version: 66.04
glider: 5
mission: 7
dive: 60
start: 9 7 109 17 10 8
data:
$ID,5
$MISSION,7
$DIVE,60
$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,-101410.07
$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,19
$R_STBD_OVSHOOT,38
$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
$GPS1,170355,6155.904,-941.719,40,1.5,40,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-46.6
$GPS2,170914,6155.963,-941.651,12,1.1,12,-9.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.064,0.212
$KALMAN_X,-109734.3,607.3,5918.6,48713.3,-17918.7
$KALMAN_Y,-1040.6,436.3,7479.5,28923.2,-18607.5
$MHEAD_RNG_PITCHd_Wd,26.4,18234,-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,-101.20,0.000,2,0.000,0.000,416,2150,2535
$GC,123,-0.97,-146.6,2.1,-1.3,5,174,11.40,2.50,-33.53,0.000,4,0.155,0.073,2524,3518,3429
$GC,280,-0.78,-146.6,17.8,-11.4,12,285,0.22,2.45,0.00,0.000,6,0.079,0.044,2574,2121,3429
$GC,607,-0.78,-146.6,47.9,-7.9,28,612,0.00,2.47,0.00,0.000,4,0.000,0.059,2574,718,3428
$GC,671,-0.78,-146.6,52.8,-7.7,31,675,0.00,2.45,0.00,0.000,6,0.000,0.044,2574,2122,3428
$GC,997,-0.78,-146.6,80.3,-7.4,47,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2123,3428
$GC,1307,-0.78,-146.6,103.3,-7.1,62,1311,0.00,2.53,0.00,0.000,4,0.000,0.061,2574,721,3428
$GC,1373,-0.78,-146.6,108.5,-8.5,65,1378,0.00,2.47,0.00,0.000,6,0.000,0.044,2574,2138,3428
$GC,1695,-0.78,-146.6,132.1,-7.9,81,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2139,3428
$GC,2004,-0.78,-146.6,160.4,-10.3,96,2009,0.00,2.55,0.00,0.000,4,0.000,0.061,2574,721,3428
$GC,2106,-0.82,-146.6,171.1,-10.1,100,2112,0.00,2.47,0.00,0.000,6,0.000,0.046,2573,2140,3428
$GC,2422,-0.82,-146.6,199.3,-8.1,116,2427,0.00,2.55,0.00,0.000,4,0.000,0.061,2574,721,3428
$GC,2445,-0.86,-146.6,201.4,-8.4,117,2449,0.00,2.47,0.00,0.000,6,0.000,0.047,2574,2137,3428
$GC,2772,-0.86,-146.6,228.7,-8.2,133,2776,0.00,2.55,0.00,0.000,4,0.000,0.062,2574,721,3428
$GC,2822,-0.92,-146.6,233.0,-8.3,135,2827,0.12,2.45,0.00,0.000,6,0.051,0.047,2534,2121,3428
$GC,3139,-0.84,-146.6,261.1,-8.7,150,3144,0.12,2.55,0.00,0.000,4,0.083,0.062,2562,718,3428
$GC,3172,-0.84,-146.6,263.8,-7.7,151,3178,0.00,2.45,0.00,0.000,6,0.000,0.048,2561,2113,3428
$GC,3487,-0.84,-146.6,287.6,-7.8,167,3492,0.00,2.53,0.00,0.000,4,0.000,0.064,2561,717,3428
$GC,3538,-0.84,-146.6,291.9,-8.2,169,3542,0.00,2.42,0.00,0.000,6,0.000,0.047,2561,2099,3428
$GC,3854,-0.84,-146.6,317.8,-8.5,184,3858,0.00,2.50,0.00,0.000,4,0.000,0.064,2561,718,3427
$GC,3920,-0.84,-146.6,323.6,-8.4,187,3924,0.00,2.42,0.00,0.000,6,0.000,0.048,2562,2100,3427
$GC,4248,-0.84,-146.6,345.2,-5.6,203,4252,0.00,2.50,0.00,0.000,4,0.000,0.064,2561,719,3427
$GC,4304,-0.84,-146.6,348.1,-5.2,205,4310,0.00,2.40,0.00,0.000,6,0.000,0.048,2561,2081,3427
$GC,4620,-0.84,-146.6,357.6,-3.0,221,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2082,3427
$GC,4929,-0.84,-146.6,376.0,-8.2,236,4934,0.00,2.45,0.00,0.000,4,0.000,0.064,2561,725,3426
$GC,4957,-0.84,-146.6,378.8,-10.1,237,4961,0.00,2.38,0.00,0.000,6,0.000,0.048,2561,2075,3426
$GC,5273,-0.84,-146.6,415.8,-12.3,252,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2074,3425
$GC,5582,-0.84,-146.6,444.7,-6.8,267,5587,0.00,2.45,0.00,0.000,4,0.000,0.066,2561,725,3425
$GC,5644,-0.84,-146.6,447.7,-4.9,269,5650,0.00,2.38,0.00,0.000,6,0.000,0.049,2561,2075,3425
$GC,5960,-0.84,-146.6,447.3,2.3,285,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2075,3425
$GC,6269,-0.84,-146.6,445.2,-0.8,300,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2075,3425
$GC,6578,-0.84,-146.6,466.7,-10.9,315,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2075,3425
$GC,6887,-0.84,-146.6,505.7,-12.8,330,6892,0.00,2.47,0.00,0.000,4,0.000,0.068,2561,718,3424
$GC,6928,-0.90,-146.6,511.3,-14.0,332,6932,0.00,2.42,0.00,0.000,6,0.000,0.051,2561,2093,3424
$GC,7255,-0.90,-146.6,551.2,-10.0,348,7259,0.00,2.50,0.00,0.000,4,0.000,0.069,2561,724,3424
$GC,7300,-0.95,-146.6,555.6,-9.7,350,7305,0.12,2.40,0.00,0.000,6,0.058,0.052,2522,2078,3424
$GC,7622,-0.87,-146.6,584.9,-8.2,366,7627,0.15,2.67,0.00,0.000,4,0.082,0.075,2556,3534,3424
$GC,7661,-0.87,-146.6,587.6,-6.6,368,7666,0.00,2.62,0.00,0.000,6,0.000,0.061,2556,2080,3423
$GC,7988,-0.87,-146.6,606.5,-5.6,384,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2080,3423
$GC,8297,-0.87,-146.6,628.3,-8.2,399,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2054,3423
$GC,8607,-0.87,-146.6,655.8,-8.0,414,8611,0.00,2.47,0.00,0.000,4,0.000,0.074,2555,714,3421
$GC,8654,-0.92,-146.6,658.9,-5.7,416,8658,0.00,2.42,0.00,0.000,6,0.000,0.054,2555,2078,3422
$GC,8981,-0.92,-146.6,672.3,-0.9,432,8985,0.00,2.55,0.00,0.000,4,0.000,0.080,2555,722,3421
$GC,9099,-1.06,-146.6,682.7,-5.5,437,9104,0.20,2.38,0.00,0.000,6,0.050,0.057,2502,2049,3421
$STATE,9329,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9330,begin apogee
$GC,9337,-0.33,0.0,701.8,12.0,448,9472,0.77,0.00,128.55,1.290,6,0.074,0.000,2670,1901,2831
$STATE,9473,end apogee,CONTROL_FINISHED_OK
$STATE,9473,begin climb
$GC,9476,0.97,146.6,708.8,0.0,455,9614,1.33,0.00,130.70,1.259,6,0.058,0.000,2961,1902,2233
$GC,9926,1.01,261.3,698.6,2.9,477,10034,0.00,2.65,102.43,1.245,4,0.000,0.082,2961,523,1765
$GC,10085,0.91,261.3,681.8,6.5,484,10092,0.00,2.47,0.00,0.000,6,0.000,0.058,2961,1900,1764
$GC,10402,0.85,261.3,652.0,10.9,500,10407,0.15,2.60,0.00,0.000,4,0.085,0.081,2930,522,1764
$GC,10435,0.80,261.3,649.8,7.2,501,10441,0.00,2.42,0.00,0.000,6,0.000,0.060,2931,1860,1764
$GC,10752,0.95,355.0,632.4,3.4,517,10839,0.00,2.62,82.10,1.243,4,0.000,0.083,2930,520,1383
$GC,10904,1.02,355.0,625.0,6.5,524,10909,0.17,2.38,0.00,0.000,6,0.051,0.058,2976,1829,1383
$GC,11226,0.95,355.0,592.7,11.8,540,11231,0.12,2.72,0.00,0.000,4,0.089,0.071,2950,3311,1383
$GC,11289,1.03,355.0,586.1,10.6,543,11293,0.00,2.70,0.00,0.000,6,0.000,0.067,2950,1851,1383
$GC,11615,1.03,355.0,554.4,9.6,559,11616,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1851,1383
$GC,11924,1.03,355.0,528.3,8.2,574,11929,0.00,2.67,0.00,0.000,4,0.000,0.068,2950,3308,1383
$GC,11969,1.11,355.0,524.7,7.3,576,11974,0.17,2.65,0.00,0.000,6,0.051,0.065,2996,1866,1383
$GC,12291,1.01,355.0,495.1,9.8,592,12296,0.15,2.47,0.00,0.000,4,0.086,0.078,2966,522,1383
$GC,12324,1.01,355.0,492.0,8.7,593,12330,0.00,2.35,0.00,0.000,6,0.000,0.054,2966,1839,1383
$GC,12640,1.01,355.0,464.5,9.9,609,12644,0.00,2.45,0.00,0.000,4,0.000,0.077,2966,520,1383
$GC,12674,1.01,355.0,460.8,10.5,610,12678,0.00,2.33,0.00,0.000,6,0.000,0.054,2966,1828,1383
$GC,12989,1.01,355.0,429.7,9.6,625,12991,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1842,1384
$GC,13299,1.01,355.0,403.8,8.1,640,13303,0.00,2.65,0.00,0.000,4,0.000,0.064,2966,3317,1383
$GC,13339,1.08,355.0,400.2,9.0,642,13343,0.00,2.65,0.00,0.000,6,0.000,0.059,2966,1849,1383
$GC,13665,1.08,355.0,367.3,11.0,658,13667,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1849,1384
$GC,13975,1.08,355.0,337.1,8.8,673,13979,0.00,2.65,0.00,0.000,4,0.000,0.062,2966,3310,1384
$GC,14008,1.14,355.0,334.3,7.6,674,14015,0.12,2.58,0.00,0.000,6,0.053,0.056,3001,1870,1384
$GC,14324,1.03,355.0,305.6,9.3,690,14326,0.15,0.00,0.00,0.000,6,0.083,0.000,2971,1870,1385
$GC,14633,1.03,355.0,282.8,7.3,705,14637,0.00,2.60,0.00,0.000,4,0.000,0.062,2971,3316,1385
$GC,14666,1.09,355.0,280.1,7.9,706,14672,0.00,2.60,0.00,0.000,6,0.000,0.054,2971,1860,1385
$GC,14982,1.09,355.0,254.2,8.1,722,14986,0.00,2.62,0.00,0.000,4,0.000,0.061,2971,3314,1386
$GC,15005,1.09,355.0,252.3,8.3,723,15010,0.00,2.58,0.00,0.000,6,0.000,0.054,2971,1871,1386
$GC,15326,1.09,355.0,219.7,11.2,739,15327,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1871,1386
$GC,15635,1.09,355.0,188.0,9.4,754,15640,0.00,2.60,0.00,0.000,4,0.000,0.061,2971,3313,1387
$GC,15669,1.15,355.0,185.0,9.0,755,15676,0.12,2.55,0.00,0.000,6,0.051,0.052,3007,1877,1387
$GC,15986,1.05,355.0,155.1,8.6,771,15991,0.17,2.58,0.00,0.000,4,0.079,0.059,2969,3311,1387
$GC,16019,1.12,355.0,152.3,6.7,772,16025,0.00,2.53,0.00,0.000,6,0.000,0.051,2968,1888,1387
$GC,16336,1.19,400.7,135.6,4.7,788,16378,0.17,0.00,39.50,0.871,6,0.046,0.000,3016,1888,1197
$GC,16687,1.08,400.7,105.1,10.3,805,16692,0.17,2.60,0.00,0.000,4,0.077,0.058,2980,3317,1197
$GC,16743,1.17,400.7,100.4,6.5,807,16750,0.00,2.50,0.00,0.000,6,0.000,0.050,2980,1908,1197
$GC,17059,1.17,400.7,72.0,12.6,823,17063,0.00,2.53,0.00,0.000,4,0.000,0.067,2980,508,1198
$GC,17100,1.17,400.7,66.7,13.2,825,17104,0.00,2.42,0.00,0.000,6,0.000,0.045,2980,1897,1198
$GC,17427,1.27,463.3,42.5,4.3,841,17486,0.20,0.00,51.92,0.805,6,0.044,0.000,3034,1912,942
$STATE,17794,end climb,SURFACE_DEPTH_REACHED
$STATE,17794,begin surface coast
$FINISH,0.6,1.013737
$STATE,17817,end surface coast,CONTROL_FINISHED_OK
$STATE,17817,begin surface
$SM_CCo,17901,0.00,0.000,0,0,942,463.37
$SM_GC,1.40,11.27,0.00,0.00,0.033,0.000,0.000,418,2148,942,-10.59,0.51,463.37
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1808
$TCM_TEMP,18.00
$XPDR_PINGS,60
$ALTIM_BOTTOM_PING,695.6,15.7
$24V_AH,23.8,12.790
$10V_AH,10.1,5.813
$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,27.625,161.600,535.200,0.000,0.000,37.762,32.615,133.178,21.500,0.000,0.000,12.759,1568.216,13561.778,702.042,1872.149,517.803,33.353,1684.288,0.000,1831.430,0.000,45.359,0.000
$DEVICE_MAMPS,154.934,82.836,1290.094,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,588.255,641.526,538.764,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44328,860
$CAP_FILE_SIZE,135137,0
$CFSIZE,254472192,248479744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,54,0,0
$GPS,070909,220936,6204.170,-936.650,30,0.9,30,-9.8