version: 66.04
glider: 5
mission: 7
dive: 42
start: 9 3 109 19 36 57
data:
$ID,5
$MISSION,7
$DIVE,42
$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,330
$T_MISSION,350
$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,-101045.78
$T_RSLEEP,2
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,360
$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,5
$XPDR_INHIBIT,0
$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
$GPS1,192806,6130.715,-905.481,28,1.1,28,-9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-63.6
$GPS2,193604,6130.674,-905.517,13,1.6,15,-9.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.124,0.233
$KALMAN_X,-32733.3,-1487.3,-308.8,11939.2,8373.4
$KALMAN_Y,40603.0,-428.6,265.6,-51462.0,-4993.8
$MHEAD_RNG_PITCHd_Wd,341.4,27804,-18.1,-10.000
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.44,-146.6,0.0,0.0,0,78,0.00,0.00,-60.75,0.000,2,0.000,0.000,415,2145,2932
$GC,81,-1.44,-146.6,3.4,-4.8,3,112,10.95,2.53,-13.40,0.000,4,0.160,0.078,2423,3521,3430
$GC,250,-1.34,-146.6,31.8,-16.8,10,255,0.15,2.47,0.00,0.000,6,0.097,0.046,2453,2118,3431
$GC,566,-1.34,-146.6,74.4,-13.1,25,570,0.00,2.47,0.00,0.000,4,0.000,0.061,2453,717,3431
$GC,606,-1.38,-146.6,79.5,-13.3,27,611,0.00,2.42,0.00,0.000,6,0.000,0.047,2453,2113,3431
$GC,939,-1.38,-146.6,124.0,-13.8,43,944,0.00,2.58,0.00,0.000,4,0.000,0.067,2453,3538,3431
$GC,1018,-1.38,-146.6,135.1,-13.7,46,1024,0.00,2.50,0.00,0.000,6,0.000,0.049,2454,2119,3431
$GC,1334,-1.38,-146.6,178.1,-13.5,62,1338,0.00,2.60,0.00,0.000,4,0.000,0.067,2454,3538,3432
$GC,1400,-1.38,-146.6,187.5,-14.0,65,1404,0.00,2.53,0.00,0.000,6,0.000,0.051,2454,2113,3432
$GC,1722,-1.38,-146.6,231.1,-13.8,81,1726,0.00,2.60,0.00,0.000,4,0.000,0.067,2454,3534,3432
$GC,1749,-1.38,-146.6,235.2,-14.2,82,1753,0.00,2.50,0.00,0.000,6,0.000,0.053,2454,2123,3432
$GC,2064,-1.38,-146.6,279.1,-14.1,97,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2111,3432
$GC,2375,-1.38,-146.6,322.4,-13.9,112,2379,0.00,2.60,0.00,0.000,4,0.000,0.071,2453,3538,3432
$GC,2396,-1.38,-146.6,325.9,-14.9,113,2401,0.00,2.53,0.00,0.000,6,0.000,0.056,2453,2123,3432
$GC,2718,-1.38,-146.6,374.1,-14.8,129,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2112,3432
$GC,3027,-1.38,-146.6,415.2,-12.6,144,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2113,3431
$GC,3336,-1.38,-146.6,452.5,-11.7,159,3341,0.00,2.58,0.00,0.000,4,0.000,0.071,2454,3530,3431
$GC,3386,-1.38,-146.6,458.6,-11.7,161,3391,0.00,2.50,0.00,0.000,6,0.000,0.057,2454,2133,3431
$GC,3704,-1.38,-146.6,496.4,-12.6,176,3708,0.00,2.58,0.00,0.000,4,0.000,0.073,2454,3536,3431
$GC,3766,-1.38,-146.6,504.7,-12.9,179,3770,0.00,2.50,0.00,0.000,6,0.000,0.058,2454,2139,3431
$GC,4093,-1.38,-146.6,545.3,-12.3,195,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2126,3431
$GC,4401,-1.38,-146.6,583.8,-12.4,210,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2127,3431
$GC,4715,-1.38,-146.6,622.0,-12.0,225,4719,0.00,2.53,0.00,0.000,4,0.000,0.069,2454,725,3430
$GC,4760,-1.47,-146.6,628.0,-12.0,227,4765,0.12,2.50,0.00,0.000,6,0.058,0.057,2418,2141,3430
$GC,5082,-1.40,-146.6,669.9,-13.2,243,5086,0.10,2.60,0.00,0.000,4,0.104,0.071,2437,715,3430
$GC,5115,-1.40,-146.6,674.5,-13.4,244,5121,0.00,2.50,0.00,0.000,6,0.000,0.054,2437,2133,3430
$STATE,5221,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5221,begin apogee
$GC,5229,-0.33,0.0,688.2,12.7,250,5358,1.08,0.00,125.60,1.246,6,0.078,0.000,2671,1895,2831
$STATE,5359,end apogee,CONTROL_FINISHED_OK
$STATE,5359,begin climb
$GC,5362,1.44,146.6,692.6,0.0,256,5491,1.73,0.00,125.03,1.215,6,0.056,0.000,3060,1895,2233
$GC,5801,1.33,146.6,657.4,10.6,278,5806,0.12,2.53,0.00,0.000,4,0.101,0.072,3038,522,2233
$GC,5913,1.19,146.6,644.2,11.8,283,5918,0.17,2.47,0.00,0.000,6,0.097,0.051,3005,1911,2233
$GC,6235,1.29,209.5,617.0,7.1,299,6297,0.00,2.65,53.95,1.164,4,0.000,0.072,3005,534,1976
$GC,6337,1.35,245.6,608.9,8.4,303,6374,0.15,2.45,31.40,1.131,6,0.052,0.052,3043,1904,1829
$GC,6693,1.35,245.6,566.4,12.8,321,6698,0.00,2.55,0.00,0.000,4,0.000,0.074,3043,529,1829
$GC,6794,1.29,245.6,552.1,13.9,325,6801,0.00,2.40,0.00,0.000,6,0.000,0.053,3043,1879,1830
$GC,7111,1.29,245.6,510.6,13.1,341,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1882,1829
$GC,7420,1.29,245.6,472.4,11.9,356,7424,0.00,2.50,0.00,0.000,4,0.000,0.072,3043,521,1829
$GC,7466,1.23,245.6,466.7,12.9,358,7470,0.17,2.38,0.00,0.000,6,0.091,0.051,3010,1870,1828
$GC,7793,1.32,249.6,434.0,9.8,374,7800,0.00,0.00,5.03,0.783,6,0.000,0.000,3010,1885,1813
$GC,8102,1.42,258.5,404.6,9.6,389,8114,0.20,0.00,8.95,0.923,6,0.048,0.000,3062,1885,1777
$GC,8411,1.37,258.5,364.6,13.2,404,8415,0.00,2.45,0.00,0.000,4,0.000,0.071,3062,531,1777
$GC,8468,1.28,258.5,356.5,14.5,406,8473,0.20,2.35,0.00,0.000,6,0.089,0.051,3022,1866,1777
$GC,8785,1.35,260.4,323.3,9.9,421,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1879,1777
$GC,9094,1.41,260.4,292.5,10.4,436,9103,0.12,2.50,3.40,0.565,4,0.058,0.071,3057,526,1769
$GC,9132,1.32,260.4,287.5,13.2,437,9139,0.12,2.35,0.00,0.000,6,0.095,0.051,3032,1862,1769
$GC,9449,1.37,265.0,253.7,9.8,453,9456,0.00,0.00,5.80,0.759,6,0.000,0.000,3033,1875,1750
$GC,9758,1.43,265.0,220.5,11.3,468,9763,0.10,2.45,0.00,0.000,4,0.060,0.068,3061,521,1750
$GC,9798,1.35,265.0,215.3,13.9,470,9802,0.12,2.33,0.00,0.000,6,0.097,0.050,3038,1856,1750
$GC,10130,1.35,265.0,176.1,11.7,486,10135,0.00,2.60,0.00,0.000,4,0.000,0.063,3038,3324,1750
$GC,10171,1.43,265.0,171.2,12.0,488,10175,0.00,2.60,0.00,0.000,6,0.000,0.057,3038,1872,1750
$GC,10499,1.43,265.0,135.5,10.4,504,10500,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1871,1750
$GC,10807,1.43,265.0,103.1,10.1,519,10808,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1871,1750
$GC,11117,1.49,278.3,73.6,9.4,534,11139,0.15,2.53,11.62,0.779,4,0.052,0.069,3078,508,1696
$GC,11179,1.39,278.3,65.9,13.9,536,11186,0.15,2.40,0.00,0.000,6,0.090,0.048,3049,1870,1696
$GC,11496,1.44,278.3,31.7,10.2,552,11500,0.00,2.58,0.00,0.000,4,0.000,0.061,3049,3325,1696
$GC,11581,1.53,278.3,22.3,10.6,556,11586,0.12,2.55,0.00,0.000,6,0.056,0.051,3084,1878,1696
$STATE,11742,end climb,SURFACE_DEPTH_REACHED
$STATE,11742,begin surface coast
$FINISH,0.5,1.023220
$STATE,11762,end surface coast,CONTROL_FINISHED_OK
$STATE,11763,begin surface
$SM_CCo,11786,11.10,0.720,0,0,1608,300.00
$SM_GC,2.00,0.00,0.00,11.10,0.000,0.000,0.720,419,2146,1608,-10.70,0.45,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1839
$TCM_TEMP,17.70
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,622.0,74.4
$24V_AH,23.8,8.833
$10V_AH,10.1,4.268
$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,27.550,101.050,370.775,11.100,0.000,75.518,81.405,155.061,13.500,0.000,0.000,17.751,1071.528,8931.896,499.319,1249.786,536.139,33.339,1145.271,0.000,1217.512,0.000,38.293,0.000
$DEVICE_MAMPS,159.536,78.234,1245.608,720.213,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,385.458,421.703,357.729,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28550,565
$CAP_FILE_SIZE,95633,0
$CFSIZE,254472192,249724928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,0,0
$GPS,030909,225506,6132.195,-908.074,40,1.2,51,-9.3