version: 66.04
glider: 5
mission: 7
dive: 63
start: 9 8 109 8 0 24
data:
$ID,5
$MISSION,7
$DIVE,63
$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,-101457.91
$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,25
$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
$GPS1,075336,6207.889,-945.226,38,1.9,38,-9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-50.1
$GPS2,075932,6207.974,-945.374,11,2.0,11,-9.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.132,-0.178
$KALMAN_X,-94753.5,-30.1,-814.6,37940.3,4541.8
$KALMAN_Y,28612.7,-1486.0,-341.1,31332.2,17862.2
$MHEAD_RNG_PITCHd_Wd,153.2,6814,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.07,0.000,2,0.000,0.000,417,2157,2979
$GC,103,-0.97,-146.6,3.1,-3.5,4,133,11.45,2.62,-12.68,0.000,4,0.157,0.071,2524,722,3430
$GC,239,-0.85,-146.6,19.1,-8.8,10,244,0.15,2.47,0.00,0.000,6,0.087,0.044,2557,2135,3430
$GC,566,-0.77,-146.6,43.5,-6.3,26,571,0.00,2.53,0.00,0.000,4,0.000,0.063,2557,3537,3430
$GC,607,-0.73,-146.6,46.1,-6.9,28,613,0.15,2.45,0.00,0.000,6,0.081,0.044,2589,2129,3430
$GC,935,-0.77,-146.6,70.6,-8.7,44,940,0.00,2.47,0.00,0.000,4,0.000,0.058,2588,722,3430
$GC,999,-0.86,-146.6,75.8,-8.4,47,1004,0.15,2.47,0.00,0.000,6,0.047,0.044,2545,2143,3430
$GC,1327,-0.78,-146.6,105.2,-7.9,63,1332,0.15,2.50,0.00,0.000,4,0.077,0.062,2577,3535,3431
$GC,1400,-0.78,-146.6,109.6,-4.8,66,1404,0.00,2.45,0.00,0.000,6,0.000,0.044,2578,2134,3431
$GC,1717,-0.78,-146.6,120.6,-2.5,81,1721,0.00,2.50,0.00,0.000,4,0.000,0.061,2578,717,3431
$GC,1780,-0.83,-146.6,122.1,-2.4,84,1785,0.00,2.47,0.00,0.000,6,0.000,0.044,2578,2138,3431
$GC,2110,-0.83,-146.6,128.9,-2.9,100,2114,0.00,2.55,0.00,0.000,4,0.000,0.060,2578,715,3431
$GC,2155,-0.88,-146.6,130.7,-4.6,102,2160,0.12,2.45,0.00,0.000,6,0.052,0.044,2539,2122,3431
$GC,2479,-0.80,-146.6,148.8,-6.1,118,2484,0.15,2.53,0.00,0.000,4,0.077,0.059,2572,725,3431
$GC,2525,-0.84,-146.6,151.1,-5.0,120,2529,0.00,2.40,0.00,0.000,6,0.000,0.045,2572,2103,3431
$GC,2846,-0.84,-146.6,167.1,-5.1,136,2851,0.00,2.47,0.00,0.000,4,0.000,0.062,2572,725,3431
$GC,2898,-0.90,-146.6,170.2,-6.1,138,2903,0.12,2.35,0.00,0.000,6,0.052,0.046,2534,2080,3431
$GC,3219,-0.80,-146.6,196.9,-8.5,154,3224,0.17,2.62,0.00,0.000,4,0.078,0.066,2573,3534,3431
$GC,3247,-0.80,-146.6,199.1,-7.7,155,3251,0.00,2.58,0.00,0.000,6,0.000,0.050,2573,2073,3431
$GC,3564,-0.80,-146.6,221.2,-7.7,170,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2073,3431
$GC,3874,-0.80,-146.6,246.1,-8.0,185,3878,0.00,2.40,0.00,0.000,4,0.000,0.063,2574,726,3431
$GC,3919,-0.86,-146.6,250.3,-8.9,187,3923,0.00,2.38,0.00,0.000,6,0.000,0.047,2573,2086,3430
$GC,4240,-0.86,-146.6,275.5,-8.0,203,4244,0.00,2.45,0.00,0.000,4,0.000,0.062,2574,726,3430
$GC,4320,-0.92,-146.6,282.2,-8.2,206,4327,0.15,2.33,0.00,0.000,6,0.051,0.047,2528,2056,3430
$GC,4637,-0.83,-146.6,315.5,-11.1,222,4642,0.17,2.42,0.00,0.000,4,0.078,0.064,2566,726,3431
$GC,4677,-0.89,-146.6,319.5,-9.6,224,4685,0.00,2.30,0.00,0.000,6,0.000,0.048,2567,2040,3430
$GC,5012,-0.89,-146.6,347.8,-8.0,240,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2040,3430
$GC,5321,-0.89,-146.6,368.9,-6.2,255,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2041,3430
$GC,5631,-0.89,-146.6,385.2,-4.9,270,5635,0.00,2.38,0.00,0.000,4,0.000,0.064,2567,726,3430
$GC,5671,-0.93,-146.6,387.3,-6.1,272,5676,0.12,2.30,0.00,0.000,6,0.052,0.048,2527,2037,3430
$GC,5998,-0.84,-146.6,413.2,-9.3,288,6003,0.15,2.70,0.00,0.000,4,0.081,0.068,2561,3530,3430
$GC,6061,-0.84,-146.6,418.9,-9.3,291,6065,0.00,2.62,0.00,0.000,6,0.000,0.054,2561,2050,3430
$GC,6388,-0.84,-146.6,451.4,-10.4,307,6392,0.00,2.70,0.00,0.000,4,0.000,0.069,2561,3527,3430
$GC,6437,-0.84,-146.6,456.8,-11.1,309,6442,0.00,2.58,0.00,0.000,6,0.000,0.054,2561,2076,3429
$GC,6753,-0.84,-146.6,487.4,-9.3,324,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2065,3429
$GC,7063,-0.84,-146.6,508.3,-5.9,339,7067,0.00,2.42,0.00,0.000,4,0.000,0.067,2561,718,3429
$GC,7147,-0.84,-146.6,513.9,-7.2,343,7152,0.00,2.38,0.00,0.000,6,0.000,0.051,2560,2069,3429
$GC,7475,-0.84,-146.6,539.8,-8.7,359,7479,0.00,2.45,0.00,0.000,4,0.000,0.069,2561,725,3429
$GC,7560,-0.90,-146.6,547.7,-9.2,363,7564,0.00,2.33,0.00,0.000,6,0.000,0.051,2561,2043,3429
$GC,7887,-0.90,-146.6,577.1,-8.0,379,7891,0.00,2.42,0.00,0.000,4,0.000,0.072,2561,721,3427
$GC,7915,-0.96,-146.6,579.2,-7.6,380,7920,0.12,2.35,0.00,0.000,6,0.056,0.054,2524,2048,3427
$GC,8232,-0.88,-146.6,601.2,-6.0,395,8237,0.12,2.72,0.00,0.000,4,0.087,0.075,2551,3531,3427
$GC,8295,-0.88,-146.6,604.3,-4.4,398,8299,0.00,2.65,0.00,0.000,6,0.000,0.062,2552,2062,3426
$GC,8622,-0.88,-146.6,619.5,-5.3,414,8626,0.00,2.42,0.00,0.000,4,0.000,0.076,2551,728,3426
$GC,8668,-0.88,-146.6,622.7,-7.2,416,8672,0.00,2.38,0.00,0.000,6,0.000,0.056,2551,2061,3426
$GC,8990,-0.88,-146.6,641.0,-0.8,432,8991,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2061,3425
$GC,9298,-0.88,-146.6,656.9,-7.4,447,9303,0.00,2.50,0.00,0.000,4,0.000,0.080,2551,719,3424
$GC,9371,-0.88,-146.6,662.7,-8.1,450,9375,0.00,2.38,0.00,0.000,6,0.000,0.059,2551,2040,3424
$STATE,9478,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9478,begin apogee
$GC,9486,-0.33,0.0,673.5,9.5,455,9621,0.55,0.00,130.40,1.295,6,0.071,0.000,2671,1921,2831
$STATE,9622,end apogee,CONTROL_FINISHED_OK
$STATE,9622,begin climb
$GC,9625,0.97,146.6,678.2,0.0,462,9769,1.27,2.72,132.15,1.256,4,0.061,0.078,2953,516,2233
$GC,9918,0.82,173.9,658.0,5.3,475,9952,0.15,2.55,25.42,1.181,6,0.097,0.058,2925,1937,2122
$GC,10264,0.82,173.9,637.8,6.7,492,10269,0.00,2.67,0.00,0.000,4,0.000,0.081,2925,517,2120
$GC,10320,0.97,307.4,636.2,2.3,494,10445,0.12,2.50,117.95,1.239,6,0.058,0.058,2959,1916,1577
$GC,10754,0.97,307.4,611.1,6.3,515,10758,0.00,2.60,0.00,0.000,4,0.000,0.081,2958,517,1578
$GC,10801,0.89,307.4,607.9,7.4,517,10805,0.00,2.47,0.00,0.000,6,0.000,0.061,2959,1877,1577
$GC,11128,0.84,307.4,581.6,9.3,533,11133,0.15,2.67,0.00,0.000,4,0.087,0.074,2928,3324,1577
$GC,11161,0.94,307.4,578.1,9.9,534,11168,0.00,2.62,0.00,0.000,6,0.000,0.070,2928,1911,1577
$GC,11478,1.01,307.4,543.3,12.1,550,11480,0.17,0.00,0.00,0.000,6,0.051,0.000,2974,1911,1577
$GC,11787,0.94,307.4,505.2,10.9,565,11792,0.12,2.60,0.00,0.000,4,0.089,0.081,2949,503,1577
$GC,11865,0.94,307.4,497.3,9.9,568,11871,0.00,2.45,0.00,0.000,6,0.000,0.057,2948,1868,1577
$GC,12181,0.94,307.4,472.3,7.2,584,12182,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1882,1577
$GC,12491,0.95,316.8,453.6,5.7,599,12506,0.00,2.67,9.73,1.044,4,0.000,0.069,2948,3325,1539
$GC,12523,1.00,347.5,451.9,5.2,599,12558,0.00,2.67,27.65,1.137,6,0.000,0.064,2948,1876,1414
$GC,12884,1.04,347.5,431.1,6.4,617,12889,0.10,2.67,0.00,0.000,4,0.058,0.066,2978,3331,1414
$GC,12911,1.04,347.5,428.8,8.0,618,12916,0.00,2.62,0.00,0.000,6,0.000,0.061,2978,1889,1414
$GC,13228,0.98,347.5,405.0,7.7,633,13229,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1889,1415
$GC,13537,0.93,347.5,382.6,6.8,648,13542,0.15,2.65,0.00,0.000,4,0.078,0.063,2946,3332,1415
$GC,13559,0.95,359.7,381.3,5.7,649,13577,0.00,2.58,12.20,1.002,6,0.000,0.057,2946,1901,1364
$GC,13886,1.08,399.4,365.8,4.9,665,13929,0.15,2.58,35.00,1.055,4,0.050,0.070,2988,514,1202
$GC,13941,1.01,399.4,361.9,7.9,667,13946,0.12,2.50,0.00,0.000,6,0.085,0.048,2964,1911,1202
$GC,14257,1.01,399.4,340.0,8.0,682,14261,0.00,2.58,0.00,0.000,4,0.000,0.071,2964,514,1203
$GC,14284,1.01,399.4,337.4,9.5,683,14289,0.00,2.45,0.00,0.000,6,0.000,0.048,2963,1899,1203
$GC,14600,1.05,399.4,312.0,8.1,698,14605,0.00,2.55,0.00,0.000,4,0.000,0.068,2964,510,1204
$GC,14628,1.05,399.4,309.5,9.6,699,14632,0.00,2.40,0.00,0.000,6,0.000,0.048,2964,1874,1204
$GC,14945,1.10,399.4,284.2,8.4,714,14949,0.00,2.50,0.00,0.000,4,0.000,0.068,2964,509,1204
$GC,14978,1.10,399.4,280.7,10.0,715,14984,0.00,2.38,0.00,0.000,6,0.000,0.048,2964,1861,1204
$GC,15295,1.15,399.4,252.0,9.1,731,15296,0.15,0.00,0.00,0.000,6,0.048,0.000,3006,1876,1205
$GC,15604,1.05,399.4,213.3,13.2,746,15609,0.15,2.62,0.00,0.000,4,0.081,0.060,2975,3331,1205
$GC,15621,1.05,399.4,211.0,12.8,747,15626,0.00,2.65,0.00,0.000,6,0.000,0.054,2975,1847,1205
$GC,15948,1.05,399.4,174.8,11.9,763,15953,0.00,2.65,0.00,0.000,4,0.000,0.059,2975,3322,1204
$GC,15982,1.13,399.4,170.5,12.3,764,15988,0.00,2.60,0.00,0.000,6,0.000,0.051,2975,1862,1205
$GC,16299,1.13,399.4,126.4,16.0,780,16303,0.00,2.42,0.00,0.000,4,0.000,0.067,2975,510,1205
$GC,16332,1.13,399.4,120.6,16.2,781,16338,0.00,2.38,0.00,0.000,6,0.000,0.046,2975,1874,1206
$GC,16650,1.17,399.4,66.5,17.3,797,16655,0.12,2.58,0.00,0.000,4,0.049,0.058,3012,3326,1206
$GC,16668,1.17,399.4,63.2,16.8,798,16672,0.00,2.60,0.00,0.000,6,0.000,0.051,3012,1856,1206
$GC,16995,1.09,399.4,18.7,12.3,814,17001,0.15,2.65,0.00,0.000,4,0.077,0.058,2979,3321,1206
$GC,17037,1.17,399.4,14.5,10.3,816,17041,0.00,2.50,0.00,0.000,6,0.000,0.048,2980,1903,1205
$STATE,17160,end climb,SURFACE_DEPTH_REACHED
$STATE,17160,begin surface coast
$FINISH,0.3,1.026797
$STATE,17182,end surface coast,CONTROL_FINISHED_OK
$STATE,17183,begin surface
$SM_CCo,17265,0.00,0.000,0,0,1205,398.86
$SM_GC,1.15,10.98,0.00,0.00,0.031,0.000,0.000,418,2149,1205,-10.59,0.68,398.86
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1817
$TCM_TEMP,17.80
$XPDR_PINGS,53
$ALTIM_BOTTOM_PING,646.2,36.9
$24V_AH,23.8,13.323
$10V_AH,10.1,6.061
$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,28.100,191.825,490.500,0.000,0.000,37.761,27.355,162.673,19.000,0.000,0.000,13.691,1579.249,12957.812,614.444,1903.624,561.220,33.372,1636.264,0.000,1858.145,0.000,39.367,0.000
$DEVICE_MAMPS,157.235,81.302,1294.696,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,563.989,617.576,518.086,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41198,823
$CAP_FILE_SIZE,147276,0
$CFSIZE,254472192,248274944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,59,0,0
$GPS,080909,124924,6210.194,-944.898,38,1.2,38,-9.9