version: 66.04
glider: 5
mission: 7
dive: 65
start: 9 8 109 16 48 17
data:
$ID,5
$MISSION,7
$DIVE,65
$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,-101494.38
$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,32
$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
$GPS1,164211,6208.799,-947.716,79,1.0,79,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-56.7
$GPS2,164726,6208.752,-947.766,19,1.5,19,-9.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.002,-0.221
$KALMAN_X,-101903.9,-677.0,87.7,42704.7,-2278.2
$KALMAN_Y,38287.4,-687.0,-1138.9,23160.5,27036.5
$MHEAD_RNG_PITCHd_Wd,189.4,7214,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.97,-146.6,0.0,0.0,0,101,0.00,0.00,-81.15,0.000,2,0.000,0.000,416,2137,2629
$GC,105,-0.97,-146.6,2.4,-2.3,4,151,11.70,2.50,-28.67,0.000,4,0.165,0.077,2526,3523,3430
$GC,266,-0.82,-146.6,19.1,-13.5,11,271,0.17,2.47,0.00,0.000,6,0.079,0.044,2565,2113,3430
$GC,588,-0.82,-146.6,50.1,-9.5,27,592,0.00,2.45,0.00,0.000,4,0.000,0.058,2565,721,3430
$GC,643,-0.82,-146.6,55.1,-8.9,29,650,0.00,2.45,0.00,0.000,6,0.000,0.048,2565,2130,3430
$GC,961,-0.82,-146.6,85.9,-11.8,45,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2130,3430
$GC,1270,-0.82,-146.6,120.1,-9.5,60,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2130,3430
$GC,1579,-0.82,-146.6,146.4,-8.3,75,1583,0.00,2.53,0.00,0.000,4,0.000,0.071,2565,3533,3430
$GC,1602,-0.82,-146.6,148.4,-8.0,76,1606,0.00,2.42,0.00,0.000,6,0.000,0.048,2565,2156,3430
$GC,1929,-0.82,-146.6,174.7,-9.0,92,1933,0.00,2.55,0.00,0.000,4,0.000,0.061,2565,713,3430
$GC,2007,-0.82,-146.6,182.4,-9.7,95,2013,0.00,2.47,0.00,0.000,6,0.000,0.046,2565,2129,3430
$GC,2323,-0.82,-146.6,209.6,-8.2,111,2327,0.00,2.55,0.00,0.000,4,0.000,0.066,2564,715,3430
$GC,2367,-0.82,-146.6,213.3,-8.0,113,2372,0.00,2.47,0.00,0.000,6,0.000,0.048,2565,2128,3430
$GC,2688,-0.82,-146.6,234.6,-6.3,129,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2128,3430
$GC,2998,-0.82,-146.6,253.0,-5.5,144,3002,0.00,2.55,0.00,0.000,4,0.000,0.066,2565,712,3430
$GC,3049,-0.86,-146.6,255.9,-5.2,146,3053,0.00,2.47,0.00,0.000,6,0.000,0.048,2565,2126,3431
$GC,3366,-0.86,-146.6,271.4,-5.1,161,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2126,3430
$GC,3674,-0.86,-146.6,289.8,-6.6,176,3678,0.00,2.55,0.00,0.000,4,0.000,0.064,2565,714,3430
$GC,3736,-0.86,-146.6,294.3,-7.7,179,3740,0.00,2.45,0.00,0.000,6,0.000,0.048,2565,2114,3430
$GC,4063,-0.86,-146.6,318.7,-7.9,195,4067,0.00,2.58,0.00,0.000,4,0.000,0.067,2565,3536,3430
$GC,4112,-0.86,-146.6,322.9,-8.9,197,4117,0.00,2.53,0.00,0.000,6,0.000,0.051,2564,2107,3430
$GC,4428,-0.86,-146.6,348.6,-8.4,212,4433,0.00,2.45,0.00,0.000,4,0.000,0.067,2565,725,3429
$GC,4456,-0.86,-146.6,351.0,-8.1,213,4460,0.00,2.42,0.00,0.000,6,0.000,0.048,2565,2120,3429
$GC,4777,-0.86,-146.6,378.3,-8.8,229,4781,0.00,2.53,0.00,0.000,4,0.000,0.064,2565,716,3429
$GC,4844,-0.86,-146.6,384.4,-9.1,232,4848,0.00,2.40,0.00,0.000,6,0.000,0.048,2565,2087,3429
$GC,5165,-0.86,-146.6,412.8,-9.6,248,5168,0.00,2.45,0.00,0.000,4,0.000,0.064,2565,722,3429
$GC,5198,-0.90,-146.6,416.3,-10.3,249,5202,0.00,2.38,0.00,0.000,6,0.000,0.048,2565,2078,3429
$GC,5514,-0.90,-146.6,448.3,-10.3,264,5519,0.00,2.65,0.00,0.000,4,0.000,0.071,2565,3535,3429
$GC,5570,-0.90,-146.6,454.3,-10.1,266,5576,0.00,2.55,0.00,0.000,6,0.000,0.054,2565,2097,3428
$GC,5886,-0.90,-146.6,483.0,-8.2,282,5890,0.00,2.45,0.00,0.000,4,0.000,0.066,2565,716,3428
$GC,5931,-0.97,-146.6,486.8,-9.0,284,5936,0.15,2.40,0.00,0.000,6,0.050,0.049,2520,2085,3428
$GC,6252,-0.87,-146.6,517.5,-8.7,300,6254,0.15,0.00,0.00,0.000,6,0.084,0.000,2552,2086,3428
$GC,6561,-0.87,-146.6,544.7,-8.9,315,6566,0.00,2.62,0.00,0.000,4,0.000,0.071,2552,3527,3428
$GC,6674,-0.87,-146.6,553.8,-7.6,320,6678,0.00,2.60,0.00,0.000,6,0.000,0.057,2552,2063,3427
$GC,7001,-0.87,-146.6,573.4,-5.4,336,7006,0.00,2.70,0.00,0.000,4,0.000,0.072,2552,3528,3427
$GC,7023,-0.87,-146.6,574.9,-6.3,337,7027,0.00,2.60,0.00,0.000,6,0.000,0.060,2552,2083,3427
$GC,7344,-0.87,-146.6,592.4,-4.9,353,7348,0.00,2.45,0.00,0.000,4,0.000,0.072,2552,718,3426
$GC,7482,-0.92,-146.6,599.1,-5.5,359,7486,0.00,2.38,0.00,0.000,6,0.000,0.054,2552,2055,3426
$GC,7803,-0.92,-146.6,614.3,-5.5,375,7808,0.00,2.72,0.00,0.000,4,0.000,0.080,2553,3530,3426
$GC,7847,-0.92,-146.6,617.2,-7.3,377,7852,0.00,2.67,0.00,0.000,6,0.000,0.065,2552,2057,3425
$GC,8168,-0.92,-146.6,638.3,-6.9,393,8172,0.00,2.45,0.00,0.000,4,0.000,0.079,2552,722,3424
$GC,8212,-0.92,-146.6,641.5,-7.9,395,8216,0.00,2.40,0.00,0.000,6,0.000,0.060,2552,2058,3424
$GC,8534,-0.92,-146.6,664.8,-7.3,411,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2058,3423
$GC,8843,-0.92,-146.6,685.4,-6.9,426,8847,0.00,2.50,0.00,0.000,4,0.000,0.083,2552,722,3421
$GC,8883,-0.97,-146.6,688.1,-7.6,428,8887,0.00,2.40,0.00,0.000,6,0.000,0.063,2552,2050,3422
$STATE,9165,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9166,begin apogee
$GC,9173,-0.33,0.0,709.3,6.9,442,9309,0.57,0.00,130.25,1.333,6,0.079,0.000,2676,1916,2831
$STATE,9309,end apogee,CONTROL_FINISHED_OK
$STATE,9309,begin climb
$GC,9312,0.97,146.6,713.6,0.0,449,9449,1.27,0.00,132.20,1.292,6,0.064,0.000,2953,1916,2234
$GC,9745,0.83,146.6,690.7,6.5,470,9750,0.15,2.62,0.00,0.000,4,0.093,0.085,2923,513,2232
$GC,9773,0.74,146.6,688.8,6.6,471,9778,0.00,2.55,0.00,0.000,6,0.000,0.061,2924,1917,2232
$GC,10090,0.86,219.3,674.9,4.0,486,10157,0.00,0.00,65.57,1.280,6,0.000,0.000,2924,1931,1936
$GC,10459,0.91,254.5,653.7,5.0,504,10501,0.00,2.78,32.45,1.254,4,0.000,0.085,2924,514,1793
$GC,10525,0.94,270.5,650.0,5.6,507,10548,0.10,2.58,15.80,1.190,6,0.061,0.063,2950,1917,1728
$GC,10859,0.94,274.3,629.2,5.9,523,10869,0.00,2.70,5.43,0.960,4,0.000,0.086,2950,517,1712
$GC,10899,0.86,274.3,626.5,6.3,525,10904,0.00,2.53,0.00,0.000,6,0.000,0.063,2950,1894,1712
$GC,11226,0.86,277.8,607.5,5.9,541,11236,0.00,2.65,4.50,0.887,4,0.000,0.087,2950,517,1698
$GC,11248,0.82,277.8,606.0,6.7,542,11253,0.15,2.50,0.00,0.000,6,0.091,0.062,2920,1885,1698
$GC,11570,0.91,295.1,588.7,5.5,558,11593,0.08,2.70,16.70,1.222,4,0.067,0.085,2944,512,1627
$GC,11621,0.91,295.1,585.2,7.3,560,11626,0.00,2.50,0.00,0.000,6,0.000,0.061,2944,1875,1627
$GC,11944,0.99,347.5,567.6,4.6,576,11998,0.00,2.65,46.70,1.263,4,0.000,0.081,2944,517,1414
$GC,12028,1.09,410.2,564.0,4.3,580,12091,0.17,2.47,55.95,1.237,6,0.053,0.061,2988,1881,1158
$GC,12401,1.01,410.2,540.7,7.3,598,12406,0.12,2.67,0.00,0.000,4,0.094,0.073,2964,3314,1159
$GC,12430,1.01,410.2,538.9,6.3,599,12434,0.00,2.72,0.00,0.000,6,0.000,0.069,2965,1849,1159
$GC,12746,1.12,476.5,524.0,4.2,614,12812,0.10,2.78,59.20,1.206,4,0.061,0.068,2994,3312,888
$GC,12824,1.12,476.5,519.1,7.1,618,12829,0.00,2.72,0.00,0.000,6,0.000,0.066,2994,1856,888
$GC,13151,1.05,476.5,497.5,6.8,634,13155,0.00,2.47,0.00,0.000,4,0.000,0.077,2994,516,889
$GC,13173,0.98,476.5,495.6,8.0,635,13178,0.17,2.40,0.00,0.000,6,0.086,0.054,2958,1854,889
$GC,13495,1.13,509.9,478.8,5.1,651,13532,0.15,2.58,30.62,1.140,4,0.052,0.074,2998,510,752
$GC,13561,1.05,509.9,473.8,8.5,653,13566,0.12,2.40,0.00,0.000,6,0.087,0.053,2974,1839,752
$GC,13882,1.11,509.9,452.1,7.0,669,13886,0.00,2.45,0.00,0.000,4,0.000,0.074,2974,515,753
$GC,13906,1.15,509.9,450.4,7.5,670,13910,0.00,2.33,0.00,0.000,6,0.000,0.052,2974,1825,753
$GC,14233,1.22,509.9,426.5,7.1,686,14235,0.17,0.00,0.00,0.000,6,0.049,0.000,3019,1840,754
$GC,14543,1.07,509.9,387.3,14.0,701,14547,0.17,2.45,0.00,0.000,4,0.085,0.073,2979,511,754
$GC,14571,1.00,509.9,383.6,12.3,702,14575,0.00,2.30,0.00,0.000,6,0.000,0.050,2979,1817,754
$GC,14887,1.05,509.9,355.8,8.3,717,14891,0.00,2.38,0.00,0.000,4,0.000,0.071,2979,511,754
$GC,14914,1.05,509.9,353.1,9.5,718,14918,0.00,2.28,0.00,0.000,6,0.000,0.048,2979,1805,755
$GC,15236,1.10,509.9,325.0,9.0,734,15240,0.00,2.38,0.00,0.000,4,0.000,0.071,2979,511,755
$GC,15258,1.14,509.9,322.8,9.1,735,15262,0.00,2.25,0.00,0.000,6,0.000,0.048,2979,1794,755
$GC,15585,1.20,509.9,292.1,9.8,751,15587,0.12,0.00,0.00,0.000,6,0.052,0.000,3016,1810,756
$GC,15895,1.09,509.9,250.1,13.8,766,15900,0.17,2.35,0.00,0.000,4,0.080,0.068,2977,514,756
$GC,15922,1.09,509.9,246.7,11.3,767,15926,0.00,2.22,0.00,0.000,6,0.000,0.048,2977,1785,756
$GC,16239,1.17,509.9,220.8,7.7,782,16240,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1801,756
$GC,16548,1.25,509.9,192.5,10.0,797,16552,0.17,2.33,0.00,0.000,4,0.045,0.068,3029,514,757
$GC,16563,1.25,509.9,190.5,10.5,797,16570,0.00,2.20,0.00,0.000,6,0.000,0.047,3029,1775,756
$GC,16880,1.08,509.9,142.1,15.5,813,16882,0.25,0.00,0.00,0.000,6,0.077,0.000,2977,1791,757
$GC,17189,1.19,509.9,108.6,9.4,828,17194,0.12,2.75,0.00,0.000,4,0.051,0.058,3014,3320,757
$GC,17208,1.28,509.9,107.1,8.7,829,17212,0.00,2.75,0.00,0.000,6,0.000,0.054,3014,1776,757
$GC,17535,1.21,509.9,71.2,11.0,845,17539,0.00,2.28,0.00,0.000,4,0.000,0.068,3014,507,757
$GC,17564,1.12,509.9,67.6,12.3,846,17568,0.12,2.20,0.00,0.000,6,0.081,0.046,2988,1774,757
$GC,17880,1.21,509.9,37.0,9.2,861,17885,0.00,2.72,0.00,0.000,4,0.000,0.058,2988,3320,757
$GC,17898,1.31,509.9,35.3,9.6,862,17904,0.20,2.75,0.00,0.000,6,0.043,0.050,3044,1767,758
$STATE,18140,end climb,SURFACE_DEPTH_REACHED
$STATE,18140,begin surface coast
$FINISH,0.7,1.026750
$STATE,18163,end surface coast,CONTROL_FINISHED_OK
$STATE,18163,begin surface
$SM_CCo,18247,0.00,0.000,0,0,758,508.51
$SM_GC,1.09,11.25,0.00,0.00,0.032,0.000,0.000,419,2139,758,-10.60,0.28,508.51
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1839
$TCM_TEMP,17.00
$XPDR_PINGS,45
$ALTIM_BOTTOM_PING,645.2,73.0
$24V_AH,23.8,13.710
$10V_AH,10.1,6.212
$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,28.125,191.400,595.375,0.000,0.000,37.762,29.143,127.302,17.000,0.000,0.000,19.871,1628.937,13765.733,720.793,1920.901,526.462,33.365,1754.813,0.000,1869.944,0.000,39.465,0.000
$DEVICE_MAMPS,164.905,86.671,1333.046,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,600.331,655.248,497.418,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44359,875
$CAP_FILE_SIZE,147433,0
$CFSIZE,254472192,248152064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,60,0,0
$GPS,080909,215345,6208.451,-947.958,41,1.3,44,-9.9