version: 66.04
glider: 5
mission: 7
dive: 46
start: 9 4 109 12 57 9
data:
$ID,5
$MISSION,7
$DIVE,46
$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,-101127.15
$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
$GPS1,124737,6135.102,-922.677,32,1.4,32,-9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-65.8
$GPS2,125620,6135.063,-922.852,13,1.6,13,-9.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.074,0.234
$KALMAN_X,-41891.7,62.5,-117.0,4077.6,-1712.7
$KALMAN_Y,33092.0,713.2,273.5,-36988.3,-5456.0
$MHEAD_RNG_PITCHd_Wd,27.0,19647,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-66.35,0.000,2,0.000,0.000,417,2148,2925
$GC,88,-1.22,-146.6,3.7,-3.7,4,118,11.23,2.53,-13.07,0.000,4,0.159,0.078,2468,3517,3431
$GC,169,-1.07,-146.6,17.3,-14.0,7,176,0.20,2.45,0.00,0.000,6,0.090,0.048,2512,2124,3431
$GC,487,-1.07,-146.6,53.5,-11.0,23,491,0.00,2.47,0.00,0.000,4,0.000,0.064,2512,720,3431
$GC,531,-1.11,-146.6,58.9,-12.0,25,536,0.00,2.45,0.00,0.000,6,0.000,0.049,2512,2121,3432
$GC,853,-1.11,-146.6,88.3,-9.0,41,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2121,3432
$GC,1162,-1.11,-146.6,118.5,-10.2,56,1167,0.00,2.53,0.00,0.000,4,0.000,0.062,2512,714,3431
$GC,1225,-1.16,-146.6,124.6,-9.7,59,1229,0.00,2.47,0.00,0.000,6,0.000,0.048,2512,2117,3432
$GC,1552,-1.16,-146.6,155.6,-9.4,75,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2117,3432
$GC,1861,-1.16,-146.6,184.3,-9.0,90,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2117,3432
$GC,2170,-1.16,-146.6,213.2,-10.0,105,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2117,3432
$GC,2480,-1.16,-146.6,246.5,-11.3,120,2485,0.00,2.53,0.00,0.000,4,0.000,0.063,2512,715,3432
$GC,2525,-1.22,-146.6,251.8,-11.8,122,2530,0.15,2.45,0.00,0.000,6,0.052,0.051,2468,2112,3432
$GC,2847,-1.13,-146.6,293.0,-12.8,138,2849,0.15,0.00,0.00,0.000,6,0.091,0.000,2499,2112,3432
$GC,3156,-1.13,-146.6,325.7,-10.1,153,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2113,3431
$GC,3465,-1.13,-146.6,356.0,-9.8,168,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2112,3431
$GC,3774,-1.13,-146.6,388.3,-10.6,183,3779,0.00,2.50,0.00,0.000,4,0.000,0.065,2499,721,3431
$GC,3825,-1.13,-146.6,393.8,-10.6,185,3829,0.00,2.45,0.00,0.000,6,0.000,0.051,2499,2110,3431
$GC,4140,-1.13,-146.6,426.4,-10.5,200,4145,0.00,2.50,0.00,0.000,4,0.000,0.064,2499,721,3431
$GC,4174,-1.13,-146.6,430.2,-10.8,201,4180,0.00,2.42,0.00,0.000,6,0.000,0.051,2499,2104,3431
$GC,4490,-1.13,-146.6,464.3,-10.4,217,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2105,3430
$GC,4799,-1.13,-146.6,493.0,-9.0,232,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2105,3431
$GC,5108,-1.13,-146.6,522.6,-9.8,247,5113,0.00,2.50,0.00,0.000,4,0.000,0.067,2499,723,3429
$GC,5148,-1.13,-146.6,526.6,-10.1,249,5153,0.00,2.40,0.00,0.000,6,0.000,0.056,2499,2090,3429
$GC,5475,-1.13,-146.6,556.8,-8.7,265,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2089,3430
$GC,5785,-1.13,-146.6,582.5,-8.4,280,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2090,3429
$GC,6094,-1.13,-146.6,606.9,-7.5,295,6098,0.00,2.45,0.00,0.000,4,0.000,0.066,2499,724,3429
$GC,6145,-1.13,-146.6,610.8,-7.4,297,6149,0.00,2.42,0.00,0.000,6,0.000,0.052,2499,2095,3429
$GC,6466,-1.13,-146.6,639.5,-9.2,313,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2094,3428
$GC,6775,-1.13,-146.6,668.7,-9.7,328,6779,0.00,2.47,0.00,0.000,4,0.000,0.066,2499,722,3428
$GC,6808,-1.13,-146.6,672.1,-10.2,329,6814,0.00,2.40,0.00,0.000,6,0.000,0.051,2499,2086,3428
$GC,7124,-1.13,-146.6,702.6,-9.9,345,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2086,3428
$GC,7433,-1.13,-146.6,732.7,-9.9,360,7437,0.00,2.47,0.00,0.000,4,0.000,0.068,2499,720,3428
$GC,7473,-1.17,-146.6,736.7,-10.3,362,7477,0.00,2.42,0.00,0.000,6,0.000,0.053,2499,2081,3428
$GC,7799,-1.17,-146.6,765.9,-8.5,378,7801,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2081,3428
$GC,8109,-1.17,-146.6,792.6,-9.1,393,8113,0.00,2.47,0.00,0.000,4,0.000,0.071,2499,722,3427
$GC,8165,-1.22,-146.6,798.2,-10.6,395,8171,0.00,2.40,0.00,0.000,6,0.000,0.055,2499,2075,3427
$GC,8481,-1.22,-146.6,830.0,-10.3,411,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2075,3427
$GC,8790,-1.22,-146.6,863.1,-9.3,426,8794,0.00,2.47,0.00,0.000,4,0.000,0.071,2499,720,3426
$GC,8908,-1.22,-146.6,876.8,-13.0,431,8913,0.00,2.40,0.00,0.000,6,0.000,0.054,2499,2077,3426
$STATE,9139,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9139,begin apogee
$GC,9147,-0.33,0.0,899.3,8.8,442,9282,0.80,0.00,128.27,1.400,6,0.073,0.000,2674,1906,2831
$STATE,9282,end apogee,CONTROL_FINISHED_OK
$STATE,9282,begin climb
$GC,9286,1.22,146.6,904.1,0.0,449,9418,1.50,0.00,127.47,1.375,6,0.056,0.000,3006,1905,2233
$GC,9720,1.08,162.0,875.4,7.4,470,9743,0.15,2.62,14.77,1.246,4,0.096,0.082,2978,520,2170
$GC,9996,0.97,162.0,852.6,9.7,482,10001,0.12,2.47,0.00,0.000,6,0.097,0.058,2953,1889,2169
$GC,10318,1.08,188.2,827.3,7.0,498,10348,0.12,2.65,23.60,1.315,4,0.058,0.079,2986,527,2063
$GC,10430,0.98,188.2,815.6,11.6,503,10435,0.15,2.42,0.00,0.000,6,0.094,0.058,2957,1870,2063
$GC,10757,1.03,218.8,790.0,6.9,519,10792,0.00,2.78,27.27,1.313,4,0.000,0.072,2957,3331,1939
$GC,10850,1.10,220.9,783.4,7.9,523,10859,0.12,2.65,3.70,0.773,6,0.057,0.063,2990,1890,1930
$GC,11178,1.14,244.3,758.9,7.2,539,11206,0.00,2.58,21.58,1.271,4,0.000,0.073,2991,512,1835
$GC,11266,1.07,244.3,751.4,9.3,543,11270,0.00,2.45,0.00,0.000,6,0.000,0.053,2990,1880,1835
$GC,11592,1.07,244.3,722.4,8.8,559,11596,0.00,2.58,0.00,0.000,4,0.000,0.067,2991,3323,1835
$GC,11632,1.07,244.3,718.7,9.4,561,11637,0.00,2.65,0.00,0.000,6,0.000,0.064,2991,1868,1834
$GC,11959,1.07,244.3,688.8,9.0,577,11963,0.00,2.67,0.00,0.000,4,0.000,0.067,2991,3330,1835
$GC,11992,1.07,244.3,685.6,10.1,578,11998,0.00,2.62,0.00,0.000,6,0.000,0.060,2991,1879,1835
$GC,12308,1.07,244.3,654.8,10.4,594,12309,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1879,1835
$GC,12617,1.07,244.3,622.0,10.6,609,12618,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1879,1835
$GC,12926,1.07,244.3,590.0,9.8,624,12927,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1879,1835
$GC,13236,1.08,247.2,562.8,7.9,639,13245,0.00,2.65,4.40,0.799,4,0.000,0.065,2991,3324,1823
$GC,13285,1.08,247.2,558.4,8.8,641,13289,0.00,2.58,0.00,0.000,6,0.000,0.057,2991,1887,1823
$GC,13601,1.08,247.2,531.3,8.5,656,13602,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1887,1823
$GC,13910,1.08,247.2,504.6,8.7,671,13915,0.00,2.62,0.00,0.000,4,0.000,0.065,2991,3332,1823
$GC,13950,1.08,247.2,500.9,8.8,673,13955,0.00,2.58,0.00,0.000,6,0.000,0.057,2991,1894,1823
$GC,14278,1.10,258.8,473.7,7.6,689,14291,0.00,0.00,11.40,1.016,6,0.000,0.000,2991,1894,1776
$GC,14587,1.11,267.5,449.3,7.7,704,14601,0.00,2.65,9.10,0.966,4,0.000,0.063,2991,3332,1740
$GC,14647,1.16,267.5,444.4,8.1,706,14653,0.00,2.60,0.00,0.000,6,0.000,0.057,2991,1893,1739
$GC,14963,1.16,267.5,417.2,9.1,722,14964,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1893,1740
$GC,15272,1.16,267.5,388.5,9.2,737,15276,0.00,2.60,0.00,0.000,4,0.000,0.065,2991,3326,1740
$GC,15299,1.22,267.5,386.0,9.4,738,15304,0.00,2.55,0.00,0.000,6,0.000,0.057,2991,1906,1739
$GC,15616,1.25,285.8,361.0,7.3,753,15638,0.12,2.60,16.42,0.989,4,0.053,0.067,3026,512,1665
$GC,15686,1.09,285.8,354.0,11.5,756,15691,0.22,2.45,0.00,0.000,6,0.083,0.049,2981,1902,1665
$GC,16013,1.15,285.8,326.9,8.2,772,16014,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1917,1665
$GC,16322,1.21,285.8,301.1,8.5,787,16327,0.12,2.55,0.00,0.000,4,0.053,0.067,3017,510,1665
$GC,16362,1.12,285.8,297.0,10.4,789,16367,0.15,2.45,0.00,0.000,6,0.087,0.048,2988,1906,1665
$GC,16690,1.18,285.8,267.6,9.0,805,16691,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1921,1665
$GC,16999,1.22,285.8,239.9,9.3,820,17000,0.10,0.00,0.00,0.000,6,0.058,0.000,3017,1922,1665
$GC,17308,1.18,285.8,204.6,11.8,835,17309,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1922,1665
$GC,17617,1.18,285.8,171.2,10.6,850,17621,0.00,2.55,0.00,0.000,4,0.000,0.066,3017,510,1665
$GC,17657,1.10,285.8,166.7,10.9,852,17662,0.17,2.42,0.00,0.000,6,0.084,0.048,2982,1895,1665
$GC,17984,1.18,285.8,139.7,8.3,868,17985,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1909,1665
$GC,18296,1.26,288.9,113.8,7.9,883,18302,0.17,0.00,4.40,0.619,6,0.046,0.000,3030,1909,1653
$GC,18604,1.19,288.9,83.2,10.5,898,18609,0.12,2.53,0.00,0.000,4,0.089,0.064,3005,510,1653
$GC,18628,1.15,288.9,80.6,11.2,899,18633,0.00,2.42,0.00,0.000,6,0.000,0.048,3005,1896,1653
$GC,18949,1.15,288.9,50.9,8.9,915,18951,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1910,1653
$GC,19261,1.20,289.3,25.5,8.0,930,19262,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1910,1653
$STATE,19546,end climb,SURFACE_DEPTH_REACHED
$STATE,19546,begin surface coast
$FINISH,0.5,1.020865
$STATE,19566,end surface coast,CONTROL_FINISHED_OK
$STATE,19566,begin surface
$SM_CCo,19590,6.03,0.632,0,0,1608,300.00
$SM_GC,2.26,0.00,0.00,6.03,0.000,0.000,0.632,421,2137,1608,-10.69,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1833
$TCM_TEMP,18.00
$XPDR_PINGS,86
$ALTIM_BOTTOM_PING,870.6,38.4
$24V_AH,23.7,9.470
$10V_AH,10.1,4.578
$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,26.975,131.650,392.400,6.025,0.000,76.580,52.890,202.645,29.750,0.000,0.000,13.820,1709.054,15276.172,525.786,1947.133,658.625,33.356,1502.697,0.000,1904.302,0.000,56.982,0.000
$DEVICE_MAMPS,158.769,82.069,1399.775,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,647.145,710.444,537.924,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47460,945
$CAP_FILE_SIZE,141538,0
$CFSIZE,254472192,249434112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,45,0,0
$GPS,040909,182507,6136.690,-923.909,42,1.0,42,-9.5