version: 66.04
glider: 5
mission: 7
dive: 44
start: 9 4 109 2 47 45
data:
$ID,5
$MISSION,7
$DIVE,44
$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,-101097.34
$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,19
$R_STBD_OVSHOOT,31
$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
$GPS1,023836,6131.230,-915.308,29,1.0,29,-9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-65.2
$GPS2,024656,6131.230,-915.434,14,1.3,14,-9.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.147,0.197
$KALMAN_X,-36489.4,-935.0,-620.8,6737.0,3559.0
$KALMAN_Y,33958.2,1647.1,112.1,-45696.5,-11050.4
$MHEAD_RNG_PITCHd_Wd,332.6,25504,-14.7,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-59.15,0.000,2,0.000,0.000,425,2143,2907
$GC,82,-1.22,-146.6,3.3,-4.5,3,113,11.20,2.50,-14.15,0.000,4,0.160,0.080,2473,3526,3430
$GC,338,-1.08,-146.6,41.7,-13.4,14,343,0.17,2.50,0.00,0.000,6,0.090,0.048,2511,2113,3430
$GC,656,-1.08,-146.6,77.7,-10.5,29,660,0.00,2.47,0.00,0.000,4,0.000,0.062,2512,715,3431
$GC,774,-1.12,-146.6,89.6,-9.7,34,778,0.00,2.42,0.00,0.000,6,0.000,0.046,2511,2101,3431
$GC,1090,-1.12,-146.6,118.1,-9.1,49,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2101,3431
$GC,1399,-1.12,-146.6,147.6,-10.0,64,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2102,3431
$GC,1708,-1.12,-146.6,181.7,-11.5,79,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2102,3431
$GC,2017,-1.12,-146.6,215.3,-10.6,94,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2102,3432
$GC,2326,-1.12,-146.6,247.8,-10.8,109,2331,0.00,2.50,0.00,0.000,4,0.000,0.068,2512,722,3431
$GC,2367,-1.18,-146.6,252.4,-11.8,111,2372,0.10,2.42,0.00,0.000,6,0.061,0.051,2481,2103,3431
$GC,2695,-1.13,-146.6,291.7,-12.1,127,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2103,3431
$GC,3004,-1.08,-146.6,329.2,-12.2,142,3009,0.12,2.53,0.00,0.000,4,0.092,0.067,2508,719,3431
$GC,3054,-1.15,-146.6,335.0,-10.7,144,3058,0.00,2.42,0.00,0.000,6,0.000,0.051,2509,2096,3431
$GC,3370,-1.15,-146.6,368.6,-10.3,159,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2097,3431
$GC,3679,-1.15,-146.6,402.3,-11.0,174,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2097,3431
$GC,3988,-1.15,-146.6,436.7,-11.2,189,3993,0.00,2.62,0.00,0.000,4,0.000,0.073,2508,3536,3430
$GC,4022,-1.15,-146.6,440.6,-11.1,190,4028,0.00,2.58,0.00,0.000,6,0.000,0.057,2508,2096,3430
$GC,4338,-1.15,-146.6,474.0,-9.9,206,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2093,3430
$GC,4647,-1.15,-146.6,504.3,-9.8,221,4652,0.00,2.65,0.00,0.000,4,0.000,0.072,2508,3537,3430
$GC,4675,-1.15,-146.6,507.2,-9.7,222,4679,0.00,2.58,0.00,0.000,6,0.000,0.058,2508,2097,3429
$GC,4990,-1.15,-146.6,540.7,-11.0,237,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2089,3429
$GC,5300,-1.15,-146.6,572.4,-10.1,252,5304,0.00,2.65,0.00,0.000,4,0.000,0.072,2508,3536,3429
$GC,5344,-1.15,-146.6,576.9,-10.3,254,5348,0.00,2.55,0.00,0.000,6,0.000,0.058,2508,2108,3429
$GC,5665,-1.15,-146.6,608.6,-10.4,270,5669,0.00,2.62,0.00,0.000,4,0.000,0.072,2508,3533,3429
$GC,5705,-1.15,-146.6,612.8,-10.4,272,5709,0.00,2.53,0.00,0.000,6,0.000,0.058,2508,2119,3429
$GC,6031,-1.15,-146.6,644.2,-9.8,288,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2109,3429
$GC,6341,-1.15,-146.6,672.6,-8.5,303,6345,0.00,2.60,0.00,0.000,4,0.000,0.073,2508,3531,3428
$GC,6390,-1.15,-146.6,677.4,-9.3,305,6395,0.00,2.53,0.00,0.000,6,0.000,0.056,2508,2113,3429
$GC,6706,-1.15,-146.6,705.8,-9.6,320,6710,0.00,2.62,0.00,0.000,4,0.000,0.074,2508,3536,3428
$GC,6750,-1.15,-146.6,710.3,-10.7,322,6755,0.00,2.50,0.00,0.000,6,0.000,0.058,2508,2134,3428
$GC,7071,-1.19,-146.6,742.7,-10.0,338,7076,0.00,2.53,0.00,0.000,4,0.000,0.068,2508,718,3428
$GC,7100,-1.25,-146.6,745.8,-10.4,339,7105,0.15,2.47,0.00,0.000,6,0.054,0.052,2465,2127,3428
$GC,7417,-1.19,-146.6,783.3,-10.6,354,7418,0.10,0.00,0.00,0.000,6,0.100,0.000,2484,2129,3428
$STATE,7475,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7475,begin apogee
$GC,7482,-0.33,0.0,789.6,10.4,357,7612,0.85,0.00,126.30,1.316,6,0.071,0.000,2672,2034,2831
$STATE,7613,end apogee,CONTROL_FINISHED_OK
$STATE,7613,begin climb
$GC,7616,1.22,146.6,795.1,0.0,363,7747,1.50,0.00,126.25,1.285,6,0.051,0.000,3009,2034,2233
$GC,8055,1.10,151.8,769.2,7.8,385,8068,0.12,2.85,6.28,0.966,4,0.094,0.069,2986,509,2211
$GC,8144,0.96,152.0,762.3,8.0,389,8149,0.17,2.50,0.00,0.000,6,0.089,0.051,2951,1914,2211
$GC,8471,1.11,215.8,744.0,5.7,405,8531,0.15,0.00,55.88,1.252,6,0.051,0.000,2992,1929,1951
$GC,8840,1.06,215.8,712.5,9.5,423,8841,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1929,1950
$GC,9149,1.06,215.8,684.4,8.6,438,9153,0.00,2.58,0.00,0.000,4,0.000,0.073,2992,514,1950
$GC,9182,0.98,215.8,681.4,8.8,439,9189,0.17,2.47,0.00,0.000,6,0.088,0.052,2957,1905,1950
$GC,9499,1.14,269.8,660.9,6.1,455,9551,0.17,2.62,46.53,1.215,4,0.050,0.064,3007,3324,1731
$GC,9574,1.14,269.8,654.3,9.0,458,9580,0.00,2.60,0.00,0.000,6,0.000,0.061,3007,1907,1731
$GC,9890,1.08,269.8,625.9,9.0,474,9895,0.15,2.55,0.00,0.000,4,0.089,0.071,2978,507,1731
$GC,9918,1.08,269.8,623.4,8.1,475,9922,0.00,2.50,0.00,0.000,6,0.000,0.053,2977,1913,1731
$GC,10234,1.10,279.6,599.9,7.6,490,10246,0.00,0.00,10.05,1.052,6,0.000,0.000,2977,1928,1691
$GC,10543,1.10,279.8,574.8,8.0,505,10547,0.00,2.60,0.00,0.000,4,0.000,0.074,2977,504,1691
$GC,10593,1.10,279.8,570.3,8.7,507,10597,0.00,2.47,0.00,0.000,6,0.000,0.053,2977,1898,1691
$GC,10909,1.14,279.8,543.9,8.4,522,10910,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1913,1691
$GC,11219,1.19,284.2,519.3,7.8,537,11230,0.12,2.60,5.70,0.874,4,0.054,0.070,3013,504,1672
$GC,11275,1.10,284.2,513.4,11.2,539,11282,0.15,2.45,0.00,0.000,6,0.087,0.051,2983,1885,1672
$GC,11591,1.10,284.2,485.6,9.2,555,11592,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1900,1672
$GC,11901,1.10,284.2,457.6,9.0,570,11902,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1900,1672
$GC,12210,1.10,284.2,430.6,8.7,585,12211,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1900,1672
$GC,12519,1.14,284.2,403.7,9.1,600,12524,0.00,2.53,0.00,0.000,4,0.000,0.071,2983,506,1672
$GC,12553,1.14,284.2,400.3,9.5,601,12559,0.00,2.42,0.00,0.000,6,0.000,0.051,2983,1885,1672
$GC,12869,1.19,284.2,370.4,9.3,617,12870,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1900,1672
$GC,13179,1.23,284.2,341.7,9.5,632,13180,0.12,0.00,0.00,0.000,6,0.054,0.000,3019,1900,1672
$GC,13488,1.17,284.2,305.1,12.1,647,13492,0.00,2.53,0.00,0.000,4,0.000,0.071,3019,507,1672
$GC,13538,1.08,284.2,298.5,12.9,649,13543,0.20,2.42,0.00,0.000,6,0.083,0.052,2979,1888,1672
$GC,13854,1.13,284.2,268.8,8.8,664,13859,0.00,2.53,0.00,0.000,4,0.000,0.065,2979,3323,1672
$GC,13888,1.24,284.2,265.8,8.3,665,13895,0.17,2.58,0.00,0.000,6,0.048,0.058,3026,1874,1672
$GC,14205,1.17,284.2,231.1,11.1,681,14207,0.15,0.00,0.00,0.000,6,0.087,0.000,2998,1874,1672
$GC,14514,1.17,284.2,200.1,10.3,696,14515,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1874,1672
$GC,14823,1.17,284.2,167.2,10.5,711,14827,0.00,2.62,0.00,0.000,4,0.000,0.063,2998,3329,1672
$GC,14863,1.23,284.2,162.9,10.6,713,14867,0.00,2.58,0.00,0.000,6,0.000,0.055,2998,1883,1672
$GC,15190,1.23,284.2,131.7,9.3,729,15191,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1883,1672
$GC,15499,1.23,284.2,100.5,10.4,744,15500,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1883,1672
$GC,15808,1.23,284.2,70.0,9.3,759,15809,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1883,1672
$GC,16118,1.29,284.2,43.4,8.4,774,16120,0.12,0.00,0.00,0.000,6,0.051,0.000,3033,1883,1673
$GC,16429,1.23,284.2,13.2,9.4,789,16433,0.00,2.60,0.00,0.000,4,0.000,0.063,3033,3331,1673
$GC,16469,1.23,284.2,9.6,10.4,791,16473,0.00,2.55,0.00,0.000,6,0.000,0.052,3034,1890,1673
$STATE,16545,end climb,SURFACE_DEPTH_REACHED
$STATE,16545,begin surface coast
$FINISH,0.5,1.013518
$STATE,16567,end surface coast,CONTROL_FINISHED_OK
$STATE,16567,begin surface
$SM_CCo,16591,8.02,0.673,0,0,1607,300.00
$SM_GC,2.34,0.00,0.00,8.02,0.000,0.000,0.673,417,2148,1607,-10.71,0.51,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1848
$TCM_TEMP,17.90
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,745.1,53.2
$24V_AH,23.8,9.125
$10V_AH,10.1,4.406
$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,27.425,112.500,376.975,8.025,0.000,75.523,63.046,188.850,17.250,0.000,0.000,14.404,1454.570,12915.695,504.182,1622.159,607.018,33.360,1322.304,0.000,1586.092,0.000,48.389,0.000
$DEVICE_MAMPS,159.536,79.768,1316.172,673.426,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,544.165,594.630,467.552,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41284,796
$CAP_FILE_SIZE,121567,0
$CFSIZE,254472192,249585664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,0,0
$GPS,040909,072543,6132.900,-921.731,39,2.0,39,-9.4