version: 66.04
glider: 5
mission: 7
dive: 50
start: 9 5 109 8 44 35
data:
$ID,5
$MISSION,7
$DIVE,50
$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,-101203.21
$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,37
$R_STBD_OVSHOOT,28
$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
$GPS1,083806,6141.126,-921.398,41,1.1,41,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-52.9
$GPS2,084344,6141.144,-921.475,13,2.0,13,-9.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.194,0.150
$KALMAN_X,-53897.8,-52.1,465.5,16827.6,-7572.6
$KALMAN_Y,24807.5,460.3,1068.4,-17974.9,-7202.8
$MHEAD_RNG_PITCHd_Wd,61.7,9123,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.53,0.000,2,0.000,0.000,417,2143,2517
$GC,123,-1.22,-146.6,2.2,-1.1,5,179,11.20,2.53,-37.95,0.000,4,0.160,0.077,2469,3527,3429
$GC,315,-1.07,-146.6,21.9,-13.3,13,322,0.20,2.45,0.00,0.000,6,0.092,0.046,2512,2130,3429
$GC,632,-1.07,-146.6,54.8,-10.9,29,637,0.00,2.50,0.00,0.000,4,0.000,0.061,2512,715,3429
$GC,660,-1.07,-146.6,58.4,-12.0,30,665,0.00,2.50,0.00,0.000,6,0.000,0.049,2512,2142,3428
$GC,977,-1.07,-146.6,92.6,-9.9,45,981,0.00,2.53,0.00,0.000,4,0.000,0.066,2512,3540,3429
$GC,1084,-1.07,-146.6,104.8,-11.0,50,1088,0.00,2.45,0.00,0.000,6,0.000,0.045,2512,2143,3429
$GC,1411,-1.07,-146.6,137.3,-9.2,66,1415,0.00,2.53,0.00,0.000,4,0.000,0.064,2512,720,3429
$GC,1467,-1.11,-146.6,142.7,-10.0,68,1473,0.00,2.53,0.00,0.000,6,0.000,0.048,2512,2159,3429
$GC,1783,-1.11,-146.6,172.5,-9.4,84,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2159,3429
$GC,2092,-1.11,-146.6,198.1,-8.0,99,2097,0.00,2.60,0.00,0.000,4,0.000,0.064,2511,714,3429
$GC,2155,-1.17,-146.6,203.2,-8.1,102,2160,0.00,2.53,0.00,0.000,6,0.000,0.049,2512,2151,3429
$GC,2483,-1.17,-146.6,231.9,-9.4,118,2487,0.00,2.53,0.00,0.000,4,0.000,0.071,2512,3537,3429
$GC,2546,-1.17,-146.6,237.7,-9.4,121,2550,0.00,2.47,0.00,0.000,6,0.000,0.054,2512,2146,3429
$GC,2872,-1.17,-146.6,267.9,-9.6,137,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2134,3429
$GC,3181,-1.17,-146.6,298.7,-9.8,152,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2134,3429
$GC,3490,-1.17,-146.6,325.3,-8.5,167,3495,0.00,2.55,0.00,0.000,4,0.000,0.071,2512,3536,3428
$GC,3535,-1.17,-146.6,329.2,-8.5,169,3539,0.00,2.47,0.00,0.000,6,0.000,0.054,2512,2147,3428
$GC,3856,-1.17,-146.6,355.5,-8.4,185,3860,0.00,2.55,0.00,0.000,4,0.000,0.071,2512,3538,3428
$GC,3900,-1.17,-146.6,359.4,-9.0,187,3904,0.00,2.47,0.00,0.000,6,0.000,0.056,2512,2151,3428
$GC,4221,-1.17,-146.6,385.8,-7.9,203,4225,0.00,2.53,0.00,0.000,4,0.000,0.069,2512,722,3427
$GC,4255,-1.22,-146.6,388.6,-8.1,204,4260,0.15,2.53,0.00,0.000,6,0.054,0.051,2469,2160,3428
$GC,4572,-1.13,-146.6,420.7,-10.7,219,4574,0.15,0.00,0.00,0.000,6,0.093,0.000,2499,2159,3427
$GC,4880,-1.13,-146.6,450.2,-9.4,234,4885,0.00,2.62,0.00,0.000,4,0.000,0.067,2500,714,3427
$GC,4943,-1.13,-146.6,456.3,-9.5,237,4947,0.00,2.53,0.00,0.000,6,0.000,0.051,2500,2147,3427
$GC,5269,-1.13,-146.6,486.6,-9.3,253,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2146,3427
$GC,5579,-1.13,-146.6,514.9,-10.0,268,5583,0.00,2.60,0.00,0.000,4,0.000,0.068,2500,719,3426
$GC,5690,-1.13,-146.6,528.0,-12.1,273,5694,0.00,2.50,0.00,0.000,6,0.000,0.051,2499,2140,3426
$GC,6011,-1.13,-146.6,568.8,-12.8,289,6016,0.00,2.58,0.00,0.000,4,0.000,0.067,2500,719,3426
$GC,6045,-1.17,-146.6,573.2,-13.0,290,6051,0.00,2.47,0.00,0.000,6,0.000,0.054,2500,2126,3425
$GC,6362,-1.17,-146.6,611.3,-12.2,306,6366,0.00,2.58,0.00,0.000,4,0.000,0.070,2499,715,3425
$GC,6462,-1.23,-146.6,624.0,-12.9,310,6470,0.10,2.45,0.00,0.000,6,0.060,0.052,2470,2102,3425
$GC,6779,-1.18,-146.6,662.8,-11.4,326,6784,0.00,2.53,0.00,0.000,4,0.000,0.071,2470,719,3425
$GC,6869,-1.18,-146.6,673.9,-13.4,330,6873,0.00,2.40,0.00,0.000,6,0.000,0.056,2470,2075,3425
$GC,7191,-1.13,-146.6,718.9,-15.5,346,7196,0.12,2.50,0.00,0.000,4,0.096,0.071,2496,724,3425
$GC,7305,-1.18,-146.6,734.3,-12.1,351,7309,0.00,2.38,0.00,0.000,6,0.000,0.055,2496,2058,3425
$GC,7633,-1.24,-146.6,763.5,-6.5,367,7638,0.00,2.47,0.00,0.000,4,0.000,0.076,2495,724,3424
$GC,7729,-1.31,-146.6,771.0,-7.0,371,7734,0.17,2.35,0.00,0.000,6,0.058,0.057,2450,2035,3424
$GC,8052,-1.22,-146.6,795.4,-8.8,386,8057,0.12,2.83,0.00,0.000,4,0.107,0.090,2474,3533,3423
$GC,8102,-1.22,-146.6,803.1,-12.4,388,8107,0.00,2.78,0.00,0.000,6,0.000,0.070,2474,2023,3422
$GC,8419,-1.22,-146.6,828.6,-4.5,403,8423,0.00,2.83,0.00,0.000,4,0.000,0.085,2474,3526,3422
$GC,8559,-1.22,-146.6,833.8,1.6,409,8563,0.00,2.70,0.00,0.000,6,0.000,0.067,2474,2043,3421
$STATE,8727,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8727,begin apogee
$GC,8735,-0.33,0.0,860.5,25.5,417,8869,0.93,0.00,126.70,1.429,6,0.078,0.000,2677,1898,2831
$STATE,8870,end apogee,CONTROL_FINISHED_OK
$STATE,8870,begin climb
$GC,8873,1.22,146.6,856.3,0.0,424,9011,1.50,2.78,127.75,1.392,4,0.055,0.081,3010,3316,2233
$GC,9270,1.37,325.9,845.3,1.5,442,9438,0.15,2.58,154.35,1.379,6,0.067,0.074,3045,1929,1502
$GC,9745,1.20,325.9,786.4,18.9,465,9750,0.17,2.65,0.00,0.000,4,0.106,0.081,3009,3321,1502
$GC,9773,1.12,325.9,782.1,13.4,466,9778,0.00,2.60,0.00,0.000,6,0.000,0.077,3009,1940,1502
$GC,10090,1.06,325.9,742.5,12.8,481,10095,0.17,2.72,0.00,0.000,4,0.095,0.094,2976,507,1502
$GC,10168,1.06,325.9,732.5,13.0,484,10175,0.00,2.53,0.00,0.000,6,0.000,0.066,2976,1885,1502
$GC,10485,1.10,325.9,695.6,12.4,500,10489,0.00,2.62,0.00,0.000,4,0.000,0.089,2976,511,1501
$GC,10547,1.10,325.9,687.5,13.0,503,10551,0.00,2.50,0.00,0.000,6,0.000,0.063,2976,1885,1502
$GC,10873,1.10,325.9,647.3,12.2,519,10878,0.00,2.60,0.00,0.000,4,0.000,0.084,2976,510,1502
$GC,10946,1.10,325.9,637.8,13.7,522,10950,0.00,2.45,0.00,0.000,6,0.000,0.059,2975,1867,1501
$GC,11262,1.15,325.9,597.3,13.2,537,11264,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1881,1501
$GC,11572,1.20,325.9,557.0,12.7,552,11577,0.15,2.58,0.00,0.000,4,0.055,0.081,3013,507,1501
$GC,11657,1.11,325.9,543.0,17.6,556,11662,0.15,2.40,0.00,0.000,6,0.094,0.057,2985,1850,1501
$GC,11984,1.11,325.9,501.6,12.2,572,11988,0.00,2.53,0.00,0.000,4,0.000,0.080,2985,501,1501
$GC,12028,1.11,325.9,496.0,12.3,574,12032,0.00,2.38,0.00,0.000,6,0.000,0.055,2984,1837,1501
$GC,12350,1.16,325.9,461.5,10.6,590,12354,0.00,2.47,0.00,0.000,4,0.000,0.078,2985,508,1502
$GC,12389,1.16,325.9,457.1,11.8,592,12393,0.00,2.33,0.00,0.000,6,0.000,0.054,2985,1822,1502
$GC,12716,1.20,325.9,423.8,9.7,608,12720,0.00,2.70,0.00,0.000,4,0.000,0.067,2985,3330,1502
$GC,12745,1.29,325.9,420.8,11.0,609,12750,0.17,2.78,0.00,0.000,6,0.051,0.064,3030,1805,1502
$GC,13061,1.19,325.9,381.5,12.4,624,13066,0.15,2.38,0.00,0.000,4,0.091,0.077,3001,507,1503
$GC,13089,1.13,325.9,378.2,11.2,625,13093,0.00,2.33,0.00,0.000,6,0.000,0.051,3001,1829,1503
$GC,13405,1.13,325.9,346.8,9.8,640,13410,0.00,2.67,0.00,0.000,4,0.000,0.065,3001,3331,1504
$GC,13427,1.13,325.9,344.6,9.3,641,13431,0.00,2.75,0.00,0.000,6,0.000,0.059,3000,1809,1504
$GC,13748,1.13,325.9,312.3,10.1,657,13749,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1809,1504
$GC,14057,1.13,325.9,275.9,12.4,672,14061,0.00,2.78,0.00,0.000,4,0.000,0.063,3000,3340,1505
$GC,14112,1.20,325.9,268.8,11.8,674,14119,0.00,2.72,0.00,0.000,6,0.000,0.058,3000,1825,1505
$GC,14428,1.20,325.9,228.4,12.7,690,14433,0.00,2.72,0.00,0.000,4,0.000,0.062,3000,3336,1505
$GC,14462,1.27,325.9,224.1,11.6,691,14468,0.00,2.67,0.00,0.000,6,0.000,0.056,3000,1839,1505
$GC,14777,1.27,325.9,189.4,10.6,707,14779,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1839,1505
$GC,15087,1.27,325.9,157.9,10.5,722,15091,0.00,2.70,0.00,0.000,4,0.000,0.062,3000,3339,1506
$GC,15127,1.35,325.9,153.6,10.6,724,15132,0.17,2.65,0.00,0.000,6,0.050,0.055,3046,1847,1507
$GC,15455,1.23,325.9,108.0,14.4,740,15460,0.17,2.42,0.00,0.000,4,0.087,0.071,3008,507,1507
$GC,15499,1.23,325.9,101.8,12.5,742,15503,0.00,2.35,0.00,0.000,6,0.000,0.051,3008,1859,1507
$GC,15827,1.23,325.9,66.7,10.0,758,15831,0.00,2.50,0.00,0.000,4,0.000,0.072,3008,500,1507
$GC,15867,1.23,325.9,62.5,10.6,760,15871,0.00,2.35,0.00,0.000,6,0.000,0.050,3008,1842,1507
$GC,16200,1.23,325.9,34.0,8.6,776,16204,0.00,2.62,0.00,0.000,4,0.000,0.061,3008,3331,1507
$GC,16245,1.34,325.9,29.7,9.7,778,16250,0.12,2.70,0.00,0.000,6,0.054,0.052,3043,1811,1507
$STATE,16481,end climb,SURFACE_DEPTH_REACHED
$STATE,16481,begin surface coast
$FINISH,0.6,1.026751
$STATE,16503,end surface coast,CONTROL_FINISHED_OK
$STATE,16503,begin surface
$SM_CCo,16587,0.00,0.000,0,0,1508,324.78
$SM_GC,1.31,11.27,0.00,0.00,0.033,0.000,0.000,416,2157,1508,-10.61,0.74,324.78
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1832
$TCM_TEMP,17.90
$XPDR_PINGS,74
$ALTIM_BOTTOM_PING,795.4,68.6
$24V_AH,23.7,10.362
$10V_AH,10.1,4.892
$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,27.525,179.575,408.800,0.000,0.000,39.104,32.090,143.703,25.750,0.000,0.000,13.090,1511.645,12376.271,582.554,1927.548,524.286,33.359,1591.317,0.000,1875.844,0.000,51.135,0.000
$DEVICE_MAMPS,159.536,94.341,1428.921,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,542.092,585.593,462.939,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41217,791
$CAP_FILE_SIZE,136483,0
$CFSIZE,254472192,249188352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,63,0,0
$GPS,050909,132206,6142.679,-923.315,27,1.2,27,-9.5