version: 66.04
glider: 5
mission: 7
dive: 45
start: 9 4 109 7 38 27
data:
$ID,5
$MISSION,7
$DIVE,45
$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,-101112.7
$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,21
$R_STBD_OVSHOOT,34
$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
$GPS1,072543,6132.900,-921.731,39,2.0,39,-9.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-62.5
$GPS2,073738,6132.843,-921.718,14,1.0,14,-9.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.012,0.245
$KALMAN_X,-40154.7,-525.4,37.9,3791.2,-1403.8
$KALMAN_Y,32876.8,1110.3,987.9,-41991.0,-10293.9
$MHEAD_RNG_PITCHd_Wd,12.2,23273,-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,-41.78,0.000,2,0.000,0.000,417,2155,2501
$GC,63,-1.22,-146.6,2.0,-2.8,2,116,11.18,2.50,-36.08,0.000,4,0.156,0.078,2471,3526,3428
$GC,240,-1.07,-146.6,21.7,-15.0,10,245,0.20,2.47,0.00,0.000,6,0.091,0.048,2514,2122,3429
$GC,563,-1.07,-146.6,60.3,-11.0,26,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2113,3429
$GC,871,-1.07,-146.6,96.2,-11.5,41,875,0.00,2.47,0.00,0.000,4,0.000,0.061,2514,722,3430
$GC,934,-1.12,-146.6,103.6,-11.7,44,938,0.00,2.42,0.00,0.000,6,0.000,0.051,2514,2113,3430
$GC,1261,-1.12,-146.6,142.4,-11.6,60,1265,0.00,2.50,0.00,0.000,4,0.000,0.061,2515,724,3430
$GC,1289,-1.12,-146.6,145.5,-11.1,61,1294,0.00,2.45,0.00,0.000,6,0.000,0.050,2514,2119,3430
$GC,1606,-1.12,-146.6,180.8,-11.3,76,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2120,3430
$GC,1915,-1.12,-146.6,216.2,-11.2,91,1919,0.00,2.53,0.00,0.000,4,0.000,0.064,2515,717,3430
$GC,1949,-1.18,-146.6,220.0,-11.1,92,1956,0.12,2.45,0.00,0.000,6,0.054,0.052,2477,2113,3430
$GC,2265,-1.11,-146.6,260.0,-12.5,108,2270,0.12,2.53,0.00,0.000,4,0.094,0.063,2503,721,3430
$GC,2287,-1.11,-146.6,262.9,-12.1,109,2291,0.00,2.42,0.00,0.000,6,0.000,0.052,2503,2100,3430
$GC,2614,-1.11,-146.6,298.6,-11.1,125,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2100,3430
$GC,2923,-1.11,-146.6,330.1,-9.5,140,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2100,3429
$GC,3232,-1.11,-146.6,356.9,-8.2,155,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2100,3429
$GC,3541,-1.11,-146.6,382.7,-8.5,170,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2100,3429
$GC,3851,-1.11,-146.6,412.5,-10.3,185,3855,0.00,2.47,0.00,0.000,4,0.000,0.066,2503,723,3428
$GC,3885,-1.11,-146.6,416.1,-10.0,186,3891,0.00,2.42,0.00,0.000,6,0.000,0.052,2503,2105,3428
$GC,4200,-1.11,-146.6,448.5,-10.1,202,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2105,3428
$GC,4509,-1.11,-146.6,479.3,-9.9,217,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2105,3428
$GC,4819,-1.11,-146.6,507.6,-8.6,232,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2105,3428
$GC,5128,-1.11,-146.6,533.6,-8.6,247,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2105,3427
$GC,5437,-1.11,-146.6,562.6,-10.1,262,5442,0.00,2.53,0.00,0.000,4,0.000,0.077,2503,716,3427
$GC,5488,-1.16,-146.6,568.1,-10.8,264,5492,0.00,2.42,0.00,0.000,6,0.000,0.052,2503,2094,3426
$GC,5804,-1.16,-146.6,603.7,-11.1,279,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2094,3426
$GC,6113,-1.16,-146.6,636.1,-10.1,294,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2095,3426
$GC,6422,-1.16,-146.6,665.3,-9.7,309,6423,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2095,3426
$GC,6732,-1.16,-146.6,694.5,-9.1,324,6737,0.00,2.47,0.00,0.000,4,0.000,0.068,2504,724,3425
$GC,6793,-1.21,-146.6,700.5,-9.2,326,6800,0.10,2.40,0.00,0.000,6,0.063,0.053,2473,2088,3425
$GC,7109,-1.15,-146.6,733.7,-10.3,342,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2089,3425
$GC,7419,-1.10,-146.6,766.1,-10.4,357,7424,0.15,2.65,0.00,0.000,4,0.094,0.074,2504,3540,3425
$GC,7469,-1.10,-146.6,771.0,-9.2,359,7473,0.00,2.60,0.00,0.000,6,0.000,0.057,2505,2077,3424
$GC,7785,-1.10,-146.6,799.4,-9.0,374,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2075,3424
$GC,8094,-1.10,-146.6,828.5,-10.0,389,8098,0.00,2.42,0.00,0.000,4,0.000,0.069,2504,720,3424
$GC,8122,-1.14,-146.6,831.4,-10.1,390,8126,0.00,2.38,0.00,0.000,6,0.000,0.051,2505,2069,3424
$GC,8443,-1.14,-146.6,861.9,-9.7,406,8448,0.00,2.45,0.00,0.000,4,0.000,0.069,2505,718,3424
$STATE,8491,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8491,begin apogee
$GC,8500,-0.33,0.0,866.4,9.1,408,8632,0.73,0.00,127.15,1.371,6,0.070,0.000,2667,1939,2831
$STATE,8633,end apogee,CONTROL_FINISHED_OK
$STATE,8633,begin climb
$GC,8636,1.22,146.6,871.1,0.0,415,8773,1.55,2.65,127.45,1.345,4,0.058,0.067,3009,3326,2233
$GC,8851,1.12,175.6,860.8,6.9,425,8883,0.00,2.58,26.58,1.268,6,0.000,0.060,3009,1916,2115
$GC,9202,1.00,175.6,832.2,8.6,442,9207,0.22,2.60,0.00,0.000,4,0.090,0.075,2963,507,2114
$GC,9376,1.05,209.1,819.3,6.8,450,9411,0.00,2.47,30.12,1.281,6,0.000,0.054,2962,1915,1978
$GC,9732,1.12,224.0,793.5,7.5,467,9754,0.12,2.65,14.05,1.209,4,0.055,0.071,2997,504,1917
$GC,9794,1.01,224.0,787.1,10.7,469,9800,0.17,2.45,0.00,0.000,6,0.088,0.057,2963,1868,1917
$GC,10110,1.05,224.0,760.4,8.4,485,10115,0.00,2.60,0.00,0.000,4,0.000,0.068,2963,3314,1917
$GC,10161,1.12,224.0,755.8,8.8,487,10166,0.12,2.60,0.00,0.000,6,0.055,0.061,2996,1887,1916
$GC,10477,1.07,224.0,724.3,9.6,502,10478,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1887,1916
$GC,10786,1.07,224.0,692.6,10.1,517,10790,0.00,2.60,0.00,0.000,4,0.000,0.068,2997,3309,1916
$GC,10819,1.07,224.0,689.2,10.1,518,10825,0.00,2.58,0.00,0.000,6,0.000,0.060,2996,1888,1916
$GC,11135,1.02,224.0,658.7,9.9,534,11137,0.15,0.00,0.00,0.000,6,0.088,0.000,2967,1888,1915
$GC,11445,1.10,244.5,635.3,7.3,549,11465,0.00,0.00,18.75,1.169,6,0.000,0.000,2967,1888,1834
$GC,11774,1.20,266.9,611.1,7.2,565,11800,0.17,2.65,20.67,1.160,4,0.049,0.063,3012,3309,1742
$GC,11835,1.20,266.9,605.3,10.0,568,11840,0.00,2.58,0.00,0.000,6,0.000,0.058,3013,1898,1742
$GC,12163,1.13,266.9,573.3,9.6,584,12164,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1898,1742
$GC,12472,1.07,266.9,541.4,10.8,599,12477,0.17,2.58,0.00,0.000,4,0.083,0.063,2975,3310,1742
$GC,12500,1.14,266.9,538.6,9.7,600,12505,0.00,2.55,0.00,0.000,6,0.000,0.058,2975,1898,1742
$GC,12817,1.19,266.9,512.3,8.5,615,12821,0.12,2.53,0.00,0.000,4,0.055,0.071,3009,508,1742
$GC,12857,1.10,266.9,508.0,11.0,617,12862,0.15,2.45,0.00,0.000,6,0.087,0.051,2979,1895,1742
$GC,13184,1.14,266.9,478.4,9.3,633,13185,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1910,1742
$GC,13493,1.18,266.9,450.6,8.8,648,13498,0.10,2.55,0.00,0.000,4,0.059,0.069,3009,507,1742
$GC,13527,1.10,266.9,447.2,10.6,649,13533,0.12,2.45,0.00,0.000,6,0.088,0.050,2984,1897,1742
$GC,13843,1.10,266.9,420.1,8.2,665,13847,0.00,2.55,0.00,0.000,4,0.000,0.064,2984,3324,1742
$GC,13876,1.18,266.9,417.0,8.6,666,13883,0.00,2.58,0.00,0.000,6,0.000,0.057,2984,1890,1742
$GC,14192,1.18,266.9,391.7,8.1,682,14193,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1890,1742
$GC,14501,1.18,266.9,365.3,9.0,697,14502,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1890,1742
$GC,14811,1.22,266.9,339.1,8.8,712,14816,0.12,2.60,0.00,0.000,4,0.054,0.062,3020,3333,1742
$GC,14857,1.22,266.9,334.3,11.1,714,14861,0.00,2.58,0.00,0.000,6,0.000,0.056,3020,1893,1742
$GC,15178,1.15,266.9,302.7,9.2,730,15180,0.12,0.00,0.00,0.000,6,0.092,0.000,2996,1893,1743
$GC,15487,1.18,284.4,278.7,7.4,745,15510,0.00,2.65,15.82,0.930,4,0.000,0.061,2996,3333,1670
$GC,15557,1.27,298.5,273.3,7.5,748,15579,0.12,2.58,12.80,0.909,6,0.053,0.055,3030,1903,1614
$GC,15890,1.18,298.5,240.2,10.5,764,15895,0.15,2.50,0.00,0.000,4,0.087,0.068,3001,511,1614
$GC,15918,1.18,298.5,237.0,9.6,765,15922,0.00,2.47,0.00,0.000,6,0.000,0.050,3001,1916,1614
$GC,16234,1.20,306.2,211.7,7.7,780,16248,0.00,2.62,8.15,0.815,4,0.000,0.070,3001,517,1582
$GC,16288,1.21,314.5,207.2,7.7,782,16302,0.00,2.45,8.38,0.819,6,0.000,0.050,3001,1902,1548
$GC,16631,1.21,314.5,178.3,9.1,799,16633,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1916,1548
$GC,16941,1.21,314.5,146.3,10.3,814,16942,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1916,1547
$GC,17250,1.21,314.5,116.6,9.6,829,17254,0.00,2.55,0.00,0.000,4,0.000,0.068,3001,503,1548
$GC,17283,1.21,314.5,112.9,12.7,830,17289,0.00,2.45,0.00,0.000,6,0.000,0.051,3001,1898,1548
$GC,17601,1.21,314.5,80.7,10.5,846,17605,0.00,2.55,0.00,0.000,4,0.000,0.066,3001,505,1548
$GC,17641,1.21,314.5,76.1,10.9,848,17645,0.00,2.42,0.00,0.000,6,0.000,0.051,3001,1888,1548
$GC,17968,1.21,314.5,46.7,8.4,864,17973,0.00,2.55,0.00,0.000,4,0.000,0.063,3001,3332,1548
$GC,18014,1.35,335.8,43.1,7.2,866,18039,0.17,2.58,18.23,0.788,6,0.048,0.052,3048,1879,1460
$GC,18364,1.27,335.8,4.5,12.7,883,18369,0.15,2.45,0.00,0.000,4,0.085,0.065,3018,511,1460
$STATE,18372,end climb,SURFACE_DEPTH_REACHED
$STATE,18372,begin surface coast
$FINISH,0.5,1.026675
$STATE,18395,end surface coast,CONTROL_FINISHED_OK
$STATE,18396,begin surface
$SM_CCo,18481,0.00,0.000,0,0,1459,336.55
$SM_GC,1.51,11.20,0.00,0.00,0.034,0.000,0.000,418,2142,1459,-10.59,0.34,336.55
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1830
$TCM_TEMP,19.60
$XPDR_PINGS,71
$ALTIM_BOTTOM_PING,820.2,55.9
$24V_AH,23.8,9.303
$10V_AH,10.1,4.491
$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,27.850,146.250,428.150,0.000,0.000,113.280,144.848,210.288,25.500,0.000,0.000,14.728,1612.295,14390.104,537.000,1861.823,791.822,33.351,1504.894,0.000,1814.474,0.000,53.856,0.000
$DEVICE_MAMPS,156.468,78.234,1371.396,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,604.224,661.406,488.164,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44237,884
$CAP_FILE_SIZE,139109,0
$CFSIZE,254472192,249507840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,46,0,0
$GPS,040909,124737,6135.102,-922.677,32,1.4,32,-9.4