version: 66.04
glider: 5
mission: 7
dive: 61
start: 9 7 109 22 26 18
data:
$ID,5
$MISSION,7
$DIVE,61
$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,-101428.41
$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,21
$R_STBD_OVSHOOT,39
$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
$GPS1,220936,6204.170,-936.650,30,0.9,30,-9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-57.9
$GPS2,222526,6204.435,-936.396,17,1.8,17,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.162,0.109
$KALMAN_X,-102052.3,550.8,3331.8,48291.5,-6556.4
$KALMAN_Y,13000.7,1947.3,3910.8,32552.6,-2430.1
$MHEAD_RNG_PITCHd_Wd,313.7,11842,-13.2,-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,-1.05,-109.2,0.0,0.0,0,99,0.00,0.00,-81.07,0.000,2,0.000,0.000,417,2149,2682
$GC,102,-1.11,-146.6,2.6,-2.2,4,149,11.32,2.60,-27.70,0.000,4,0.158,0.067,2492,722,3429
$GC,325,-1.02,-146.6,28.4,-13.7,14,330,0.12,2.45,0.00,0.000,6,0.107,0.043,2517,2126,3429
$GC,653,-0.96,-146.6,77.5,-15.5,30,657,0.00,2.55,0.00,0.000,4,0.000,0.064,2518,3535,3429
$GC,754,-0.91,-146.6,91.1,-11.1,34,761,0.12,2.45,0.00,0.000,6,0.087,0.044,2545,2135,3429
$GC,1070,-0.91,-146.6,104.0,-3.5,50,1075,0.00,2.55,0.00,0.000,4,0.000,0.063,2545,3536,3429
$GC,1143,-0.91,-146.6,108.6,-7.4,53,1147,0.00,2.45,0.00,0.000,6,0.000,0.046,2545,2144,3430
$GC,1460,-0.91,-146.6,140.0,-10.1,68,1464,0.00,2.53,0.00,0.000,4,0.000,0.062,2545,718,3430
$GC,1515,-0.96,-146.6,145.8,-10.9,70,1522,0.00,2.50,0.00,0.000,6,0.000,0.045,2545,2149,3430
$GC,1832,-0.96,-146.6,173.9,-8.4,86,1836,0.00,2.58,0.00,0.000,4,0.000,0.063,2545,721,3430
$GC,1900,-1.03,-146.6,179.8,-8.6,89,1905,0.12,2.47,0.00,0.000,6,0.051,0.046,2508,2135,3429
$GC,2227,-0.97,-146.6,214.8,-11.1,105,2229,0.12,0.00,0.00,0.000,6,0.084,0.000,2534,2136,3429
$GC,2536,-0.97,-146.6,249.1,-11.8,120,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2136,3429
$GC,2845,-0.97,-146.6,283.7,-10.1,135,2849,0.00,2.53,0.00,0.000,4,0.000,0.063,2535,725,3429
$GC,2942,-1.01,-146.6,293.5,-9.9,139,2946,0.00,2.47,0.00,0.000,6,0.000,0.047,2535,2139,3429
$GC,3258,-1.01,-146.6,321.5,-8.0,154,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2139,3429
$GC,3567,-1.01,-146.6,343.8,-6.8,169,3571,0.00,2.55,0.00,0.000,4,0.000,0.064,2535,720,3429
$GC,3595,-1.05,-146.6,345.9,-7.1,170,3599,0.00,2.47,0.00,0.000,6,0.000,0.048,2534,2134,3428
$GC,3917,-1.05,-146.6,372.4,-9.4,186,3921,0.00,2.55,0.00,0.000,4,0.000,0.064,2535,722,3428
$GC,3961,-1.11,-146.6,377.1,-10.0,188,3966,0.15,2.47,0.00,0.000,6,0.052,0.049,2491,2131,3428
$GC,4283,-1.02,-146.6,418.0,-13.0,204,4288,0.12,2.58,0.00,0.000,4,0.087,0.064,2519,718,3427
$GC,4327,-1.02,-146.6,423.7,-11.8,206,4331,0.00,2.45,0.00,0.000,6,0.000,0.048,2519,2115,3427
$GC,4648,-1.02,-146.6,456.3,-9.0,222,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2115,3427
$GC,4957,-1.02,-146.6,478.4,-5.6,237,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2115,3427
$GC,5266,-1.02,-146.6,493.1,-5.1,252,5271,0.00,2.53,0.00,0.000,4,0.000,0.067,2519,722,3427
$GC,5307,-1.02,-146.6,496.1,-7.5,254,5311,0.00,2.42,0.00,0.000,6,0.000,0.051,2518,2102,3427
$GC,5633,-1.02,-146.6,529.6,-10.6,270,5637,0.00,2.53,0.00,0.000,4,0.000,0.072,2519,725,3427
$GC,5846,-1.02,-146.6,553.0,-11.2,279,5852,0.00,2.38,0.00,0.000,6,0.000,0.053,2519,2066,3427
$GC,6162,-1.02,-146.6,581.9,-7.9,295,6166,0.00,2.70,0.00,0.000,4,0.000,0.076,2519,3535,3426
$GC,6224,-1.02,-146.6,585.9,-6.2,298,6228,0.00,2.67,0.00,0.000,6,0.000,0.065,2519,2064,3426
$GC,6551,-1.02,-146.6,603.1,-7.9,314,6555,0.00,2.45,0.00,0.000,4,0.000,0.078,2519,720,3425
$GC,6591,-1.02,-146.6,606.2,-7.9,316,6595,0.00,2.38,0.00,0.000,6,0.000,0.056,2519,2051,3425
$GC,6918,-1.07,-146.6,630.2,-4.9,332,6923,0.00,2.50,0.00,0.000,4,0.000,0.080,2519,722,3424
$GC,6969,-1.02,-146.6,634.1,-12.8,334,6974,0.00,2.33,0.00,0.000,6,0.000,0.058,2519,2018,3424
$STATE,7035,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7035,begin apogee
$GC,7042,-0.33,0.0,641.0,10.3,337,7178,0.70,0.00,128.90,1.259,6,0.077,0.000,2670,1914,2831
$STATE,7178,end apogee,CONTROL_FINISHED_OK
$STATE,7179,begin climb
$GC,7182,1.11,146.6,645.4,0.0,344,7316,1.42,0.00,130.15,1.216,6,0.057,0.000,2987,1915,2233
$GC,7615,0.96,146.6,616.3,9.7,365,7617,0.17,0.00,0.00,0.000,6,0.091,0.000,2953,1909,2232
$GC,7924,0.96,146.6,598.9,6.9,380,7928,0.00,2.60,0.00,0.000,4,0.000,0.082,2953,520,2231
$GC,8101,0.88,146.6,583.0,9.3,388,8105,0.00,2.53,0.00,0.000,6,0.000,0.057,2953,1927,2231
$GC,8427,0.88,146.6,557.9,6.9,404,8432,0.00,2.55,0.00,0.000,4,0.000,0.074,2953,3323,2230
$GC,8598,0.88,146.6,544.0,8.2,411,8604,0.00,2.55,0.00,0.000,6,0.000,0.069,2953,1942,2230
$GC,8914,0.88,146.6,519.3,7.6,427,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1940,2229
$GC,9224,0.95,193.6,499.8,4.3,442,9270,0.00,2.72,40.97,1.185,4,0.000,0.081,2952,513,2041
$GC,9375,1.06,288.0,495.4,2.5,449,9464,0.10,2.53,82.00,1.176,6,0.064,0.057,2979,1930,1656
$GC,9786,1.06,288.0,468.0,11.7,469,9790,0.00,2.65,0.00,0.000,4,0.000,0.078,2979,510,1657
$GC,9956,1.02,288.0,448.1,11.3,476,9962,0.00,2.42,0.00,0.000,6,0.000,0.054,2979,1863,1657
$GC,10272,1.02,288.0,418.2,8.7,492,10276,0.00,2.62,0.00,0.000,4,0.000,0.069,2979,3312,1657
$GC,10294,1.02,288.0,416.2,8.8,493,10298,0.00,2.65,0.00,0.000,6,0.000,0.063,2979,1864,1657
$GC,10614,1.02,288.0,392.8,7.3,509,10619,0.00,2.45,0.00,0.000,4,0.000,0.071,2979,513,1657
$GC,10659,1.02,288.0,389.0,8.8,511,10663,0.00,2.40,0.00,0.000,6,0.000,0.051,2979,1864,1657
$GC,10986,1.02,288.0,353.3,12.7,527,10987,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1877,1657
$GC,11295,1.02,288.0,316.0,11.1,542,11296,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1878,1657
$GC,11604,1.02,288.0,287.6,8.3,557,11609,0.00,2.60,0.00,0.000,4,0.000,0.064,2979,3321,1657
$GC,11638,1.08,288.0,284.6,8.1,558,11644,0.00,2.62,0.00,0.000,6,0.000,0.056,2979,1860,1658
$GC,11954,1.08,288.0,256.2,9.5,574,11958,0.00,2.62,0.00,0.000,4,0.000,0.062,2979,3315,1658
$GC,11982,1.14,288.0,253.3,9.7,575,11986,0.00,2.58,0.00,0.000,6,0.000,0.054,2979,1872,1658
$GC,12298,1.14,288.0,223.4,9.3,590,12302,0.00,2.60,0.00,0.000,4,0.000,0.061,2979,3318,1658
$GC,12325,1.19,288.0,220.7,9.8,591,12330,0.10,2.55,0.00,0.000,6,0.056,0.054,3010,1883,1659
$GC,12642,1.12,288.0,191.1,8.5,606,12644,0.12,0.00,0.00,0.000,6,0.086,0.000,2985,1883,1659
$GC,12951,1.12,288.0,166.3,8.9,621,12955,0.00,2.58,0.00,0.000,4,0.000,0.061,2985,3313,1659
$GC,13013,1.17,288.0,160.6,9.4,624,13018,0.00,2.53,0.00,0.000,6,0.000,0.051,2986,1877,1659
$GC,13340,1.17,288.0,131.2,9.1,640,13341,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1877,1660
$GC,13651,1.17,288.0,100.8,10.1,655,13652,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1877,1661
$GC,13959,1.17,288.0,69.7,9.1,670,13963,0.00,2.45,0.00,0.000,4,0.000,0.066,2985,510,1661
$GC,13991,1.17,288.0,66.7,8.7,671,13998,0.00,2.40,0.00,0.000,6,0.000,0.046,2986,1890,1661
$GC,14309,1.17,288.0,43.6,7.2,687,14313,0.00,2.50,0.00,0.000,4,0.000,0.067,2985,513,1661
$GC,14337,1.17,288.0,41.0,8.4,688,14341,0.00,2.40,0.00,0.000,6,0.000,0.045,2985,1892,1662
$GC,14653,1.21,288.0,13.9,8.7,703,14655,0.10,0.00,0.00,0.000,6,0.055,0.000,3017,1906,1662
$STATE,14773,end climb,SURFACE_DEPTH_REACHED
$STATE,14773,begin surface coast
$FINISH,0.5,1.013796
$STATE,14797,end surface coast,CONTROL_FINISHED_OK
$STATE,14797,begin surface
$SM_CCo,14821,11.05,0.717,0,0,1608,300.00
$SM_GC,1.54,0.00,0.00,11.05,0.000,0.000,0.717,425,2160,1608,-10.67,0.82,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1841
$TCM_TEMP,17.90
$XPDR_PINGS,37
$ALTIM_BOTTOM_PING,570.3,80.1
$24V_AH,23.8,12.957
$10V_AH,10.1,5.891
$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,26.000,131.700,382.025,11.050,0.000,151.037,160.448,316.766,14.250,0.000,0.000,17.711,1345.549,11293.062,532.369,1686.771,924.883,33.359,1390.737,0.000,1643.169,0.000,35.568,0.000
$DEVICE_MAMPS,158.002,82.069,1259.414,717.145,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,486.608,529.564,454.424,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38013,710
$CAP_FILE_SIZE,123312,0
$CFSIZE,254472192,248430592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,47,0,0
$GPS,080909,023436,6208.171,-937.337,26,1.9,26,-9.8