version: 66.04
glider: 5
mission: 7
dive: 48
start: 9 4 109 23 26 27
data:
$ID,5
$MISSION,7
$DIVE,48
$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,-101173.37
$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,33
$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
$GPS1,231936,6138.622,-921.431,39,1.4,39,-9.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-62.8
$GPS2,232538,6138.583,-921.449,13,1.4,13,-9.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.167,0.180
$KALMAN_X,-46321.1,202.9,445.2,9025.2,-4560.3
$KALMAN_Y,29533.3,351.4,437.7,-26702.0,-5341.1
$MHEAD_RNG_PITCHd_Wd,52.4,13160,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.42,0.000,2,0.000,0.000,416,2152,2540
$GC,83,-1.22,-146.6,2.3,-2.5,3,134,11.07,2.53,-33.90,0.000,4,0.153,0.081,2469,3522,3430
$GC,275,-1.08,-146.6,24.0,-12.9,11,282,0.17,2.47,0.00,0.000,6,0.097,0.048,2506,2113,3430
$GC,593,-1.08,-146.6,58.0,-9.6,27,597,0.00,2.47,0.00,0.000,4,0.000,0.061,2507,715,3430
$GC,643,-1.08,-146.6,62.2,-7.8,29,647,0.00,2.45,0.00,0.000,6,0.000,0.045,2507,2116,3431
$GC,961,-1.08,-146.6,91.8,-11.0,44,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2116,3431
$GC,1269,-1.08,-146.6,125.9,-11.0,59,1273,0.00,2.58,0.00,0.000,4,0.000,0.068,2507,3538,3431
$GC,1331,-1.08,-146.6,132.8,-11.0,62,1335,0.00,2.47,0.00,0.000,6,0.000,0.050,2506,2138,3431
$GC,1658,-1.08,-146.6,166.7,-10.4,78,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2124,3431
$GC,1967,-1.08,-146.6,198.6,-10.1,93,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2124,3431
$GC,2276,-1.08,-146.6,228.6,-9.3,108,2280,0.00,2.58,0.00,0.000,4,0.000,0.072,2506,3538,3431
$GC,2320,-1.08,-146.6,232.8,-9.4,110,2324,0.00,2.50,0.00,0.000,6,0.000,0.054,2507,2134,3431
$GC,2642,-1.08,-146.6,268.1,-11.4,126,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2126,3431
$GC,2950,-1.08,-146.6,301.3,-10.0,141,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2125,3431
$GC,3260,-1.08,-146.6,333.3,-10.9,156,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2124,3431
$GC,3569,-1.08,-146.6,365.2,-10.4,171,3574,0.00,2.58,0.00,0.000,4,0.000,0.073,2507,3533,3430
$GC,3603,-1.08,-146.6,369.2,-11.4,172,3609,0.00,2.47,0.00,0.000,6,0.000,0.057,2506,2144,3430
$GC,3919,-1.08,-146.6,401.4,-9.3,188,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2130,3429
$GC,4228,-1.08,-146.6,430.2,-9.1,203,4232,0.00,2.55,0.00,0.000,4,0.000,0.073,2507,3530,3429
$GC,4300,-1.08,-146.6,437.0,-9.7,206,4305,0.00,2.45,0.00,0.000,6,0.000,0.055,2506,2148,3429
$GC,4616,-1.08,-146.6,465.7,-8.8,221,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2137,3429
$GC,4926,-1.08,-146.6,494.4,-9.0,236,4930,0.00,2.55,0.00,0.000,4,0.000,0.067,2506,716,3429
$GC,4988,-1.14,-146.6,500.0,-9.2,239,4993,0.00,2.53,0.00,0.000,6,0.000,0.053,2507,2150,3429
$GC,5315,-1.14,-146.6,528.1,-8.7,255,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2151,3428
$GC,5624,-1.14,-146.6,556.3,-9.4,270,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2151,3428
$GC,5934,-1.14,-146.6,585.3,-9.8,285,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2151,3428
$GC,6243,-1.14,-146.6,618.8,-11.5,300,6244,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2151,3427
$GC,6553,-1.19,-146.6,654.5,-11.9,315,6557,0.00,2.60,0.00,0.000,4,0.000,0.070,2507,725,3427
$GC,6678,-1.26,-146.6,670.3,-12.9,320,6685,0.17,2.50,0.00,0.000,6,0.053,0.055,2457,2143,3427
$GC,6995,-1.16,-146.6,713.5,-11.8,336,7000,0.17,2.58,0.00,0.000,4,0.093,0.068,2497,723,3427
$GC,7068,-1.16,-146.6,724.3,-16.1,339,7072,0.00,2.47,0.00,0.000,6,0.000,0.051,2497,2128,3427
$GC,7384,-1.16,-146.6,762.4,-9.1,354,7388,0.00,2.58,0.00,0.000,4,0.000,0.073,2496,721,3427
$GC,7607,-1.24,-146.6,780.8,-8.6,364,7611,0.00,2.42,0.00,0.000,6,0.000,0.058,2497,2096,3426
$GC,7929,-1.28,-146.6,810.4,-9.1,380,7931,0.15,0.00,0.00,0.000,6,0.056,0.000,2455,2112,3426
$GC,8240,-1.18,-146.6,858.1,-16.5,395,8242,0.15,0.00,0.00,0.000,6,0.101,0.000,2485,2098,3426
$STATE,8462,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8462,begin apogee
$GC,8470,-0.33,0.0,876.0,7.4,406,8605,0.88,0.00,127.68,1.431,6,0.082,0.000,2674,1911,2831
$STATE,8605,end apogee,CONTROL_FINISHED_OK
$STATE,8605,begin climb
$GC,8609,1.22,146.6,878.0,0.0,413,8740,1.52,0.00,126.88,1.400,6,0.059,0.000,3010,1913,2233
$GC,9043,1.70,535.8,869.9,-6.1,434,9386,0.43,2.78,332.92,1.375,4,0.054,0.083,3112,3318,647
$GC,9394,1.42,535.8,810.7,21.4,451,9399,0.30,2.67,0.00,0.000,6,0.103,0.077,3055,1922,646
$GC,9721,1.29,535.8,763.8,15.2,467,9726,0.15,2.70,0.00,0.000,4,0.110,0.091,3026,507,647
$GC,9822,1.29,535.8,749.0,11.6,471,9828,0.00,2.55,0.00,0.000,6,0.000,0.066,3026,1896,647
$GC,10138,1.29,535.8,702.4,14.7,487,10142,0.00,2.62,0.00,0.000,4,0.000,0.081,3026,507,647
$GC,10216,1.29,535.8,688.1,17.2,490,10222,0.00,2.47,0.00,0.000,6,0.000,0.059,3026,1873,647
$GC,10532,1.24,535.8,634.7,19.4,506,10537,0.00,2.55,0.00,0.000,4,0.000,0.077,3026,507,648
$GC,10582,1.24,535.8,627.0,12.9,508,10587,0.00,2.42,0.00,0.000,6,0.000,0.054,3026,1859,648
$GC,10899,1.20,535.8,582.2,12.5,523,10903,0.00,2.53,0.00,0.000,4,0.000,0.074,3026,504,648
$GC,10932,1.14,535.8,578.0,12.2,524,10939,0.17,2.38,0.00,0.000,6,0.093,0.054,2993,1840,648
$GC,11248,1.28,535.8,545.2,8.9,540,11253,0.15,2.47,0.00,0.000,4,0.053,0.073,3032,508,649
$GC,11298,1.28,535.8,539.1,12.7,542,11303,0.00,2.33,0.00,0.000,6,0.000,0.053,3032,1819,649
$GC,11614,1.28,535.8,491.6,14.5,557,11619,0.00,2.42,0.00,0.000,4,0.000,0.073,3032,506,649
$GC,11637,1.22,535.8,488.0,15.5,558,11641,0.00,2.30,0.00,0.000,6,0.000,0.052,3032,1804,649
$GC,11958,1.22,535.8,436.4,17.1,574,11959,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1819,650
$GC,12267,1.22,535.8,388.2,15.0,589,12271,0.00,2.38,0.00,0.000,4,0.000,0.073,3032,505,650
$GC,12290,1.17,535.8,384.7,14.5,590,12295,0.15,2.30,0.00,0.000,6,0.086,0.055,3000,1807,650
$GC,12618,1.28,535.8,348.9,11.0,606,12619,0.10,0.00,0.00,0.000,6,0.057,0.000,3030,1823,650
$GC,12926,1.28,535.8,309.0,11.7,621,12930,0.00,2.40,0.00,0.000,4,0.000,0.071,3030,501,651
$GC,12959,1.28,535.8,304.7,12.5,622,12965,0.00,2.28,0.00,0.000,6,0.000,0.050,3030,1794,651
$GC,13275,1.28,535.8,271.6,9.7,638,13276,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1809,651
$GC,13584,1.28,535.8,237.1,12.3,653,13588,0.00,2.35,0.00,0.000,4,0.000,0.069,3030,505,652
$GC,13612,1.28,535.8,233.1,13.6,654,13616,0.00,2.25,0.00,0.000,6,0.000,0.054,3030,1785,651
$GC,13933,1.28,535.8,188.7,13.6,670,13934,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1801,652
$GC,14242,1.28,535.8,147.6,13.4,685,14243,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1801,652
$GC,14552,1.33,535.8,102.5,15.0,700,14553,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1801,652
$GC,14862,1.37,535.8,63.0,10.8,715,14863,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1801,653
$GC,15171,1.44,535.8,35.2,9.0,730,15176,0.12,2.35,0.00,0.000,4,0.051,0.066,3068,501,653
$GC,15204,1.39,535.8,31.3,12.0,731,15211,0.08,2.25,0.00,0.000,6,0.076,0.048,3047,1769,653
$STATE,15455,end climb,SURFACE_DEPTH_REACHED
$STATE,15455,begin surface coast
$FINISH,0.7,1.019147
$STATE,15477,end surface coast,CONTROL_FINISHED_OK
$STATE,15478,begin surface
$SM_CCo,15561,0.00,0.000,0,0,652,534.26
$SM_GC,1.21,11.30,0.00,0.00,0.035,0.000,0.000,419,2143,652,-10.58,0.37,534.26
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1837
$TCM_TEMP,17.90
$XPDR_PINGS,53
$ALTIM_BOTTOM_PING,847.7,38.2
$24V_AH,23.7,9.906
$10V_AH,10.1,4.730
$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,27.250,105.025,587.475,0.000,0.000,37.761,25.303,175.137,21.000,0.000,0.000,13.307,1341.704,11789.977,634.930,1644.987,507.333,33.354,1510.923,0.000,1601.612,0.000,52.044,0.000
$DEVICE_MAMPS,153.400,90.506,1431.222,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,509.365,554.239,435.201,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38077,745
$CAP_FILE_SIZE,112669,0
$CFSIZE,254472192,249344000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,0,0
$GPS,050909,034706,6138.834,-921.395,36,0.9,41,-9.5