version: 66.04
glider: 5
mission: 7
dive: 64
start: 9 8 109 12 56 1
data:
$ID,5
$MISSION,7
$DIVE,64
$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,-101473.88
$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,24
$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
$GPS1,124924,6210.194,-944.898,38,1.2,38,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-55.9
$GPS2,125507,6210.282,-944.851,15,1.4,15,-9.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.043,-0.217
$KALMAN_X,-98128.8,-2103.7,-432.4,43463.5,3316.5
$KALMAN_Y,38419.7,-1681.4,-888.7,26536.9,29805.3
$MHEAD_RNG_PITCHd_Wd,201.2,10753,-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,-80.88,0.000,2,0.000,0.000,417,2154,2870
$GC,102,-0.97,-146.6,2.8,-2.9,4,138,11.52,2.62,-16.88,0.000,4,0.158,0.070,2526,715,3429
$GC,206,-0.85,-146.6,15.4,-11.6,8,214,0.15,2.47,0.00,0.000,6,0.094,0.044,2557,2132,3429
$GC,523,-0.78,-146.6,44.1,-10.8,24,527,0.00,2.53,0.00,0.000,4,0.000,0.062,2557,3536,3430
$GC,623,-0.78,-146.6,58.5,-14.0,28,630,0.00,2.42,0.00,0.000,6,0.000,0.044,2558,2144,3430
$GC,940,-0.78,-146.6,97.5,-12.4,44,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2132,3430
$GC,1249,-0.78,-146.6,130.2,-9.3,59,1253,0.00,2.53,0.00,0.000,4,0.000,0.059,2558,719,3430
$GC,1282,-0.78,-146.6,133.0,-8.2,60,1289,0.00,2.53,0.00,0.000,6,0.000,0.045,2557,2172,3430
$GC,1598,-0.78,-146.6,152.6,-6.3,76,1603,0.00,2.62,0.00,0.000,4,0.000,0.061,2558,716,3430
$GC,1678,-0.78,-146.6,157.4,-5.9,79,1684,0.00,2.50,0.00,0.000,6,0.000,0.046,2557,2146,3431
$GC,1995,-0.78,-146.6,174.9,-5.4,95,1999,0.00,2.58,0.00,0.000,4,0.000,0.063,2558,718,3431
$GC,2044,-0.78,-146.6,178.1,-6.3,97,2049,0.00,2.45,0.00,0.000,6,0.000,0.047,2557,2120,3430
$GC,2366,-0.78,-146.6,193.8,-4.1,113,2371,0.00,2.53,0.00,0.000,4,0.000,0.061,2558,716,3431
$GC,2407,-0.78,-146.6,195.5,-4.1,115,2411,0.00,2.45,0.00,0.000,6,0.000,0.047,2558,2118,3431
$GC,2734,-0.78,-146.6,207.8,-3.1,131,2739,0.00,2.53,0.00,0.000,4,0.000,0.061,2558,714,3430
$GC,2768,-0.78,-146.6,208.9,-3.1,132,2774,0.00,2.42,0.00,0.000,6,0.000,0.048,2557,2100,3431
$GC,3085,-0.78,-146.6,220.3,-3.2,148,3089,0.00,2.60,0.00,0.000,4,0.000,0.067,2557,3537,3430
$GC,3107,-0.78,-146.6,221.4,-4.5,149,3112,0.00,2.55,0.00,0.000,6,0.000,0.051,2557,2093,3430
$GC,3428,-0.78,-146.6,235.7,-5.1,165,3433,0.00,2.62,0.00,0.000,4,0.000,0.067,2557,3530,3431
$GC,3456,-0.78,-146.6,237.3,-5.5,166,3460,0.00,2.55,0.00,0.000,6,0.000,0.051,2557,2088,3431
$GC,3773,-0.78,-146.6,255.4,-5.9,181,3777,0.00,2.42,0.00,0.000,4,0.000,0.064,2557,721,3430
$GC,3813,-0.78,-146.6,258.1,-7.5,183,3817,0.00,2.40,0.00,0.000,6,0.000,0.048,2557,2094,3430
$GC,4140,-0.78,-146.6,282.5,-7.9,199,4143,0.00,2.47,0.00,0.000,4,0.000,0.063,2557,718,3430
$GC,4173,-0.78,-146.6,285.4,-8.5,200,4177,0.00,2.40,0.00,0.000,6,0.000,0.047,2557,2089,3430
$GC,4489,-0.78,-146.6,307.5,-6.2,215,4493,0.00,2.47,0.00,0.000,4,0.000,0.063,2557,714,3430
$GC,4522,-0.78,-146.6,309.5,-5.9,216,4528,0.00,2.38,0.00,0.000,6,0.000,0.048,2557,2069,3430
$GC,4838,-0.78,-146.6,325.3,-4.7,232,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2070,3429
$GC,5147,-0.78,-146.6,339.2,-4.6,247,5151,0.00,2.42,0.00,0.000,4,0.000,0.064,2557,718,3429
$GC,5187,-0.78,-146.6,341.1,-4.9,248,5193,0.00,2.35,0.00,0.000,6,0.000,0.048,2558,2071,3429
$GC,5503,-0.78,-146.6,358.8,-5.9,264,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2069,3429
$GC,5812,-0.78,-146.6,378.8,-6.8,279,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2070,3429
$GC,6121,-0.78,-146.6,398.0,-5.5,294,6126,0.00,2.45,0.00,0.000,4,0.000,0.065,2557,716,3429
$GC,6162,-0.78,-146.6,400.5,-6.6,296,6166,0.00,2.35,0.00,0.000,6,0.000,0.048,2557,2054,3429
$GC,6489,-0.78,-146.6,414.4,-3.8,312,6490,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2055,3429
$GC,6798,-0.78,-146.6,425.7,-3.4,327,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2055,3429
$GC,7107,-0.78,-146.6,432.5,-1.4,342,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2055,3428
$GC,7417,-0.78,-146.6,432.7,0.3,357,7418,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2055,3428
$STATE,7496,end dive,NO_VERTICAL_VELOCITY
$STATE,7496,begin apogee
$GC,7504,-0.33,0.0,433.1,0.0,361,7632,0.52,0.00,125.35,1.066,6,0.071,0.000,2673,1903,2831
$STATE,7633,end apogee,CONTROL_FINISHED_OK
$STATE,7633,begin climb
$GC,7636,0.97,146.6,430.4,0.0,367,7769,1.25,2.58,124.90,1.031,4,0.054,0.067,2952,533,2233
$GC,7783,0.87,146.6,422.8,6.2,374,7789,0.00,2.47,0.00,0.000,6,0.000,0.046,2952,1934,2233
$GC,8100,1.09,345.3,415.3,0.6,390,8278,0.12,2.58,168.40,1.014,4,0.053,0.063,2989,3314,1422
$GC,8307,1.17,398.3,408.8,4.5,400,8359,0.00,2.53,45.88,0.976,6,0.000,0.059,2989,1935,1207
$GC,8678,1.11,398.3,387.3,6.3,418,8682,0.00,2.60,0.00,0.000,4,0.000,0.068,2990,505,1209
$GC,8722,1.03,398.3,383.9,6.9,420,8727,0.00,2.47,0.00,0.000,6,0.000,0.048,2989,1903,1209
$GC,9044,0.97,398.3,359.3,8.3,436,9049,0.17,2.58,0.00,0.000,4,0.077,0.066,2953,505,1209
$GC,9078,0.97,398.3,356.7,6.7,437,9084,0.00,2.45,0.00,0.000,6,0.000,0.048,2953,1892,1209
$GC,9394,1.11,436.9,340.2,4.9,453,9435,0.15,2.62,34.22,0.974,4,0.048,0.067,2997,505,1049
$GC,9447,1.04,436.9,336.2,7.8,455,9452,0.12,2.45,0.00,0.000,6,0.083,0.048,2972,1878,1049
$GC,9764,1.08,436.9,316.7,6.3,470,9768,0.00,2.50,0.00,0.000,4,0.000,0.067,2972,511,1049
$GC,9791,1.08,436.9,314.6,7.2,471,9795,0.00,2.40,0.00,0.000,6,0.000,0.047,2972,1874,1049
$GC,10107,1.08,436.9,292.8,7.3,486,10111,0.00,2.47,0.00,0.000,4,0.000,0.067,2972,512,1049
$GC,10135,1.08,436.9,290.6,7.9,487,10139,0.00,2.35,0.00,0.000,6,0.000,0.048,2972,1848,1050
$GC,10456,1.12,436.9,269.3,6.3,503,10457,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1863,1049
$GC,10766,1.20,456.8,253.0,5.5,518,10791,0.15,2.53,18.20,0.904,4,0.049,0.067,3014,512,968
$GC,10803,1.09,456.8,249.9,9.7,519,10809,0.17,2.38,0.00,0.000,6,0.080,0.047,2979,1849,969
$GC,11119,1.09,456.8,227.7,7.1,535,11123,0.00,2.45,0.00,0.000,4,0.000,0.067,2979,509,967
$GC,11140,1.09,456.8,226.0,7.6,536,11145,0.00,2.35,0.00,0.000,6,0.000,0.047,2979,1850,967
$GC,11462,1.09,456.8,201.0,7.8,552,11466,0.00,2.42,0.00,0.000,4,0.000,0.067,2979,511,968
$GC,11485,1.09,456.8,199.0,8.9,553,11489,0.00,2.30,0.00,0.000,6,0.000,0.047,2978,1829,968
$GC,11812,1.09,456.8,171.7,8.5,569,11816,0.00,2.65,0.00,0.000,4,0.000,0.059,2979,3325,968
$GC,11834,1.16,456.8,169.5,8.8,570,11838,0.00,2.67,0.00,0.000,6,0.000,0.053,2979,1826,967
$GC,12155,1.16,456.8,139.6,10.2,586,12159,0.00,2.38,0.00,0.000,4,0.000,0.068,2978,504,968
$GC,12182,1.16,456.8,136.6,10.4,587,12186,0.00,2.33,0.00,0.000,6,0.000,0.047,2978,1836,968
$GC,12499,1.22,456.8,101.5,11.6,602,12504,0.15,2.65,0.00,0.000,4,0.048,0.057,3022,3330,968
$GC,12527,1.22,456.8,97.7,13.1,603,12531,0.00,2.65,0.00,0.000,6,0.000,0.051,3022,1835,967
$GC,12845,1.10,456.8,53.3,14.5,618,12847,0.20,0.00,0.00,0.000,6,0.077,0.000,2981,1834,968
$GC,13152,1.17,456.8,23.0,8.8,633,13157,0.00,2.67,0.00,0.000,4,0.000,0.058,2981,3327,968
$GC,13180,1.29,456.8,20.4,8.9,634,13185,0.20,2.60,0.00,0.000,6,0.042,0.048,3037,1848,967
$STATE,13349,end climb,SURFACE_DEPTH_REACHED
$STATE,13349,begin surface coast
$FINISH,0.5,1.014692
$STATE,13371,end surface coast,CONTROL_FINISHED_OK
$STATE,13371,begin surface
$SM_CCo,13455,0.00,0.000,0,0,968,456.99
$SM_GC,1.09,11.27,0.00,0.00,0.035,0.000,0.000,418,2138,968,-10.59,0.23,456.99
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1815
$TCM_TEMP,18.00
$XPDR_PINGS,36
$24V_AH,23.9,13.485
$10V_AH,10.1,6.127
$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,26.175,140.425,516.950,0.000,0.000,37.761,28.737,150.104,12.250,0.000,0.000,15.345,1191.320,10104.089,614.454,1401.601,484.467,33.361,1391.320,0.000,1368.828,0.000,22.151,0.000
$DEVICE_MAMPS,158.002,69.797,1066.130,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.653,476.678,409.446,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31771,643
$CAP_FILE_SIZE,109206,0
$CFSIZE,254472192,248258560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,49,0,0
$GPS,080909,164211,6208.799,-947.716,79,1.0,79,-9.9