version: 66.04
glider: 5
mission: 7
dive: 89
start: 9 12 109 11 2 29
data:
$ID,5
$MISSION,7
$DIVE,89
$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,-101936.47
$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,22
$R_STBD_OVSHOOT,32
$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
$GPS1,105600,6216.795,-1050.879,39,1.7,39,-10.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-62.7
$GPS2,110138,6216.823,-1050.786,15,1.7,15,-10.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.109,0.220
$KALMAN_X,-73643.5,-196.2,-319.6,-41117.5,825.0
$KALMAN_Y,32723.8,-698.5,-66.4,42520.3,-1930.9
$MHEAD_RNG_PITCHd_Wd,344.0,17081,-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,-41.60,0.000,2,0.000,0.000,422,2145,2476
$GC,63,-1.22,-146.6,2.3,-2.9,2,127,11.10,2.55,-45.05,0.000,4,0.159,0.066,2470,708,3430
$GC,222,-1.14,-146.6,15.4,-13.7,9,227,0.12,2.50,0.00,0.000,6,0.106,0.045,2494,2130,3430
$GC,551,-1.11,-146.6,57.6,-12.8,25,555,0.00,2.55,0.00,0.000,4,0.000,0.058,2494,715,3431
$GC,645,-1.11,-146.6,70.1,-12.5,29,650,0.00,2.47,0.00,0.000,6,0.000,0.045,2494,2119,3431
$GC,963,-1.11,-146.6,107.9,-10.9,44,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2119,3431
$GC,1271,-1.11,-146.6,141.9,-11.2,59,1275,0.00,2.53,0.00,0.000,4,0.000,0.058,2495,718,3432
$GC,1360,-1.11,-146.6,152.1,-11.1,63,1365,0.00,2.45,0.00,0.000,6,0.000,0.047,2494,2108,3432
$GC,1681,-1.11,-146.6,188.1,-11.2,79,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2108,3433
$GC,1990,-1.11,-146.6,223.5,-11.4,94,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2109,3432
$GC,2299,-1.11,-146.6,258.6,-11.6,109,2304,0.00,2.53,0.00,0.000,4,0.000,0.062,2495,715,3432
$GC,2367,-1.11,-146.6,266.7,-11.7,112,2371,0.00,2.45,0.00,0.000,6,0.000,0.048,2495,2102,3432
$GC,2688,-1.11,-146.6,304.6,-12.1,128,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2102,3432
$GC,2997,-1.11,-146.6,341.2,-11.7,143,3001,0.00,2.53,0.00,0.000,4,0.000,0.065,2495,715,3432
$GC,3047,-1.11,-146.6,347.3,-12.0,145,3051,0.00,2.42,0.00,0.000,6,0.000,0.049,2495,2091,3432
$GC,3369,-1.11,-146.6,383.5,-11.4,161,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2093,3432
$GC,3678,-1.11,-146.6,417.5,-11.0,176,3682,0.00,2.50,0.00,0.000,4,0.000,0.063,2494,706,3432
$GC,3723,-1.11,-146.6,422.7,-11.5,178,3727,0.00,2.45,0.00,0.000,6,0.000,0.049,2495,2086,3432
$GC,4050,-1.11,-146.6,459.9,-11.6,194,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2087,3431
$GC,4359,-1.11,-146.6,494.1,-10.8,209,4363,0.00,2.50,0.00,0.000,4,0.000,0.064,2495,712,3431
$GC,4392,-1.11,-146.6,497.9,-11.0,210,4398,0.00,2.45,0.00,0.000,6,0.000,0.050,2495,2097,3430
$GC,4708,-1.11,-146.6,530.7,-10.2,226,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2096,3430
$GC,5017,-1.11,-146.6,561.7,-9.9,241,5022,0.00,2.50,0.00,0.000,4,0.000,0.064,2494,719,3430
$GC,5097,-1.11,-146.6,570.3,-10.4,244,5103,0.00,2.40,0.00,0.000,6,0.000,0.049,2495,2075,3430
$GC,5413,-1.11,-146.6,600.5,-9.4,260,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2075,3430
$GC,5722,-1.11,-146.6,628.6,-8.9,275,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2075,3429
$GC,6031,-1.11,-146.6,656.6,-9.0,290,6035,0.00,2.47,0.00,0.000,4,0.000,0.064,2495,716,3429
$GC,6072,-1.11,-146.6,660.7,-10.6,291,6078,0.00,2.40,0.00,0.000,6,0.000,0.051,2495,2068,3429
$GC,6388,-1.11,-146.6,695.7,-11.9,307,6393,0.00,2.47,0.00,0.000,4,0.000,0.064,2495,707,3429
$GC,6479,-1.11,-146.6,703.1,-6.9,311,6483,0.00,2.38,0.00,0.000,6,0.000,0.050,2495,2047,3429
$GC,6800,-1.11,-146.6,727.5,-7.6,327,6802,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2047,3429
$GC,7109,-1.11,-146.6,757.1,-8.9,342,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2047,3429
$GC,7419,-1.11,-146.6,780.5,-6.8,357,7423,0.00,2.45,0.00,0.000,4,0.000,0.071,2495,715,3428
$GC,7520,-1.14,-146.6,787.4,-6.5,361,7525,0.00,2.40,0.00,0.000,6,0.000,0.054,2495,2055,3428
$GC,7837,-1.14,-146.6,812.3,-9.0,376,7841,0.00,2.50,0.00,0.000,4,0.000,0.079,2494,719,3427
$GC,7905,-1.18,-146.6,818.7,-9.7,379,7909,0.00,2.38,0.00,0.000,6,0.000,0.058,2495,2034,3427
$STATE,8187,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8188,begin apogee
$GC,8195,-0.33,0.0,844.0,8.1,393,8331,0.82,0.00,132.62,1.391,6,0.077,0.000,2674,1843,2831
$STATE,8332,end apogee,CONTROL_FINISHED_OK
$STATE,8332,begin climb
$GC,8335,1.22,146.6,847.3,0.0,400,8483,1.52,2.72,134.48,1.350,4,0.060,0.071,3008,3250,2233
$GC,8630,1.13,146.6,828.8,9.4,413,8635,0.00,2.62,0.00,0.000,6,0.000,0.071,3009,1854,2232
$GC,8946,1.02,146.6,803.6,8.6,428,8951,0.20,2.65,0.00,0.000,4,0.097,0.083,2968,429,2232
$GC,9054,0.96,146.6,794.3,8.4,433,9059,0.00,2.55,0.00,0.000,6,0.000,0.061,2969,1822,2232
$GC,9381,1.05,207.3,772.9,5.8,449,9442,0.00,0.00,55.47,1.339,6,0.000,0.000,2969,1836,1985
$GC,9752,1.05,207.3,743.2,9.0,467,9757,0.00,2.62,0.00,0.000,4,0.000,0.074,2969,3253,1983
$GC,9808,1.10,207.3,737.5,10.2,469,9815,0.00,2.67,0.00,0.000,6,0.000,0.070,2969,1819,1983
$GC,10124,1.10,207.3,708.5,9.7,485,10129,0.00,2.58,0.00,0.000,4,0.000,0.080,2969,431,1982
$GC,10209,1.10,207.3,698.7,11.8,489,10214,0.00,2.53,0.00,0.000,6,0.000,0.058,2969,1826,1982
$GC,10537,1.10,207.3,666.6,8.5,505,10541,0.00,2.60,0.00,0.000,4,0.000,0.068,2969,3254,1981
$GC,10604,1.15,215.0,661.4,7.7,508,10621,0.12,2.65,7.80,1.097,6,0.060,0.064,3001,1807,1953
$GC,10933,1.11,215.0,633.9,8.3,524,10934,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1806,1953
$GC,11240,1.09,219.9,609.0,7.8,539,11251,0.00,2.70,5.72,0.966,4,0.000,0.063,3000,3259,1934
$GC,11281,1.10,224.3,605.8,7.8,541,11291,0.00,2.62,5.60,0.949,6,0.000,0.059,3001,1825,1916
$GC,11608,1.10,224.3,579.1,8.5,557,11609,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1825,1916
$GC,11917,1.06,224.3,551.9,8.9,572,11922,0.12,2.62,0.00,0.000,4,0.095,0.062,2977,3257,1916
$GC,11958,1.12,224.3,548.5,8.9,574,11962,0.00,2.58,0.00,0.000,6,0.000,0.057,2977,1832,1916
$GC,12285,1.12,229.3,522.6,7.8,590,12293,0.00,0.00,6.40,0.940,6,0.000,0.000,2977,1832,1896
$GC,12594,1.16,233.1,497.9,7.9,605,12605,0.00,2.62,5.53,0.881,4,0.000,0.061,2977,3258,1880
$GC,12657,1.21,233.1,492.6,8.3,608,12662,0.15,2.58,0.00,0.000,6,0.053,0.055,3016,1830,1880
$GC,12984,1.16,233.1,460.4,9.6,624,12986,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1829,1880
$GC,13294,1.11,233.1,431.4,9.3,639,13299,0.15,2.60,0.00,0.000,4,0.088,0.060,2986,3255,1880
$GC,13339,1.16,233.1,427.5,8.5,641,13343,0.00,2.55,0.00,0.000,6,0.000,0.054,2987,1839,1880
$GC,13660,1.16,234.6,401.8,7.9,657,13661,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1839,1881
$GC,13969,1.16,234.6,376.2,8.0,672,13973,0.00,2.58,0.00,0.000,4,0.000,0.061,2986,3264,1881
$GC,14031,1.20,234.6,371.1,8.1,675,14036,0.00,2.53,0.00,0.000,6,0.000,0.053,2987,1847,1881
$GC,14359,1.20,234.6,344.4,8.1,691,14364,0.00,2.58,0.00,0.000,4,0.000,0.061,2986,3264,1881
$GC,14410,1.25,243.9,340.2,7.7,693,14427,0.12,2.50,10.77,0.937,6,0.055,0.052,3021,1867,1836
$GC,14751,1.20,243.9,308.8,9.3,710,14752,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1867,1836
$GC,15058,1.15,243.9,279.2,10.0,725,15060,0.12,0.00,0.00,0.000,6,0.091,0.000,2997,1866,1836
$GC,15367,1.15,243.9,252.2,8.5,740,15371,0.00,2.53,0.00,0.000,4,0.000,0.060,2998,3257,1836
$GC,15422,1.15,243.9,247.1,9.6,742,15428,0.00,2.47,0.00,0.000,6,0.000,0.051,2998,1870,1837
$GC,15738,1.15,243.9,219.3,8.6,758,15740,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1870,1837
$GC,16048,1.16,248.1,194.4,7.8,773,16058,0.00,2.53,5.65,0.735,4,0.000,0.058,2998,3256,1818
$GC,16111,1.19,248.1,189.2,8.1,776,16116,0.00,2.45,0.00,0.000,6,0.000,0.050,2998,1882,1818
$GC,16438,1.19,248.1,162.5,8.2,792,16440,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1882,1818
$GC,16748,1.22,263.8,138.2,7.4,807,16770,0.00,2.55,14.07,0.847,4,0.000,0.058,2997,3258,1755
$GC,16799,1.29,278.1,134.2,7.5,809,16817,0.12,2.45,12.77,0.830,6,0.054,0.049,3032,1892,1697
$GC,17130,1.24,278.1,101.3,10.9,825,17134,0.00,2.47,0.00,0.000,4,0.000,0.058,3032,3258,1697
$GC,17180,1.24,278.1,95.5,9.9,827,17184,0.00,2.40,0.00,0.000,6,0.000,0.049,3032,1910,1697
$GC,17498,1.20,278.1,63.5,10.0,842,17503,0.15,2.65,0.00,0.000,4,0.085,0.065,3002,436,1697
$GC,17554,1.20,278.1,58.0,8.9,844,17560,0.00,2.62,0.00,0.000,6,0.000,0.047,3002,1920,1697
$GC,17870,1.25,278.1,30.4,8.6,860,17872,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1936,1697
$GC,18180,1.33,291.3,5.2,7.5,875,18202,0.15,2.78,11.57,0.739,4,0.049,0.060,3044,441,1642
$STATE,18205,end climb,SURFACE_DEPTH_REACHED
$STATE,18205,begin surface coast
$FINISH,0.7,1.026782
$STATE,18228,end surface coast,CONTROL_FINISHED_OK
$STATE,18228,begin surface
$SM_CCo,18255,4.45,0.562,0,0,1608,300.00
$SM_GC,2.16,0.00,0.00,4.45,0.000,0.000,0.562,418,2149,1608,-10.70,0.54,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1820
$TCM_TEMP,19.60
$XPDR_PINGS,54
$ALTIM_BOTTOM_PING,796.5,57.5
$24V_AH,23.8,17.499
$10V_AH,10.1,7.785
$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,26.350,147.775,408.475,4.450,0.000,37.758,26.505,152.794,20.750,0.000,0.000,15.491,1622.907,13965.879,537.348,1939.258,533.745,33.361,1530.869,0.000,1893.328,0.000,49.305,0.000
$DEVICE_MAMPS,158.769,82.836,1390.571,562.211,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,600.838,655.731,493.604,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44346,877
$CAP_FILE_SIZE,136416,0
$CFSIZE,254472192,246910976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,120909,160827,6219.503,-1054.931,38,2.4,57,-10.6