version: 66.04
glider: 5
mission: 7
dive: 49
start: 9 5 109 3 58 57
data:
$ID,5
$MISSION,7
$DIVE,49
$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,-101189.49
$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,15
$R_STBD_OVSHOOT,24
$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
$GPS1,034706,6138.834,-921.395,36,0.9,41,-9.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-52.8
$GPS2,035808,6138.798,-921.396,15,0.9,15,-9.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.151,0.194
$KALMAN_X,-49309.6,-40.2,-360.2,13121.5,-4068.2
$KALMAN_Y,26371.5,145.6,-127.8,-22354.0,-5486.4
$MHEAD_RNG_PITCHd_Wd,47.4,12782,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,121,0.00,0.00,-101.45,0.000,2,0.000,0.000,419,2148,2835
$GC,125,-1.22,-146.6,3.0,-2.1,5,161,11.25,2.58,-17.10,0.000,4,0.160,0.083,2472,3545,3430
$GC,335,-1.09,-146.6,31.6,-13.1,14,340,0.17,2.53,0.00,0.000,6,0.096,0.046,2510,2115,3430
$GC,652,-1.09,-146.6,57.9,-9.8,29,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2102,3430
$GC,960,-1.09,-146.6,93.2,-11.9,44,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2102,3430
$GC,1270,-1.09,-146.6,128.5,-10.3,59,1274,0.00,2.60,0.00,0.000,4,0.000,0.066,2510,3537,3431
$GC,1309,-1.09,-146.6,132.7,-11.0,61,1314,0.00,2.45,0.00,0.000,6,0.000,0.051,2510,2151,3430
$GC,1642,-1.09,-146.6,167.5,-10.0,77,1647,0.00,2.55,0.00,0.000,4,0.000,0.067,2510,3538,3431
$GC,1705,-1.09,-146.6,174.2,-11.3,80,1709,0.00,2.45,0.00,0.000,6,0.000,0.051,2510,2149,3431
$GC,2032,-1.09,-146.6,197.9,-6.6,96,2036,0.00,2.53,0.00,0.000,4,0.000,0.064,2510,728,3431
$GC,2101,-1.15,-146.6,202.6,-6.5,99,2105,0.00,2.50,0.00,0.000,6,0.000,0.050,2510,2147,3431
$GC,2422,-1.15,-146.6,219.0,-4.4,115,2427,0.00,2.58,0.00,0.000,4,0.000,0.064,2510,726,3431
$GC,2457,-1.19,-146.6,221.2,-6.8,116,2464,0.10,2.47,0.00,0.000,6,0.061,0.051,2479,2137,3430
$GC,2773,-1.12,-146.6,250.2,-9.2,132,2775,0.10,0.00,0.00,0.000,6,0.098,0.000,2499,2138,3431
$GC,3082,-1.12,-146.6,278.5,-9.1,147,3086,0.00,2.55,0.00,0.000,4,0.000,0.063,2499,723,3430
$GC,3115,-1.12,-146.6,281.6,-10.0,148,3121,0.00,2.47,0.00,0.000,6,0.000,0.051,2499,2133,3430
$GC,3430,-1.12,-146.6,309.9,-9.1,164,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2133,3430
$GC,3740,-1.12,-146.6,339.0,-9.6,179,3744,0.00,2.55,0.00,0.000,4,0.000,0.064,2499,722,3429
$GC,3780,-1.12,-146.6,342.7,-9.5,181,3784,0.00,2.50,0.00,0.000,6,0.000,0.051,2499,2143,3430
$GC,4106,-1.12,-146.6,372.9,-9.4,197,4111,0.00,2.58,0.00,0.000,4,0.000,0.065,2499,718,3429
$GC,4157,-1.12,-146.6,377.9,-10.2,199,4161,0.00,2.47,0.00,0.000,6,0.000,0.051,2499,2123,3428
$GC,4473,-1.12,-146.6,407.0,-9.9,214,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2123,3428
$GC,4782,-1.12,-146.6,436.8,-8.9,229,4786,0.00,2.53,0.00,0.000,4,0.000,0.065,2499,725,3428
$GC,4826,-1.12,-146.6,440.9,-8.9,231,4830,0.00,2.47,0.00,0.000,6,0.000,0.051,2499,2130,3428
$GC,5147,-1.12,-146.6,464.3,-6.8,247,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2130,3428
$GC,5456,-1.12,-146.6,488.7,-8.7,262,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2130,3427
$GC,5765,-1.12,-146.6,514.6,-8.4,277,5769,0.00,2.53,0.00,0.000,4,0.000,0.067,2499,729,3427
$GC,5828,-1.17,-146.6,520.1,-9.3,280,5833,0.00,2.45,0.00,0.000,6,0.000,0.053,2499,2117,3427
$GC,6157,-1.17,-146.6,546.6,-8.0,296,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2117,3427
$GC,6466,-1.17,-146.6,569.0,-6.4,311,6470,0.00,2.53,0.00,0.000,4,0.000,0.066,2499,719,3427
$GC,6499,-1.17,-146.6,571.1,-6.4,312,6505,0.00,2.45,0.00,0.000,6,0.000,0.051,2499,2112,3427
$GC,6815,-1.17,-146.6,588.9,-6.1,328,6819,0.00,2.58,0.00,0.000,4,0.000,0.074,2499,3531,3427
$GC,6855,-1.17,-146.6,591.5,-6.7,330,6860,0.00,2.53,0.00,0.000,6,0.000,0.058,2499,2118,3427
$GC,7182,-1.17,-146.6,614.4,-8.2,346,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2106,3426
$GC,7491,-1.17,-146.6,642.1,-9.3,361,7493,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2106,3426
$GC,7801,-1.17,-146.6,672.0,-10.0,376,7802,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2106,3426
$GC,8110,-1.17,-146.6,700.5,-9.4,391,8114,0.00,2.47,0.00,0.000,4,0.000,0.068,2498,720,3426
$GC,8194,-1.21,-146.6,709.4,-10.6,394,8200,0.00,2.45,0.00,0.000,6,0.000,0.054,2499,2112,3426
$GC,8510,-1.21,-146.6,743.5,-11.6,410,8515,0.00,2.53,0.00,0.000,4,0.000,0.068,2499,720,3426
$GC,8653,-1.27,-146.6,761.5,-12.8,416,8658,0.15,2.42,0.00,0.000,6,0.054,0.052,2457,2093,3426
$GC,8972,-1.20,-146.6,802.5,-12.1,431,8977,0.12,2.53,0.00,0.000,4,0.098,0.071,2482,720,3426
$GC,9215,-1.24,-146.6,838.1,-14.6,442,9219,0.00,2.40,0.00,0.000,6,0.000,0.057,2482,2070,3425
$GC,9541,-1.24,-146.6,858.1,-10.9,458,9546,0.00,2.47,0.00,0.000,4,0.000,0.073,2482,720,3424
$GC,9609,-1.20,-146.6,861.2,-8.0,461,9613,0.00,2.35,0.00,0.000,6,0.000,0.067,2482,2019,3424
$STATE,9747,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9748,begin apogee
$GC,9755,-0.33,0.0,876.3,7.6,468,9890,0.90,0.00,127.30,1.429,6,0.087,0.000,2672,1911,2831
$STATE,9891,end apogee,CONTROL_FINISHED_OK
$STATE,9891,begin climb
$GC,9894,1.22,146.6,880.2,0.0,475,10031,1.55,2.75,127.55,1.396,4,0.066,0.079,3007,3325,2232
$GC,10186,1.38,340.7,873.3,1.0,488,10365,0.17,2.58,166.80,1.379,6,0.061,0.061,3048,1902,1442
$GC,10673,1.67,630.4,845.4,-2.5,512,10906,0.25,2.62,224.25,1.373,4,0.058,0.094,3112,538,390
$GC,10985,1.35,630.4,800.7,25.7,526,10996,0.38,2.55,2.88,0.570,6,0.104,0.067,3039,1910,390
$GC,11326,1.23,630.4,732.7,18.4,543,11335,0.15,2.67,3.00,0.609,4,0.108,0.086,3011,534,390
$GC,11409,1.23,630.4,719.2,13.3,546,11416,0.00,2.47,2.22,0.314,6,0.000,0.060,3011,1895,390
$GC,11725,1.23,630.4,680.0,11.0,562,11734,0.00,2.65,2.30,0.351,4,0.000,0.081,3011,516,390
$GC,11780,1.23,630.4,673.0,12.3,564,11784,0.00,2.42,0.00,0.000,6,0.000,0.057,3011,1861,390
$GC,12096,1.31,680.9,648.5,6.2,579,12105,0.00,2.53,2.17,0.286,4,0.000,0.077,3011,527,390
$GC,12151,1.31,680.9,643.4,8.5,581,12155,0.00,2.35,0.00,0.000,6,0.000,0.057,3011,1846,390
$GC,12472,1.31,680.9,618.3,8.3,597,12477,0.00,2.50,0.05,0.189,4,0.000,0.077,3011,520,391
$GC,12517,1.31,680.9,614.1,8.3,599,12521,0.00,2.33,0.05,0.182,6,0.000,0.055,3011,1822,390
$GC,12838,1.31,680.9,583.7,10.4,615,12846,0.00,2.47,1.88,0.150,4,0.000,0.077,3011,523,391
$GC,12870,1.31,680.9,579.6,12.6,616,12875,0.00,2.28,0.10,0.161,6,0.000,0.054,3011,1803,391
$GC,13186,1.31,680.9,537.7,14.6,631,13195,0.00,2.42,2.28,0.325,4,0.000,0.076,3012,527,390
$GC,13231,1.31,680.9,530.8,15.1,633,13236,0.00,2.25,0.00,0.000,6,0.000,0.053,3011,1796,390
$GC,13559,1.31,680.9,483.4,14.6,649,13563,0.00,2.35,0.00,0.000,4,0.000,0.075,3011,528,391
$GC,13586,1.31,680.9,478.9,16.5,650,13590,0.00,2.20,0.00,0.000,6,0.000,0.051,3011,1782,390
$GC,13908,1.31,680.9,428.2,16.4,666,13912,0.00,2.35,0.08,0.163,4,0.000,0.074,3011,520,391
$GC,13935,1.31,680.9,423.5,17.3,667,13940,0.00,2.20,0.05,0.181,6,0.000,0.051,3011,1770,391
$GC,14251,1.35,680.9,370.4,16.5,682,14256,0.12,0.00,2.22,0.284,6,0.054,0.000,3046,1785,390
$GC,14561,1.20,680.9,305.8,22.9,697,14566,0.20,2.30,0.15,0.139,4,0.087,0.071,3004,521,390
$GC,14589,1.13,680.9,299.3,21.8,698,14593,0.00,2.20,0.00,0.000,6,0.000,0.052,3004,1773,390
$GC,14906,1.24,680.9,256.8,13.0,713,14907,0.00,0.00,0.03,0.257,6,0.000,0.000,3004,1788,390
$GC,15215,1.37,680.9,217.2,13.6,728,15220,0.17,2.33,0.10,0.135,4,0.045,0.072,3056,519,391
$GC,15243,1.37,680.9,212.4,16.6,729,15247,0.00,2.17,0.10,0.153,6,0.000,0.049,3056,1762,391
$GC,15559,1.22,680.9,147.1,19.3,744,15562,0.22,0.00,0.12,0.146,6,0.086,0.000,3011,1778,391
$GC,15870,1.31,680.9,114.9,9.9,759,15879,0.00,2.33,2.28,0.283,4,0.000,0.071,3011,526,389
$GC,15903,1.40,680.9,111.1,10.8,760,15907,0.17,2.12,0.00,0.000,6,0.047,0.051,3059,1742,389
$GC,16222,1.29,680.9,47.9,22.0,775,16227,0.17,2.83,0.03,0.156,4,0.083,0.059,3020,3335,390
$GC,16250,1.36,680.9,41.5,19.4,776,16255,0.00,2.83,0.00,0.000,6,0.000,0.055,3020,1762,390
$STATE,16564,end climb,SURFACE_DEPTH_REACHED
$STATE,16564,begin surface coast
$FINISH,0.8,1.026751
$STATE,16587,end surface coast,CONTROL_FINISHED_OK
$STATE,16587,begin surface
$SM_CCo,16671,0.00,0.000,0,0,389,599.02
$SM_GC,1.14,11.18,0.00,0.00,0.033,0.000,0.000,417,2143,389,-10.60,0.37,599.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1849
$TCM_TEMP,17.60
$XPDR_PINGS,65
$ALTIM_BOTTOM_PING,797.3,88.3
$24V_AH,23.7,10.184
$10V_AH,10.1,4.812
$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,27.550,148.925,667.975,0.000,0.000,114.641,101.464,202.413,23.500,0.000,0.000,15.502,1477.401,12514.023,732.196,1881.496,726.070,33.353,1757.977,0.000,1827.098,0.000,49.427,0.000
$DEVICE_MAMPS,159.536,93.574,1428.921,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,541.522,590.390,433.471,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41126,792
$CAP_FILE_SIZE,137105,0
$CFSIZE,254472192,249257984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,53,0,0
$GPS,050909,083806,6141.126,-921.398,41,1.1,41,-9.5