version: 66.04
glider: 5
mission: 7
dive: 88
start: 9 12 109 6 23 29
data:
$ID,5
$MISSION,7
$DIVE,88
$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,-101920.34
$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,41
$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
$GPS1,061700,6217.029,-1043.276,43,1.0,43,-10.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-56.1
$GPS2,062238,6216.985,-1043.327,12,1.1,12,-10.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.227,0.093
$KALMAN_X,-71743.5,-645.2,-408.9,-35924.8,3433.1
$KALMAN_Y,35655.4,-492.5,-379.1,39981.7,-78.2
$MHEAD_RNG_PITCHd_Wd,302.6,20609,-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,16,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.58,0.000,2,0.000,0.000,419,2161,2533
$GC,63,-1.22,-146.6,2.6,-3.8,2,116,11.38,2.47,-36.50,0.000,4,0.161,0.075,2471,3520,3429
$GC,198,-1.11,-146.6,14.8,-13.2,8,203,0.15,2.47,0.00,0.000,6,0.091,0.045,2503,2124,3429
$GC,521,-1.11,-146.6,51.9,-12.3,24,526,0.00,2.58,0.00,0.000,4,0.000,0.063,2503,3530,3430
$GC,540,-1.08,-146.6,53.7,-10.9,25,544,0.00,2.47,0.00,0.000,6,0.000,0.045,2502,2128,3430
$GC,873,-1.08,-146.6,91.0,-12.1,41,877,0.00,2.55,0.00,0.000,4,0.000,0.063,2503,3517,3430
$GC,917,-1.08,-146.6,96.3,-11.3,43,921,0.00,2.40,0.00,0.000,6,0.000,0.046,2502,2160,3431
$GC,1240,-1.08,-146.6,132.2,-11.1,59,1244,0.00,2.55,0.00,0.000,4,0.000,0.059,2503,720,3431
$GC,1312,-1.08,-146.6,141.0,-12.3,62,1316,0.00,2.53,0.00,0.000,6,0.000,0.046,2503,2158,3431
$GC,1628,-1.08,-146.6,177.2,-11.5,77,1632,0.00,2.60,0.00,0.000,4,0.000,0.059,2503,716,3431
$GC,1683,-1.08,-146.6,183.9,-12.2,79,1690,0.00,2.53,0.00,0.000,6,0.000,0.048,2503,2147,3431
$GC,2000,-1.08,-146.6,220.6,-11.6,95,2004,0.00,2.60,0.00,0.000,4,0.000,0.063,2503,716,3431
$GC,2050,-1.08,-146.6,226.6,-11.5,97,2054,0.00,2.53,0.00,0.000,6,0.000,0.048,2503,2144,3431
$GC,2366,-1.08,-146.6,262.3,-11.4,112,2370,0.00,2.58,0.00,0.000,4,0.000,0.061,2503,719,3431
$GC,2405,-1.08,-146.6,266.9,-11.4,114,2409,0.00,2.50,0.00,0.000,6,0.000,0.049,2503,2136,3431
$GC,2732,-1.08,-146.6,301.5,-10.4,130,2737,0.00,2.55,0.00,0.000,4,0.000,0.061,2503,724,3431
$GC,2760,-1.08,-146.6,304.5,-10.7,131,2765,0.00,2.50,0.00,0.000,6,0.000,0.049,2502,2139,3431
$GC,3077,-1.08,-146.6,337.2,-10.1,146,3081,0.00,2.58,0.00,0.000,4,0.000,0.062,2503,718,3431
$GC,3121,-1.08,-146.6,342.0,-10.7,148,3125,0.00,2.47,0.00,0.000,6,0.000,0.049,2503,2118,3431
$GC,3442,-1.08,-146.6,373.9,-9.8,164,3447,0.00,2.53,0.00,0.000,4,0.000,0.063,2503,722,3430
$GC,3476,-1.08,-146.6,377.4,-10.3,165,3482,0.00,2.47,0.00,0.000,6,0.000,0.050,2503,2125,3431
$GC,3793,-1.08,-146.6,408.5,-9.8,181,3797,0.00,2.55,0.00,0.000,4,0.000,0.064,2503,718,3430
$GC,3826,-1.08,-146.6,412.1,-10.0,182,3832,0.00,2.47,0.00,0.000,6,0.000,0.050,2503,2117,3430
$GC,4142,-1.08,-146.6,443.2,-9.6,198,4146,0.00,2.53,0.00,0.000,4,0.000,0.064,2502,724,3430
$GC,4175,-1.08,-146.6,446.6,-10.2,199,4181,0.00,2.45,0.00,0.000,6,0.000,0.050,2503,2110,3430
$GC,4491,-1.08,-146.6,477.9,-9.9,215,4495,0.00,2.53,0.00,0.000,4,0.000,0.064,2502,720,3429
$GC,4518,-1.08,-146.6,480.8,-10.2,216,4522,0.00,2.45,0.00,0.000,6,0.000,0.051,2502,2104,3429
$GC,4834,-1.08,-146.6,511.1,-9.5,231,4839,0.00,2.53,0.00,0.000,4,0.000,0.067,2502,719,3429
$GC,4880,-1.11,-146.6,515.5,-10.2,233,4884,0.00,2.42,0.00,0.000,6,0.000,0.051,2503,2086,3429
$GC,5201,-1.11,-146.6,547.0,-9.9,249,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2086,3429
$GC,5510,-1.11,-146.6,578.8,-10.3,264,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2086,3429
$GC,5820,-1.11,-146.6,609.9,-9.9,279,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2086,3429
$GC,6129,-1.11,-146.6,643.6,-10.9,294,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2087,3429
$GC,6439,-1.11,-146.6,670.4,-8.1,309,6443,0.00,2.47,0.00,0.000,4,0.000,0.066,2502,718,3428
$GC,6490,-1.14,-146.6,674.7,-8.9,311,6494,0.00,2.42,0.00,0.000,6,0.000,0.051,2502,2086,3428
$GC,6811,-1.14,-146.6,709.3,-14.6,327,6815,0.00,2.62,0.00,0.000,4,0.000,0.071,2503,3531,3428
$GC,6855,-1.14,-146.6,714.1,-10.1,329,6859,0.00,2.60,0.00,0.000,6,0.000,0.056,2503,2081,3427
$GC,7176,-1.14,-146.6,737.0,0.1,345,7180,0.00,2.45,0.00,0.000,4,0.000,0.069,2503,718,3427
$GC,7199,-1.14,-146.6,736.3,3.1,346,7203,0.00,2.40,0.00,0.000,6,0.000,0.052,2502,2068,3427
$GC,7521,-1.17,-146.6,750.6,-9.1,362,7525,0.00,2.47,0.00,0.000,4,0.000,0.070,2503,719,3427
$GC,7599,-1.22,-146.6,759.6,-11.3,365,7605,0.00,2.38,0.00,0.000,6,0.000,0.054,2502,2053,3427
$GC,7916,-1.26,-146.6,794.8,-11.4,381,7921,0.15,2.72,0.00,0.000,4,0.057,0.077,2460,3535,3426
$GC,7950,-1.18,-146.6,799.1,-14.0,382,7957,0.12,2.75,0.00,0.000,6,0.097,0.068,2486,2038,3426
$STATE,8098,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8098,begin apogee
$GC,8106,-0.33,0.0,816.7,10.5,390,8241,0.85,0.00,129.93,1.366,6,0.075,0.000,2670,1834,2831
$STATE,8242,end apogee,CONTROL_FINISHED_OK
$STATE,8242,begin climb
$GC,8245,1.22,146.6,821.7,0.0,397,8381,1.52,0.00,130.57,1.330,6,0.055,0.000,3008,1834,2233
$GC,8679,1.13,146.6,795.0,8.1,418,8684,0.00,2.60,0.00,0.000,4,0.000,0.082,3008,445,2232
$GC,8758,0.97,146.6,787.3,9.7,421,8765,0.28,2.53,0.00,0.000,6,0.098,0.058,2957,1835,2232
$GC,9075,1.24,311.7,773.2,2.0,437,9228,0.22,2.70,146.07,1.322,4,0.054,0.072,3014,3259,1560
$GC,9275,1.24,311.7,754.8,12.5,446,9280,0.00,2.62,0.00,0.000,6,0.000,0.068,3014,1863,1560
$GC,9592,1.19,311.7,719.3,9.5,461,9596,0.00,2.65,0.00,0.000,4,0.000,0.080,3014,438,1560
$GC,9636,1.13,311.7,714.5,10.4,463,9641,0.12,2.58,0.00,0.000,6,0.100,0.057,2992,1855,1559
$GC,9957,1.13,311.7,682.7,9.4,479,9961,0.00,2.55,0.00,0.000,4,0.000,0.068,2993,3253,1559
$GC,9986,1.17,311.7,679.7,10.3,480,9990,0.00,2.60,0.00,0.000,6,0.000,0.065,2992,1848,1559
$GC,10307,1.17,311.7,645.0,11.4,496,10312,0.00,2.60,0.00,0.000,4,0.000,0.066,2993,3253,1559
$GC,10341,1.23,311.7,640.8,11.5,497,10347,0.00,2.55,0.00,0.000,6,0.000,0.061,2992,1861,1559
$GC,10657,1.23,311.7,602.8,11.7,513,10658,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1861,1559
$GC,10966,1.23,311.7,571.0,8.8,528,10970,0.00,2.55,0.00,0.000,4,0.000,0.064,2993,3259,1559
$GC,11000,1.29,311.7,567.8,8.5,529,11005,0.15,2.53,0.00,0.000,6,0.053,0.058,3031,1870,1559
$GC,11316,1.22,311.7,532.8,10.9,544,11321,0.00,2.58,0.00,0.000,4,0.000,0.071,3030,440,1560
$GC,11350,1.13,311.7,528.7,11.7,545,11358,0.20,2.55,0.00,0.000,6,0.087,0.051,2992,1875,1560
$GC,11667,1.16,311.7,500.6,8.6,561,11668,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1890,1560
$GC,11976,1.19,311.7,473.4,8.9,576,11981,0.00,2.65,0.00,0.000,4,0.000,0.069,2992,441,1560
$GC,12010,1.19,311.7,469.8,9.3,577,12016,0.00,2.55,0.00,0.000,6,0.000,0.050,2992,1875,1561
$GC,12326,1.23,311.7,437.8,10.7,593,12327,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1890,1561
$GC,12635,1.27,311.7,406.0,9.9,608,12637,0.12,0.00,0.00,0.000,6,0.054,0.000,3027,1891,1561
$GC,12945,1.23,311.7,370.3,11.2,623,12949,0.00,2.65,0.00,0.000,4,0.000,0.068,3027,438,1561
$GC,12995,1.16,311.7,364.3,11.7,625,13000,0.15,2.53,0.00,0.000,6,0.090,0.049,2998,1863,1561
$GC,13311,1.16,311.7,335.8,9.0,640,13315,0.00,2.50,0.00,0.000,4,0.000,0.062,2998,3262,1562
$GC,13344,1.23,311.7,332.5,9.1,641,13350,0.00,2.53,0.00,0.000,6,0.000,0.054,2998,1857,1562
$GC,13660,1.23,311.7,302.2,9.8,657,13661,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1857,1562
$GC,13970,1.26,311.7,269.2,10.8,672,13974,0.00,2.55,0.00,0.000,4,0.000,0.061,2999,3262,1562
$GC,14003,1.33,311.7,265.4,10.2,673,14008,0.17,2.53,0.00,0.000,6,0.049,0.053,3044,1853,1562
$GC,14320,1.26,311.7,221.3,13.9,688,14321,0.15,0.00,0.00,0.000,6,0.089,0.000,3014,1852,1562
$GC,14628,1.26,311.7,185.5,11.4,703,14632,0.00,2.55,0.00,0.000,4,0.000,0.061,3014,3256,1562
$GC,14662,1.29,311.7,181.6,11.4,704,14667,0.00,2.50,0.00,0.000,6,0.000,0.051,3014,1855,1562
$GC,14979,1.29,311.7,145.5,11.3,719,14980,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1855,1562
$GC,15288,1.29,311.7,109.5,11.6,734,15289,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1855,1562
$GC,15597,1.29,311.7,71.3,12.4,749,15601,0.00,2.55,0.00,0.000,4,0.000,0.058,3014,3265,1563
$GC,15630,1.35,311.7,67.1,11.8,750,15637,0.12,2.50,0.00,0.000,6,0.054,0.050,3049,1858,1563
$GC,15949,1.29,311.7,28.5,12.3,766,15954,0.12,2.55,0.00,0.000,4,0.090,0.065,3024,435,1563
$GC,16016,1.26,311.7,19.7,13.1,769,16020,0.00,2.55,0.00,0.000,6,0.000,0.045,3024,1887,1563
$STATE,16169,end climb,SURFACE_DEPTH_REACHED
$STATE,16169,begin surface coast
$FINISH,0.8,1.026843
$STATE,16191,end surface coast,CONTROL_FINISHED_OK
$STATE,16191,begin surface
$SM_CCo,16275,0.00,0.000,0,0,1562,311.04
$SM_GC,1.71,11.23,0.00,0.00,0.037,0.000,0.000,422,2159,1562,-10.60,0.85,311.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1823
$TCM_TEMP,17.70
$XPDR_PINGS,31
$ALTIM_BOTTOM_PING,772.2,54.2
$24V_AH,23.8,17.338
$10V_AH,10.1,7.703
$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,27.225,168.225,406.575,0.000,0.000,37.759,33.771,147.950,14.750,0.000,0.000,12.827,1442.237,12432.057,525.669,1687.720,523.606,33.357,1428.706,0.000,1646.275,0.000,47.708,0.000
$DEVICE_MAMPS,161.070,82.069,1366.027,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,532.141,581.888,440.285,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41034,778
$CAP_FILE_SIZE,128064,0
$CFSIZE,254472192,246972416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120909,105600,6216.795,-1050.879,39,1.7,39,-10.5