version: 66.04
glider: 5
mission: 7
dive: 99
start: 9 14 109 11 20 15
data:
$ID,5
$MISSION,7
$DIVE,99
$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,-102122.74
$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,24
$R_STBD_OVSHOOT,30
$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
$GPS1,111407,6229.856,-1136.044,39,1.1,39,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-61.4
$GPS2,111926,6229.858,-1136.153,11,1.8,11,-11.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.185,0.161
$KALMAN_X,-96052.3,878.0,182.0,-60279.6,-6722.7
$KALMAN_Y,4785.6,750.3,330.8,92708.3,-8852.4
$MHEAD_RNG_PITCHd_Wd,322.0,41750,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,61,0.00,0.00,-41.35,0.000,2,0.000,0.000,417,2150,2436
$GC,65,-1.22,-146.6,2.2,-1.9,2,129,11.12,2.60,-43.80,0.000,4,0.153,0.068,2472,718,3429
$GC,298,-1.15,-146.6,27.8,-13.0,12,303,0.10,2.50,0.00,0.000,6,0.117,0.046,2490,2135,3430
$GC,614,-1.11,-146.6,70.6,-14.6,27,619,0.00,2.53,0.00,0.000,4,0.000,0.062,2490,3539,3430
$GC,710,-1.11,-146.6,83.9,-11.7,31,714,0.00,2.50,0.00,0.000,6,0.000,0.045,2490,2124,3430
$GC,1026,-1.11,-146.6,114.2,-9.7,46,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2114,3431
$GC,1337,-1.11,-146.6,142.9,-9.3,61,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2111,3431
$GC,1646,-1.11,-146.6,171.9,-9.8,76,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2111,3431
$GC,1954,-1.11,-146.6,204.2,-11.0,91,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2111,3431
$GC,2263,-1.11,-146.6,237.4,-10.9,106,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2112,3431
$GC,2574,-1.11,-146.6,270.9,-10.8,121,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2112,3431
$GC,2882,-1.11,-146.6,303.9,-10.6,136,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2112,3431
$GC,3191,-1.11,-146.6,336.7,-10.7,151,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2112,3431
$GC,3501,-1.11,-146.6,370.1,-11.0,166,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2112,3431
$GC,3810,-1.11,-146.6,404.9,-11.5,181,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2101,3431
$GC,4119,-1.11,-146.6,439.4,-11.2,196,4123,0.00,2.60,0.00,0.000,4,0.000,0.070,2490,3538,3431
$GC,4142,-1.11,-146.6,442.2,-11.5,197,4146,0.00,2.53,0.00,0.000,6,0.000,0.056,2490,2136,3431
$GC,4468,-1.11,-146.6,478.4,-11.1,213,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2123,3430
$GC,4778,-1.11,-146.6,511.2,-10.1,228,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2123,3430
$GC,5087,-1.11,-146.6,541.9,-9.8,243,5091,0.00,2.53,0.00,0.000,4,0.000,0.064,2490,718,3429
$GC,5121,-1.11,-146.6,545.3,-10.0,244,5127,0.00,2.53,0.00,0.000,6,0.000,0.051,2490,2143,3429
$GC,5437,-1.11,-146.6,574.4,-8.9,260,5441,0.00,2.58,0.00,0.000,4,0.000,0.064,2491,720,3429
$GC,5486,-1.11,-146.6,579.0,-9.7,262,5491,0.00,2.47,0.00,0.000,6,0.000,0.051,2490,2126,3429
$GC,5802,-1.11,-146.6,606.3,-8.6,277,5807,0.00,2.58,0.00,0.000,4,0.000,0.067,2490,716,3429
$GC,5830,-1.11,-146.6,608.7,-9.1,278,5835,0.00,2.50,0.00,0.000,6,0.000,0.051,2490,2121,3429
$GC,6147,-1.11,-146.6,634.2,-7.6,293,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2121,3429
$GC,6455,-1.11,-146.6,658.8,-8.2,308,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2122,3429
$GC,6765,-1.11,-146.6,682.3,-7.4,323,6770,0.00,2.58,0.00,0.000,4,0.000,0.071,2490,717,3429
$GC,6815,-1.11,-146.6,686.7,-9.1,325,6820,0.00,2.50,0.00,0.000,6,0.000,0.054,2490,2118,3429
$GC,7131,-1.11,-146.6,711.6,-8.2,340,7136,0.00,2.55,0.00,0.000,4,0.000,0.071,2490,720,3428
$GC,7165,-1.11,-146.6,714.7,-8.9,341,7171,0.00,2.50,0.00,0.000,6,0.000,0.056,2490,2115,3428
$GC,7481,-1.11,-146.6,743.8,-10.0,357,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2116,3427
$GC,7790,-1.11,-146.6,775.1,-9.8,372,7794,0.00,2.58,0.00,0.000,4,0.000,0.075,2490,719,3426
$STATE,7809,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7809,begin apogee
$GC,7818,-0.33,0.0,777.1,8.6,373,7955,0.82,0.00,131.00,1.348,6,0.087,0.000,2669,1878,2831
$STATE,7956,end apogee,CONTROL_FINISHED_OK
$STATE,7956,begin climb
$GC,7959,1.22,146.6,781.6,0.0,380,8103,1.58,2.65,132.07,1.311,4,0.067,0.073,3009,3262,2233
$GC,8130,1.11,146.6,774.3,8.1,388,8135,0.12,2.65,0.00,0.000,6,0.103,0.071,2987,1859,2233
$GC,8457,1.14,191.4,751.6,6.4,404,8500,0.00,0.00,40.88,1.276,6,0.000,0.000,2987,1859,2050
$GC,8807,1.18,214.9,726.9,7.1,421,8836,0.00,2.72,22.05,1.249,4,0.000,0.071,2987,3258,1954
$GC,8900,1.18,214.9,719.0,8.5,425,8904,0.00,2.62,0.00,0.000,6,0.000,0.068,2987,1856,1952
$GC,9221,1.18,214.9,690.8,9.4,441,9222,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1856,1952
$GC,9531,1.18,214.9,663.0,8.4,456,9535,0.00,2.60,0.00,0.000,4,0.000,0.071,2987,3258,1951
$GC,9580,1.18,214.9,658.5,9.2,458,9585,0.00,2.60,0.00,0.000,6,0.000,0.066,2987,1854,1951
$GC,9896,1.18,214.9,632.5,8.2,473,9901,0.00,2.62,0.00,0.000,4,0.000,0.078,2987,433,1951
$GC,9937,1.13,214.9,629.0,9.4,475,9941,0.00,2.60,0.00,0.000,6,0.000,0.056,2987,1872,1950
$GC,10264,1.13,214.9,602.0,8.3,491,10265,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1886,1950
$GC,10573,1.15,223.4,577.2,7.7,506,10583,0.00,0.00,7.93,1.060,6,0.000,0.000,2987,1886,1920
$GC,10883,1.20,257.7,555.1,6.8,521,10920,0.00,2.75,31.20,1.195,4,0.000,0.071,2987,433,1779
$GC,10970,1.20,257.7,548.1,8.5,524,10975,0.00,2.58,0.00,0.000,6,0.000,0.051,2987,1869,1779
$GC,11291,1.21,260.4,523.2,7.9,540,11298,0.00,0.00,4.35,0.798,6,0.000,0.000,2987,1884,1769
$GC,11600,1.21,260.4,498.3,8.2,555,11605,0.00,2.65,0.00,0.000,4,0.000,0.071,2987,437,1769
$GC,11633,1.21,260.4,495.3,9.5,556,11639,0.00,2.55,0.00,0.000,6,0.000,0.051,2987,1864,1769
$GC,11949,1.21,260.4,468.9,8.2,572,11953,0.00,2.50,0.00,0.000,4,0.000,0.063,2987,3257,1769
$GC,11989,1.26,260.4,465.6,8.7,574,11994,0.15,2.55,0.00,0.000,6,0.052,0.058,3027,1851,1769
$GC,12316,1.20,260.4,430.5,11.0,590,12318,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1852,1769
$GC,12626,1.14,260.4,395.9,11.0,605,12631,0.17,2.58,0.00,0.000,4,0.091,0.061,2988,3260,1769
$GC,12666,1.20,260.4,391.7,9.5,607,12671,0.00,2.53,0.00,0.000,6,0.000,0.057,2989,1855,1770
$GC,12993,1.20,260.4,362.7,8.7,623,12995,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1854,1770
$GC,13303,1.20,260.4,336.3,8.6,638,13307,0.00,2.55,0.00,0.000,4,0.000,0.061,2989,3255,1770
$GC,13365,1.26,260.4,331.0,8.6,640,13372,0.15,2.50,0.00,0.000,6,0.054,0.054,3029,1862,1771
$GC,13682,1.21,260.4,297.8,10.4,656,13683,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1862,1771
$GC,13991,1.15,260.4,265.5,10.5,671,13996,0.17,2.53,0.00,0.000,4,0.085,0.059,2991,3254,1771
$GC,14031,1.21,260.4,261.6,8.2,673,14035,0.00,2.45,0.00,0.000,6,0.000,0.053,2991,1874,1772
$GC,14358,1.21,260.4,233.5,8.7,689,14359,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1874,1772
$GC,14667,1.21,260.4,206.3,8.9,704,14671,0.00,2.50,0.00,0.000,4,0.000,0.060,2991,3255,1772
$GC,14707,1.28,260.4,202.7,9.0,706,14712,0.15,2.45,0.00,0.000,6,0.051,0.051,3031,1877,1772
$GC,15035,1.22,260.4,168.0,10.4,722,15036,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1877,1772
$GC,15344,1.17,260.4,133.8,11.3,737,15349,0.17,2.50,0.00,0.000,4,0.084,0.058,2993,3259,1773
$GC,15389,1.23,260.4,129.0,9.5,739,15394,0.00,2.42,0.00,0.000,6,0.000,0.050,2993,1893,1773
$GC,15712,1.27,260.4,97.5,9.8,755,15714,0.12,0.00,0.00,0.000,6,0.054,0.000,3028,1893,1772
$GC,16021,1.23,260.4,61.6,11.5,770,16022,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1893,1773
$GC,16330,1.23,260.4,31.0,9.1,785,16334,0.00,2.60,0.00,0.000,4,0.000,0.066,3028,441,1773
$GC,16403,1.19,260.4,23.9,10.1,788,16408,0.12,2.58,0.00,0.000,6,0.091,0.047,3004,1904,1773
$STATE,16675,end climb,SURFACE_DEPTH_REACHED
$STATE,16675,begin surface coast
$FINISH,0.8,1.026832
$STATE,16697,end surface coast,CONTROL_FINISHED_OK
$STATE,16697,begin surface
$SM_CCo,16720,21.58,0.760,0,0,1608,300.00
$SM_GC,1.28,0.00,0.00,21.58,0.000,0.000,0.760,416,2159,1608,-10.71,0.82,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1833
$TCM_TEMP,17.60
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,746.1,40.7
$24V_AH,23.8,19.116
$10V_AH,10.1,8.546
$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,26.075,112.425,369.475,21.575,0.000,37.761,30.124,134.375,14.750,0.000,0.000,11.709,1442.621,12983.464,502.483,1647.048,485.655,33.359,1341.791,0.000,1612.285,0.000,46.090,0.000
$DEVICE_MAMPS,152.633,78.234,1348.386,760.097,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,549.941,596.791,464.634,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41110,802
$CAP_FILE_SIZE,116391,0
$CFSIZE,254472192,246337536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,140909,160036,6230.772,-1143.487,39,1.3,39,-11.1