version: 66.04
glider: 5
mission: 7
dive: 82
start: 9 11 109 2 43 3
data:
$ID,5
$MISSION,7
$DIVE,82
$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,412.5
$T_MISSION,440
$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,-101811.78
$T_RSLEEP,27
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,300
$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,6
$XPDR_INHIBIT,9
$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
$GPS1,023600,6210.504,-1017.734,42,1.0,42,-10.2
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-57.5
$GPS2,024214,6210.493,-1017.597,13,1.1,13,-10.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.028,0.244
$KALMAN_X,-74278.9,-628.0,81.0,-11234.4,3862.7
$KALMAN_Y,33894.8,2267.5,807.3,25736.4,-7766.6
$MHEAD_RNG_PITCHd_Wd,3.7,17173,-14.8,-8.000
$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,15,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.85,0.000,2,0.000,0.000,418,2154,2467
$GC,63,-1.22,-146.6,2.5,-4.5,2,120,11.25,2.60,-38.42,0.000,4,0.157,0.068,2469,717,3429
$GC,312,-1.15,-146.6,32.5,-14.3,13,317,0.12,2.50,0.00,0.000,6,0.112,0.045,2492,2133,3430
$GC,634,-1.12,-146.6,71.4,-11.8,29,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2133,3430
$GC,943,-1.09,-146.6,104.5,-10.9,44,948,0.00,2.58,0.00,0.000,4,0.000,0.060,2492,709,3431
$GC,994,-1.09,-146.6,110.7,-11.8,46,998,0.00,2.50,0.00,0.000,6,0.000,0.046,2492,2128,3431
$GC,1311,-1.09,-146.6,146.1,-10.6,61,1315,0.00,2.55,0.00,0.000,4,0.000,0.061,2492,709,3431
$GC,1338,-1.09,-146.6,149.3,-11.2,62,1343,0.00,2.47,0.00,0.000,6,0.000,0.048,2492,2120,3432
$GC,1660,-1.09,-146.6,180.8,-9.2,78,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2121,3432
$GC,1969,-1.09,-146.6,207.1,-8.4,93,1973,0.00,2.55,0.00,0.000,4,0.000,0.062,2492,715,3432
$GC,2008,-1.09,-146.6,210.7,-8.9,94,2014,0.00,2.47,0.00,0.000,6,0.000,0.049,2492,2122,3431
$GC,2324,-1.09,-146.6,238.4,-9.1,110,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2122,3431
$GC,2633,-1.09,-146.6,269.0,-10.5,125,2638,0.00,2.55,0.00,0.000,4,0.000,0.063,2493,717,3431
$GC,2667,-1.09,-146.6,272.9,-11.1,126,2673,0.00,2.47,0.00,0.000,6,0.000,0.049,2492,2114,3431
$GC,2983,-1.09,-146.6,307.7,-11.0,142,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2114,3431
$GC,3292,-1.09,-146.6,340.6,-10.4,157,3296,0.00,2.55,0.00,0.000,4,0.000,0.064,2493,706,3430
$GC,3325,-1.09,-146.6,344.2,-11.0,158,3331,0.00,2.47,0.00,0.000,6,0.000,0.050,2492,2105,3430
$GC,3640,-1.09,-146.6,377.8,-10.9,174,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2105,3430
$GC,3950,-1.09,-146.6,411.8,-11.1,189,3954,0.00,2.53,0.00,0.000,4,0.000,0.064,2493,715,3430
$GC,3990,-1.09,-146.6,416.1,-11.0,191,3994,0.00,2.45,0.00,0.000,6,0.000,0.049,2493,2096,3430
$GC,4316,-1.09,-146.6,448.4,-9.3,207,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2096,3429
$GC,4626,-1.09,-146.6,474.3,-8.0,222,4630,0.00,2.50,0.00,0.000,4,0.000,0.064,2492,719,3429
$GC,4659,-1.09,-146.6,476.8,-7.5,223,4665,0.00,2.45,0.00,0.000,6,0.000,0.051,2492,2101,3429
$GC,4975,-1.09,-146.6,500.6,-7.4,239,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2101,3429
$GC,5284,-1.09,-146.6,526.8,-9.2,254,5288,0.00,2.53,0.00,0.000,4,0.000,0.067,2493,717,3429
$GC,5346,-1.09,-146.6,532.9,-10.1,257,5350,0.00,2.45,0.00,0.000,6,0.000,0.051,2493,2094,3429
$GC,5673,-1.09,-146.6,567.0,-10.8,273,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2094,3429
$GC,5982,-1.09,-146.6,602.1,-11.8,288,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2094,3429
$GC,6291,-1.09,-146.6,642.4,-13.1,303,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2094,3428
$GC,6600,-1.09,-146.6,677.4,-10.7,318,6605,0.00,2.53,0.00,0.000,4,0.000,0.066,2493,709,3428
$GC,6641,-1.13,-146.6,681.7,-11.0,320,6646,0.00,2.47,0.00,0.000,6,0.000,0.052,2492,2103,3428
$GC,6968,-1.13,-146.6,717.3,-11.9,336,6973,0.00,2.55,0.00,0.000,4,0.000,0.070,2493,715,3428
$GC,7048,-1.13,-146.6,726.7,-11.0,339,7054,0.00,2.42,0.00,0.000,6,0.000,0.054,2493,2075,3427
$GC,7364,-1.13,-146.6,760.9,-11.1,355,7366,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2075,3427
$GC,7673,-1.13,-146.6,790.6,-9.1,370,7675,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2075,3426
$GC,7983,-1.13,-146.6,818.3,-8.8,385,7987,0.00,2.53,0.00,0.000,4,0.000,0.077,2492,721,3426
$GC,8016,-1.16,-146.6,821.1,-9.0,386,8022,0.00,2.42,0.00,0.000,6,0.000,0.059,2492,2065,3426
$STATE,8061,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8061,begin apogee
$GC,8069,-0.33,0.0,825.2,8.7,389,8205,0.82,0.00,131.18,1.378,6,0.081,0.000,2669,1845,2831
$STATE,8205,end apogee,CONTROL_FINISHED_OK
$STATE,8206,begin climb
$GC,8209,1.22,146.6,829.7,0.0,396,8346,1.55,0.00,132.50,1.338,6,0.063,0.000,3006,1844,2233
$GC,8642,1.13,146.6,800.5,8.5,417,8646,0.00,2.60,0.00,0.000,4,0.000,0.081,3006,443,2232
$GC,8705,0.97,146.6,794.5,10.2,420,8710,0.28,2.55,0.00,0.000,6,0.091,0.059,2953,1839,2232
$GC,9033,0.99,159.5,770.1,7.5,436,9054,0.00,2.70,12.77,1.207,4,0.000,0.073,2953,3255,2180
$GC,9156,1.03,159.5,759.9,8.5,441,9160,0.00,2.60,0.00,0.000,6,0.000,0.069,2953,1861,2180
$GC,9472,1.06,177.4,736.4,7.3,456,9495,0.10,2.78,17.33,1.257,4,0.063,0.082,2979,437,2107
$GC,9524,0.99,177.4,731.9,8.9,458,9529,0.00,2.62,0.00,0.000,6,0.000,0.058,2980,1870,2107
$GC,9845,1.03,203.7,707.4,7.0,474,9875,0.00,2.80,24.55,1.284,4,0.000,0.081,2979,439,2000
$GC,9910,0.99,210.5,702.3,7.8,477,9926,0.00,2.60,7.72,1.103,6,0.000,0.058,2980,1871,1972
$GC,10236,1.03,238.1,679.1,7.0,493,10267,0.00,2.60,25.17,1.271,4,0.000,0.071,2980,3242,1860
$GC,10301,1.12,271.8,674.6,6.8,496,10339,0.00,2.60,30.70,1.269,6,0.000,0.067,2980,1853,1722
$GC,10648,1.40,442.5,663.1,1.8,513,10809,0.28,2.72,150.12,1.273,4,0.052,0.078,3050,441,1027
$GC,10854,1.34,442.5,644.4,10.9,522,10860,0.00,2.58,0.00,0.000,6,0.000,0.057,3050,1848,1028
$GC,11171,1.30,442.5,607.2,12.8,538,11176,0.12,2.67,0.00,0.000,4,0.097,0.078,3026,439,1029
$GC,11211,1.30,442.5,602.6,11.4,540,11215,0.00,2.58,0.00,0.000,6,0.000,0.054,3026,1858,1030
$GC,11538,1.30,442.5,567.4,11.5,556,11542,0.00,2.67,0.00,0.000,4,0.000,0.074,3026,432,1030
$GC,11593,1.30,442.5,560.4,11.8,558,11599,0.00,2.53,0.00,0.000,6,0.000,0.052,3026,1836,1030
$GC,11909,1.30,442.5,523.4,11.9,574,11910,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1852,1031
$GC,12218,1.30,442.5,482.8,14.0,589,12223,0.00,2.62,0.00,0.000,4,0.000,0.072,3026,428,1031
$GC,12274,1.30,442.5,474.3,15.2,591,12281,0.00,2.50,0.00,0.000,6,0.000,0.051,3026,1826,1031
$GC,12590,1.30,442.5,427.1,15.0,607,12591,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1840,1031
$GC,12899,1.30,442.5,379.4,15.3,622,12903,0.00,2.60,0.00,0.000,4,0.000,0.072,3026,428,1032
$GC,12938,1.30,442.5,373.3,15.6,623,12945,0.00,2.47,0.00,0.000,6,0.000,0.051,3026,1817,1032
$GC,13254,1.30,442.5,327.9,14.2,639,13255,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1832,1032
$GC,13563,1.30,442.5,286.7,13.2,654,13568,0.00,2.55,0.00,0.000,4,0.000,0.070,3026,437,1031
$GC,13604,1.30,442.5,281.1,14.1,656,13609,0.00,2.45,0.00,0.000,6,0.000,0.050,3026,1820,1032
$GC,13931,1.30,442.5,239.4,12.5,672,13932,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1835,1032
$GC,14240,1.30,442.5,202.7,11.4,687,14244,0.00,2.55,0.00,0.000,4,0.000,0.069,3026,436,1032
$GC,14302,1.30,442.5,195.7,11.7,690,14306,0.00,2.42,0.00,0.000,6,0.000,0.048,3026,1807,1033
$GC,14629,1.30,442.5,159.6,11.5,706,14630,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1823,1033
$GC,14938,1.30,442.5,126.3,10.5,721,14939,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1823,1033
$GC,15249,1.30,442.5,90.9,12.2,736,15253,0.00,2.53,0.00,0.000,4,0.000,0.067,3026,430,1033
$GC,15299,1.30,442.5,83.7,12.9,738,15303,0.00,2.42,0.00,0.000,6,0.000,0.048,3026,1804,1033
$GC,15617,1.34,442.5,42.7,11.9,753,15621,0.00,2.58,0.00,0.000,4,0.000,0.058,3026,3255,1033
$GC,15650,1.46,442.5,38.6,10.8,754,15657,0.15,2.62,0.00,0.000,6,0.048,0.052,3071,1784,1033
$STATE,15901,end climb,SURFACE_DEPTH_REACHED
$STATE,15902,begin surface coast
$FINISH,0.9,1.023786
$STATE,15924,end surface coast,CONTROL_FINISHED_OK
$STATE,15924,begin surface
$SM_CCo,16008,0.00,0.000,0,0,1033,441.29
$SM_GC,1.58,11.45,0.00,0.00,0.035,0.000,0.000,416,2169,1033,-10.61,1.10,441.29
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1858
$TCM_TEMP,16.50
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,771.4,63.0
$24V_AH,23.8,16.325
$10V_AH,10.1,7.255
$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,26.125,133.675,532.050,0.000,0.000,37.762,28.610,180.598,18.000,0.000,0.000,13.451,1387.248,12166.216,614.207,1672.864,535.263,33.352,1503.082,0.000,1631.254,0.000,47.733,0.000
$DEVICE_MAMPS,157.235,82.069,1377.532,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,525.089,570.771,429.990,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37959,768
$CAP_FILE_SIZE,118242,0
$CFSIZE,254472192,247345152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,110909,071107,6213.016,-1017.458,39,1.5,39,-10.2