version: 66.04
glider: 5
mission: 7
dive: 83
start: 9 11 109 7 20 44
data:
$ID,5
$MISSION,7
$DIVE,83
$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,-101829.92
$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,16
$R_STBD_OVSHOOT,33
$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
$GPS1,071107,6213.016,-1017.458,39,1.5,39,-10.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-58.9
$GPS2,071955,6213.032,-1017.454,12,2.0,17,-10.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.225,0.097
$KALMAN_X,-71489.2,-1891.8,-882.4,-11669.0,9481.6
$KALMAN_Y,35449.6,740.9,-5.0,31226.2,-3335.2
$MHEAD_RNG_PITCHd_Wd,303.5,15563,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.47,0.000,2,0.000,0.000,416,2152,2375
$GC,82,-1.22,-146.6,2.2,-1.9,3,146,11.43,2.65,-41.58,0.000,4,0.162,0.067,2469,702,3429
$GC,265,-1.14,-146.6,20.6,-13.5,11,270,0.12,2.53,0.00,0.000,6,0.107,0.045,2494,2131,3429
$GC,587,-1.09,-146.6,56.9,-10.5,27,591,0.00,2.55,0.00,0.000,4,0.000,0.064,2494,3544,3430
$GC,631,-1.09,-146.6,61.2,-9.1,29,636,0.00,2.50,0.00,0.000,6,0.000,0.047,2494,2136,3430
$GC,953,-1.09,-146.6,84.7,-7.9,45,957,0.00,2.53,0.00,0.000,4,0.000,0.058,2494,709,3430
$GC,1031,-1.09,-146.6,91.7,-8.8,48,1038,0.00,2.58,0.00,0.000,6,0.000,0.046,2493,2171,3430
$GC,1348,-1.09,-146.6,121.9,-10.3,64,1352,0.00,2.62,0.00,0.000,4,0.000,0.060,2494,720,3430
$GC,1398,-1.09,-146.6,127.7,-11.1,66,1403,0.00,2.53,0.00,0.000,6,0.000,0.047,2494,2150,3430
$GC,1714,-1.09,-146.6,163.0,-11.2,81,1719,0.00,2.60,0.00,0.000,4,0.000,0.062,2494,710,3430
$GC,1759,-1.09,-146.6,168.4,-11.7,83,1763,0.00,2.55,0.00,0.000,6,0.000,0.049,2494,2151,3431
$GC,2080,-1.09,-146.6,206.6,-12.2,99,2084,0.00,2.60,0.00,0.000,4,0.000,0.062,2494,719,3431
$GC,2107,-1.09,-146.6,210.2,-13.0,100,2112,0.00,2.53,0.00,0.000,6,0.000,0.049,2494,2144,3431
$GC,2423,-1.09,-146.6,247.9,-11.8,115,2428,0.00,2.60,0.00,0.000,4,0.000,0.062,2494,709,3431
$GC,2479,-1.09,-146.6,254.6,-12.3,117,2485,0.00,2.50,0.00,0.000,6,0.000,0.048,2494,2122,3431
$GC,2795,-1.09,-146.6,290.6,-11.3,133,2799,0.00,2.55,0.00,0.000,4,0.000,0.061,2494,714,3430
$GC,2836,-1.09,-146.6,295.0,-11.5,135,2840,0.00,2.47,0.00,0.000,6,0.000,0.049,2494,2115,3430
$GC,3163,-1.09,-146.6,328.0,-9.8,151,3167,0.00,2.53,0.00,0.000,4,0.000,0.062,2494,720,3430
$GC,3203,-1.09,-146.6,332.0,-9.7,153,3207,0.00,2.47,0.00,0.000,6,0.000,0.050,2494,2114,3429
$GC,3530,-1.09,-146.6,364.4,-10.2,169,3534,0.00,2.53,0.00,0.000,4,0.000,0.063,2494,720,3429
$GC,3551,-1.09,-146.6,366.9,-10.3,170,3555,0.00,2.45,0.00,0.000,6,0.000,0.050,2494,2103,3429
$GC,3879,-1.09,-146.6,400.7,-10.3,186,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2104,3429
$GC,4189,-1.09,-146.6,432.0,-10.1,201,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2104,3429
$GC,4497,-1.09,-146.6,464.8,-10.8,216,4502,0.00,2.53,0.00,0.000,4,0.000,0.064,2494,713,3429
$GC,4537,-1.09,-146.6,469.4,-11.6,218,4542,0.00,2.47,0.00,0.000,6,0.000,0.050,2494,2107,3429
$GC,4870,-1.09,-146.6,507.1,-11.5,234,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2107,3429
$GC,5179,-1.09,-146.6,541.9,-11.1,249,5183,0.00,2.53,0.00,0.000,4,0.000,0.066,2494,720,3429
$GC,5219,-1.09,-146.6,546.3,-11.3,251,5223,0.00,2.45,0.00,0.000,6,0.000,0.051,2494,2107,3428
$GC,5552,-1.09,-146.6,585.8,-12.3,267,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2108,3428
$GC,5861,-1.09,-146.6,623.8,-11.8,282,5865,0.00,2.53,0.00,0.000,4,0.000,0.066,2494,720,3428
$GC,5928,-1.12,-146.6,632.4,-12.7,285,5932,0.00,2.45,0.00,0.000,6,0.000,0.051,2494,2103,3427
$GC,6250,-1.12,-146.6,669.6,-10.9,301,6255,0.00,2.53,0.00,0.000,4,0.000,0.067,2495,720,3427
$GC,6283,-1.12,-146.6,673.6,-12.0,302,6287,0.00,2.45,0.00,0.000,6,0.000,0.053,2494,2098,3427
$GC,6599,-1.12,-146.6,706.3,-9.6,317,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2098,3427
$GC,6908,-1.12,-146.6,729.8,-7.0,332,6909,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2099,3426
$GC,7217,-1.12,-146.6,752.2,-7.5,347,7222,0.00,2.55,0.00,0.000,4,0.000,0.072,2494,716,3426
$GC,7281,-1.16,-146.6,757.3,-8.3,350,7285,0.00,2.50,0.00,0.000,6,0.000,0.057,2494,2106,3426
$GC,7614,-1.16,-146.6,783.8,-8.0,366,7618,0.00,2.58,0.00,0.000,4,0.000,0.077,2494,721,3425
$GC,7647,-1.19,-146.6,786.6,-8.0,367,7653,0.00,2.50,0.00,0.000,6,0.000,0.059,2494,2110,3425
$STATE,7940,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7940,begin apogee
$GC,7948,-0.33,0.0,811.1,8.6,382,8084,0.82,0.00,133.20,1.375,6,0.083,0.000,2669,1840,2831
$STATE,8085,end apogee,CONTROL_FINISHED_OK
$STATE,8085,begin climb
$GC,8088,1.22,146.6,815.4,0.0,389,8232,1.55,0.00,135.07,1.335,6,0.060,0.000,3009,1840,2233
$GC,8542,1.13,150.8,785.0,7.8,411,8553,0.00,2.62,5.57,0.973,4,0.000,0.081,3008,452,2215
$GC,8593,0.98,150.8,780.7,8.3,413,8598,0.28,2.55,0.00,0.000,6,0.095,0.059,2957,1844,2215
$GC,8909,1.10,224.3,763.3,5.3,428,8981,0.12,2.70,66.22,1.321,4,0.063,0.076,2988,3259,1916
$GC,9023,1.15,255.0,755.5,6.9,433,9058,0.00,2.67,28.88,1.276,6,0.000,0.072,2987,1845,1791
$GC,9389,1.20,291.0,729.7,6.7,451,9431,0.00,2.72,32.95,1.288,4,0.000,0.082,2988,442,1644
$GC,9455,1.23,305.5,724.8,7.5,454,9477,0.10,2.60,14.27,1.207,6,0.064,0.061,3013,1862,1585
$GC,9789,1.19,305.5,694.5,10.1,470,9793,0.00,2.58,0.00,0.000,4,0.000,0.074,3014,3244,1585
$GC,9839,1.19,305.5,688.9,10.3,472,9843,0.00,2.62,0.00,0.000,6,0.000,0.070,3013,1841,1585
$GC,10160,1.15,305.5,652.2,12.6,488,10161,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1841,1585
$GC,10469,1.11,305.5,614.0,12.8,503,10471,0.15,0.00,0.00,0.000,6,0.094,0.000,2985,1841,1584
$GC,10779,1.14,305.5,576.5,12.0,518,10783,0.00,2.60,0.00,0.000,4,0.000,0.066,2985,3254,1585
$GC,10806,1.21,305.5,572.9,12.5,519,10811,0.10,2.58,0.00,0.000,6,0.063,0.061,3012,1850,1584
$GC,11122,1.21,305.5,532.1,12.5,534,11123,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1850,1584
$GC,11431,1.21,305.5,494.8,11.8,549,11435,0.00,2.55,0.00,0.000,4,0.000,0.064,3012,3249,1585
$GC,11481,1.21,305.5,488.6,11.7,551,11485,0.00,2.53,0.00,0.000,6,0.000,0.058,3012,1858,1585
$GC,11797,1.21,305.5,452.2,11.9,566,11798,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1858,1585
$GC,12106,1.21,305.5,415.2,12.1,581,12110,0.00,2.55,0.00,0.000,4,0.000,0.062,3012,3255,1585
$GC,12151,1.24,305.5,409.5,12.3,583,12155,0.00,2.47,0.00,0.000,6,0.000,0.057,3012,1883,1585
$GC,12473,1.24,305.5,370.6,12.0,599,12474,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1883,1585
$GC,12782,1.24,305.5,334.8,11.7,614,12783,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1883,1586
$GC,13091,1.24,305.5,297.2,12.2,629,13092,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1883,1586
$GC,13401,1.24,305.5,260.7,11.4,644,13405,0.00,2.47,0.00,0.000,4,0.000,0.061,3012,3245,1587
$GC,13434,1.24,305.5,256.8,11.5,645,13441,0.00,2.45,0.00,0.000,6,0.000,0.053,3013,1876,1587
$GC,13750,1.24,305.5,223.3,10.5,661,13751,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1876,1587
$GC,14060,1.24,305.5,191.2,10.3,676,14064,0.00,2.47,0.00,0.000,4,0.000,0.061,3013,3248,1588
$GC,14099,1.28,305.5,186.7,10.5,677,14105,0.00,2.40,0.00,0.000,6,0.000,0.052,3012,1892,1588
$GC,14415,1.28,305.5,151.7,11.8,693,14416,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1892,1588
$GC,14725,1.28,305.5,116.1,11.4,708,14729,0.00,2.45,0.00,0.000,4,0.000,0.059,3012,3245,1588
$GC,14746,1.28,305.5,113.3,12.0,709,14750,0.00,2.40,0.00,0.000,6,0.000,0.051,3012,1896,1588
$GC,15068,1.28,305.5,74.7,12.2,725,15069,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1896,1589
$GC,15379,1.28,305.5,40.1,10.8,740,15380,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1896,1589
$GC,15687,1.28,305.5,5.7,10.9,755,15688,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1896,1589
$STATE,15725,end climb,SURFACE_DEPTH_REACHED
$STATE,15725,begin surface coast
$FINISH,0.7,1.013091
$STATE,15747,end surface coast,CONTROL_FINISHED_OK
$STATE,15747,begin surface
$SM_CCo,15830,0.00,0.000,0,0,1588,304.66
$SM_GC,1.73,11.15,0.00,0.00,0.034,0.000,0.000,419,2153,1588,-10.59,0.65,304.66
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1844
$TCM_TEMP,17.60
$XPDR_PINGS,40
$ALTIM_BOTTOM_PING,746.1,73.7
$24V_AH,23.8,16.501
$10V_AH,10.1,7.330
$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,25.825,132.800,416.175,0.000,0.000,75.523,52.852,210.254,16.750,0.000,0.000,17.515,1372.960,12192.438,538.839,1620.308,630.553,33.363,1390.716,0.000,1576.283,0.000,47.135,0.000
$DEVICE_MAMPS,161.837,82.069,1375.231,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,519.181,567.298,452.497,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37957,758
$CAP_FILE_SIZE,118722,0
$CFSIZE,254472192,247287808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,110909,114537,6214.272,-1022.729,26,1.2,26,-10.2