version: 66.04
glider: 5
mission: 7
dive: 62
start: 9 8 109 2 41 9
data:
$ID,5
$MISSION,7
$DIVE,62
$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,-101443.6
$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,22
$R_STBD_OVSHOOT,40
$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
$GPS1,023436,6208.171,-937.337,26,1.9,26,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-62.6
$GPS2,024014,6208.219,-937.389,14,1.9,14,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.152,-0.161
$KALMAN_X,-92823.3,281.1,87.2,41737.2,9102.6
$KALMAN_Y,23054.4,100.4,-137.8,35488.2,15435.8
$MHEAD_RNG_PITCHd_Wd,233.1,12454,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.97,-146.6,0.0,0.0,0,58,0.00,0.00,-41.25,0.000,2,0.000,0.000,425,2161,2475
$GC,62,-0.97,-146.6,2.1,-2.9,2,118,11.23,0.00,-40.53,0.000,6,0.148,0.000,2525,2152,3428
$GC,438,-0.84,-146.6,36.3,-10.5,20,443,0.17,2.60,0.00,0.000,4,0.088,0.058,2567,713,3428
$GC,533,-0.84,-146.6,44.6,-7.8,24,538,0.00,2.47,0.00,0.000,6,0.000,0.044,2567,2129,3428
$GC,850,-0.84,-146.6,66.6,-6.2,39,854,0.00,2.55,0.00,0.000,4,0.000,0.061,2567,709,3429
$GC,936,-0.84,-146.6,71.6,-5.4,43,941,0.00,2.45,0.00,0.000,6,0.000,0.044,2567,2115,3429
$GC,1264,-0.84,-146.6,87.5,-4.8,59,1269,0.00,2.50,0.00,0.000,4,0.000,0.059,2567,718,3429
$GC,1292,-0.84,-146.6,89.0,-4.8,60,1297,0.00,2.42,0.00,0.000,6,0.000,0.044,2567,2110,3429
$GC,1610,-0.84,-146.6,101.0,-2.5,75,1615,0.00,2.50,0.00,0.000,4,0.000,0.060,2566,716,3430
$GC,1644,-0.84,-146.6,102.2,-3.6,76,1651,0.00,2.38,0.00,0.000,6,0.000,0.044,2566,2087,3430
$GC,1961,-0.84,-146.6,116.9,-5.7,92,1965,0.00,2.60,0.00,0.000,4,0.000,0.063,2567,3536,3430
$GC,2001,-0.84,-146.6,119.1,-6.0,94,2005,0.00,2.53,0.00,0.000,6,0.000,0.048,2567,2091,3430
$GC,2328,-0.84,-146.6,139.6,-6.1,110,2332,0.00,2.62,0.00,0.000,4,0.000,0.063,2567,3530,3430
$GC,2372,-0.84,-146.6,142.5,-6.6,112,2377,0.00,2.50,0.00,0.000,6,0.000,0.047,2566,2105,3430
$GC,2694,-0.84,-146.6,161.2,-6.0,128,2698,0.00,2.60,0.00,0.000,4,0.000,0.064,2567,3530,3430
$GC,2744,-0.84,-146.6,164.4,-6.7,130,2748,0.00,2.45,0.00,0.000,6,0.000,0.048,2567,2130,3429
$GC,3060,-0.84,-146.6,184.1,-6.0,145,3064,0.00,2.47,0.00,0.000,4,0.000,0.061,2567,725,3430
$GC,3093,-0.84,-146.6,186.5,-6.5,146,3099,0.00,2.45,0.00,0.000,6,0.000,0.046,2567,2130,3430
$GC,3409,-0.84,-146.6,207.5,-7.2,162,3413,0.00,2.53,0.00,0.000,4,0.000,0.064,2566,727,3430
$GC,3449,-0.88,-146.6,210.6,-7.9,164,3453,0.00,2.45,0.00,0.000,6,0.000,0.048,2567,2129,3430
$GC,3775,-0.88,-146.6,235.3,-7.6,180,3780,0.00,2.55,0.00,0.000,4,0.000,0.063,2566,721,3430
$GC,3838,-0.88,-146.6,240.3,-8.1,183,3842,0.00,2.40,0.00,0.000,6,0.000,0.048,2567,2110,3430
$GC,4170,-0.88,-146.6,263.3,-7.2,199,4174,0.00,2.50,0.00,0.000,4,0.000,0.063,2566,719,3430
$GC,4210,-0.93,-146.6,266.3,-8.4,201,4215,0.10,2.40,0.00,0.000,6,0.057,0.047,2531,2093,3430
$GC,4541,-0.85,-146.6,296.7,-9.3,217,4546,0.12,2.50,0.00,0.000,4,0.084,0.063,2559,718,3430
$GC,4568,-0.85,-146.6,299.4,-8.0,218,4572,0.00,2.40,0.00,0.000,6,0.000,0.048,2559,2087,3430
$GC,4884,-0.85,-146.6,325.9,-8.4,233,4888,0.00,2.47,0.00,0.000,4,0.000,0.064,2559,719,3429
$GC,4930,-0.85,-146.6,329.8,-8.8,235,4934,0.00,2.38,0.00,0.000,6,0.000,0.048,2559,2086,3430
$GC,5262,-0.85,-146.6,357.5,-8.3,251,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2086,3429
$GC,5572,-0.85,-146.6,385.4,-9.5,266,5576,0.00,2.62,0.00,0.000,4,0.000,0.071,2559,3533,3429
$GC,5616,-0.85,-146.6,389.9,-9.8,268,5621,0.00,2.58,0.00,0.000,6,0.000,0.054,2559,2084,3429
$GC,5937,-0.85,-146.6,418.2,-8.0,284,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2079,3429
$GC,6246,-0.85,-146.6,443.2,-7.8,299,6250,0.00,2.42,0.00,0.000,4,0.000,0.067,2559,722,3428
$GC,6313,-0.85,-146.6,448.7,-8.6,302,6317,0.00,2.38,0.00,0.000,6,0.000,0.050,2559,2078,3428
$GC,6640,-0.85,-146.6,481.7,-13.9,318,6645,0.00,2.47,0.00,0.000,4,0.000,0.070,2559,719,3427
$GC,6789,-0.90,-146.6,501.6,-13.6,324,6795,0.00,2.33,0.00,0.000,6,0.000,0.051,2559,2039,3428
$GC,7105,-0.90,-146.6,532.2,-6.4,340,7109,0.00,2.70,0.00,0.000,4,0.000,0.071,2559,3530,3428
$GC,7145,-0.90,-146.6,534.3,-5.9,342,7149,0.00,2.67,0.00,0.000,6,0.000,0.058,2559,2032,3427
$GC,7474,-0.90,-146.6,545.4,-2.7,358,7479,0.00,2.75,0.00,0.000,4,0.000,0.072,2559,3528,3427
$GC,7518,-0.90,-146.6,546.5,-2.8,360,7523,0.00,2.65,0.00,0.000,6,0.000,0.058,2559,2050,3427
$GC,7840,-0.90,-146.6,554.0,-2.7,376,7845,0.00,2.72,0.00,0.000,4,0.000,0.074,2559,3535,3427
$GC,7886,-0.90,-146.6,555.5,-3.6,378,7891,0.00,2.65,0.00,0.000,6,0.000,0.060,2559,2061,3426
$GC,8208,-0.90,-146.6,566.3,-4.7,394,8212,0.00,2.45,0.00,0.000,4,0.000,0.074,2559,714,3426
$GC,8236,-0.96,-146.6,567.9,-5.4,395,8241,0.12,2.40,0.00,0.000,6,0.058,0.054,2522,2064,3426
$GC,8553,-0.89,-146.6,589.5,-6.7,410,8558,0.12,2.50,0.00,0.000,4,0.091,0.074,2549,716,3425
$GC,8615,-0.89,-146.6,593.5,-6.9,413,8619,0.00,2.35,0.00,0.000,6,0.000,0.056,2549,2033,3425
$GC,8942,-0.89,-146.6,615.9,-7.6,429,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2034,3424
$GC,9251,-0.89,-146.6,639.8,-7.3,444,9252,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2034,3424
$GC,9560,-0.89,-146.6,664.8,-7.6,459,9564,0.00,2.45,0.00,0.000,4,0.000,0.083,2548,726,3422
$GC,9583,-0.89,-146.6,666.6,-7.8,460,9587,0.00,2.35,0.00,0.000,6,0.000,0.060,2549,2031,3422
$STATE,9757,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9757,begin apogee
$GC,9764,-0.33,0.0,681.0,6.9,469,9900,0.57,0.00,129.00,1.306,6,0.077,0.000,2673,1902,2830
$STATE,9901,end apogee,CONTROL_FINISHED_OK
$STATE,9901,begin climb
$GC,9904,0.97,146.6,684.2,0.0,476,10044,1.27,2.65,131.82,1.262,4,0.060,0.082,2954,528,2233
$GC,10064,0.83,178.1,679.9,5.1,482,10100,0.15,2.55,29.08,1.197,6,0.093,0.058,2926,1933,2103
$GC,10424,0.83,178.1,657.5,8.8,500,10425,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1934,2103
$GC,10731,0.83,178.1,638.3,6.2,515,10735,0.00,2.65,0.00,0.000,4,0.000,0.083,2926,520,2102
$GC,10787,0.77,178.1,633.9,8.6,517,10793,0.00,2.50,0.00,0.000,6,0.000,0.058,2926,1902,2102
$GC,11102,0.77,178.1,610.2,8.2,533,11104,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1917,2102
$GC,11412,0.77,178.1,588.7,6.4,548,11416,0.00,2.60,0.00,0.000,4,0.000,0.081,2926,519,2101
$GC,11452,0.70,178.1,586.0,7.7,550,11457,0.12,2.50,0.00,0.000,6,0.093,0.060,2900,1901,2101
$GC,11782,0.77,181.6,566.3,5.9,566,11791,0.00,2.62,3.97,0.800,4,0.000,0.081,2900,530,2090
$GC,11820,0.77,181.6,563.8,6.3,567,11826,0.00,2.45,0.00,0.000,6,0.000,0.060,2900,1882,2090
$GC,12137,0.95,258.1,549.0,3.9,583,12213,0.20,2.65,67.70,1.234,4,0.050,0.080,2956,520,1778
$GC,12225,0.91,272.7,544.0,5.6,587,12244,0.00,2.47,14.18,1.125,6,0.000,0.058,2956,1885,1719
$GC,12575,0.93,317.1,526.7,4.8,604,12621,0.00,2.72,39.75,1.195,4,0.000,0.072,2956,3305,1538
$GC,12696,1.02,371.8,520.7,4.5,609,12752,0.00,2.60,48.42,1.181,6,0.000,0.068,2956,1910,1315
$GC,13080,1.02,371.8,498.6,6.6,628,13081,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1910,1316
$GC,13389,1.02,371.8,475.3,7.6,643,13394,0.00,2.58,0.00,0.000,4,0.000,0.077,2956,510,1316
$GC,13412,1.02,371.8,473.4,8.3,644,13416,0.00,2.50,0.00,0.000,6,0.000,0.054,2956,1903,1316
$GC,13732,1.02,371.8,445.4,8.4,660,13737,0.00,2.62,0.00,0.000,4,0.000,0.075,2956,506,1316
$GC,13783,1.02,371.8,441.5,7.2,662,13787,0.00,2.45,0.00,0.000,6,0.000,0.053,2955,1878,1316
$GC,14104,1.02,371.8,416.4,8.1,678,14109,0.00,2.55,0.00,0.000,4,0.000,0.073,2956,504,1317
$GC,14127,1.02,371.8,414.3,8.9,679,14131,0.00,2.45,0.00,0.000,6,0.000,0.052,2956,1879,1317
$GC,14448,1.02,371.8,390.3,7.2,695,14452,0.00,2.60,0.00,0.000,4,0.000,0.066,2956,3330,1317
$GC,14466,1.07,371.8,389.0,6.8,696,14471,0.10,2.67,0.00,0.000,6,0.057,0.060,2986,1853,1317
$GC,14793,1.01,371.8,357.8,10.1,712,14797,0.00,2.45,0.00,0.000,4,0.000,0.072,2986,504,1318
$GC,14833,0.95,371.8,353.2,10.6,714,14838,0.17,2.38,0.00,0.000,6,0.079,0.050,2949,1852,1318
$GC,15160,1.02,371.8,323.9,9.3,730,15165,0.00,2.62,0.00,0.000,4,0.000,0.063,2949,3328,1318
$GC,15183,1.11,371.8,321.5,10.4,731,15188,0.17,2.67,0.00,0.000,6,0.047,0.056,2998,1839,1318
$GC,15505,1.02,371.8,280.0,13.1,747,15510,0.15,2.72,0.00,0.000,4,0.083,0.061,2967,3333,1319
$GC,15527,1.02,371.8,277.1,12.6,748,15531,0.00,2.65,0.00,0.000,6,0.000,0.054,2967,1854,1319
$GC,15848,1.02,371.8,244.9,9.9,764,15849,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1854,1320
$GC,16157,1.02,371.8,215.1,8.9,779,16158,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1854,1320
$GC,16466,1.02,371.8,187.6,8.3,794,16470,0.00,2.65,0.00,0.000,4,0.000,0.060,2967,3325,1321
$GC,16499,1.11,371.8,184.7,8.1,795,16506,0.00,2.62,0.00,0.000,6,0.000,0.052,2967,1850,1321
$GC,16816,1.11,371.8,163.4,6.1,811,16820,0.00,2.65,0.00,0.000,4,0.000,0.060,2967,3331,1321
$GC,16838,1.19,378.1,161.9,5.8,812,16855,0.17,2.60,8.32,0.788,6,0.046,0.051,3015,1866,1289
$GC,17167,1.08,378.1,131.9,9.3,828,17172,0.17,2.62,0.00,0.000,4,0.078,0.058,2976,3326,1289
$GC,17201,1.14,378.1,128.9,7.3,829,17208,0.00,2.55,0.00,0.000,6,0.000,0.051,2976,1888,1288
$GC,17519,1.14,378.1,98.4,10.3,845,17523,0.00,2.58,0.00,0.000,4,0.000,0.057,2976,3327,1289
$GC,17552,1.22,378.1,95.5,6.5,846,17559,0.15,2.50,0.00,0.000,6,0.048,0.048,3019,1905,1289
$GC,17869,1.10,378.1,59.9,11.9,862,17874,0.17,2.58,0.00,0.000,4,0.080,0.057,2978,3332,1290
$GC,17932,1.17,378.1,53.6,8.6,865,17937,0.00,2.42,0.00,0.000,6,0.000,0.048,2978,1955,1290
$GC,18260,1.17,378.1,26.2,8.1,881,18261,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1955,1290
$STATE,18566,end climb,SURFACE_DEPTH_REACHED
$STATE,18566,begin surface coast
$FINISH,1.0,1.026857
$STATE,18589,end surface coast,CONTROL_FINISHED_OK
$STATE,18589,begin surface
$SM_CCo,18672,0.00,0.000,0,0,1290,378.01
$SM_GC,1.10,10.95,0.00,0.00,0.032,0.000,0.000,418,2166,1290,-10.60,0.96,378.01
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1813
$TCM_TEMP,17.90
$XPDR_PINGS,49
$ALTIM_BOTTOM_PING,646.3,43.5
$24V_AH,23.8,13.137
$10V_AH,10.1,5.978
$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,26.425,203.350,472.250,0.000,0.000,43.932,28.193,146.758,18.250,0.000,0.000,14.572,1687.916,14138.094,587.354,2030.164,569.637,33.385,1662.737,0.000,1977.829,0.000,42.277,0.000
$DEVICE_MAMPS,148.031,82.836,1306.201,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,615.734,660.698,580.294,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47377,897
$CAP_FILE_SIZE,150857,0
$CFSIZE,254472192,248340480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,65,0,0
$GPS,080909,075336,6207.889,-945.226,38,1.9,38,-9.9