.5,1.026785
$STATE,14885,end surface coast,CONTROL_FINISHED_OK
$STATE,14885,begin surface
$SM_CCo,14969,0.00,0.000,0,0,389,598.78
$SM_GC,1.02,11.12,0.00,0.00,0.031,0.000,0.000,417,2168,389,-10.60,0.82,598.78
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1823
$TCM_TEMP,18.00
$XPDR_PINGS,64
$ALTIM_BOTTOM_PING,720.4,47.9
$24V_AH,23.8,12.597
$10V_AH,10.1,5.729
$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,29.000,130.650,673.225,0.000,0.000,37.761,27.427,162.515,22.500,0.000,0.000,37.823,1332.767,10974.552,738.916,1783.202,512.105,33.343,1695.765,0.000,1715.516,0.000,44.147,0.000
$DEVICE_MAMPS,151.866,75.166,1336.114,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,486.575,530.715,466.454,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34936,714
$CAP_FILE_SIZE,120971,0
$CFSIZE,254472192,248561664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,0,0
$GPS,070909,170355,6155.904,-941.719,40,1.5,40,-9.7