version: 66.04
glider: 5
mission: 7
dive: 51
start: 9 5 109 13 29 3
data:
$ID,5
$MISSION,7
$DIVE,51
$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,-101238.55
$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,16
$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
$GPS1,132206,6142.679,-923.315,27,1.2,27,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-60.0
$GPS2,132813,6142.695,-923.389,17,1.2,34,-9.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.221,0.106
$KALMAN_X,-59790.9,124.9,-216.8,21537.0,-8643.5
$KALMAN_Y,24772.2,1174.0,75.8,-14792.5,-4460.1
$MHEAD_RNG_PITCHd_Wd,74.0,8502,-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,-61.42,0.000,2,0.000,0.000,415,2163,2830
$GC,82,-1.22,-146.6,3.0,-4.0,3,118,11.07,2.50,-18.27,0.000,4,0.153,0.077,2471,3524,3430
$GC,241,-1.09,-146.6,25.8,-14.5,10,246,0.17,2.47,0.00,0.000,6,0.094,0.047,2508,2117,3430
$GC,570,-1.09,-146.6,66.4,-11.5,26,574,0.00,2.58,0.00,0.000,4,0.000,0.064,2509,3534,3431
$GC,665,-1.09,-146.6,79.6,-13.3,30,669,0.00,2.38,0.00,0.000,6,0.000,0.044,2509,2175,3431
$GC,983,-1.09,-146.6,119.6,-12.4,45,987,0.00,2.58,0.00,0.000,4,0.000,0.065,2509,724,3432
$GC,1083,-1.09,-146.6,132.4,-12.5,49,1087,0.00,2.53,0.00,0.000,6,0.000,0.050,2509,2170,3432
$GC,1399,-1.09,-146.6,172.8,-12.9,64,1403,0.00,2.62,0.00,0.000,4,0.000,0.066,2508,723,3432
$GC,1443,-1.14,-146.6,179.2,-14.1,66,1448,0.00,2.55,0.00,0.000,6,0.000,0.051,2509,2170,3432
$GC,1765,-1.14,-146.6,228.6,-16.2,82,1769,0.00,2.62,0.00,0.000,4,0.000,0.067,2509,728,3433
$GC,1882,-1.19,-146.6,248.2,-16.7,87,1887,0.00,2.50,0.00,0.000,6,0.000,0.050,2509,2153,3432
$GC,2198,-1.19,-146.6,293.9,-13.5,102,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2154,3432
$GC,2507,-1.19,-146.6,331.9,-12.3,117,2512,0.00,2.60,0.00,0.000,4,0.000,0.067,2509,722,3432
$GC,2558,-1.25,-146.6,338.3,-13.0,119,2563,0.15,2.50,0.00,0.000,6,0.053,0.051,2465,2143,3432
$GC,2874,-1.16,-146.6,384.2,-15.2,134,2876,0.12,0.00,0.00,0.000,6,0.100,0.000,2489,2143,3432
$GC,3183,-1.16,-146.6,428.0,-14.2,149,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2143,3432
$GC,3494,-1.16,-146.6,472.3,-14.7,164,3499,0.00,2.58,0.00,0.000,4,0.000,0.069,2489,728,3432
$GC,3539,-1.16,-146.6,478.6,-13.2,166,3544,0.00,2.47,0.00,0.000,6,0.000,0.053,2489,2126,3432
$GC,3860,-1.16,-146.6,518.7,-11.5,182,3864,0.00,2.58,0.00,0.000,4,0.000,0.074,2489,725,3431
$GC,3983,-1.16,-146.6,533.0,-10.0,187,3989,0.00,2.45,0.00,0.000,6,0.000,0.052,2489,2119,3431
$GC,4299,-1.16,-146.6,563.2,-8.8,203,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2119,3431
$GC,4608,-1.16,-146.6,586.7,-4.9,218,4612,0.00,2.55,0.00,0.000,4,0.000,0.073,2489,727,3430
$GC,4731,-1.16,-146.6,596.4,-10.4,223,4737,0.00,2.47,0.00,0.000,6,0.000,0.053,2489,2122,3430
$GC,5047,-1.16,-146.6,627.8,-11.4,239,5051,0.00,2.55,0.00,0.000,4,0.000,0.072,2489,729,3430
$GC,5132,-1.16,-146.6,636.5,-10.2,243,5136,0.00,2.42,0.00,0.000,6,0.000,0.055,2489,2106,3430
$GC,5464,-1.16,-146.6,665.5,-8.5,259,5469,0.00,2.55,0.00,0.000,4,0.000,0.077,2489,725,3429
$GC,5506,-1.21,-146.6,668.7,-7.1,261,5510,0.00,2.42,0.00,0.000,6,0.000,0.057,2489,2087,3429
$GC,5833,-1.21,-146.6,693.1,-6.8,277,5837,0.00,2.53,0.00,0.000,4,0.000,0.076,2489,720,3428
$GC,5861,-1.21,-146.6,694.8,-6.2,278,5866,0.00,2.42,0.00,0.000,6,0.000,0.055,2489,2080,3428
$GC,6182,-1.21,-146.6,721.3,-9.7,294,6187,0.00,2.70,0.00,0.000,4,0.000,0.081,2489,3540,3427
$GC,6233,-1.21,-146.6,726.9,-11.0,296,6237,0.00,2.65,0.00,0.000,6,0.000,0.064,2489,2084,3427
$GC,6549,-1.21,-146.6,763.2,-12.8,311,6554,0.00,2.70,0.00,0.000,4,0.000,0.081,2489,3535,3426
$GC,6589,-1.21,-146.6,768.2,-13.0,313,6593,0.00,2.65,0.00,0.000,6,0.000,0.065,2489,2080,3426
$GC,6916,-1.21,-146.6,791.8,-5.6,329,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2053,3426
$GC,7224,-1.21,-146.6,824.6,-14.3,344,7229,0.00,2.72,0.00,0.000,4,0.000,0.078,2489,3535,3425
$GC,7269,-1.21,-146.6,829.9,-10.2,346,7273,0.00,2.65,0.00,0.000,6,0.000,0.067,2489,2083,3425
$GC,7590,-1.21,-146.6,846.3,-4.9,362,7595,0.00,2.75,0.00,0.000,4,0.000,0.085,2489,3534,3424
$GC,7658,-1.21,-146.6,850.7,-7.4,365,7662,0.00,2.60,0.00,0.000,6,0.000,0.066,2489,2101,3424
$GC,7980,-1.59,-146.6,857.8,0.0,381,7985,0.38,2.70,0.00,0.000,4,0.057,0.084,2393,3533,3423
$GC,8102,-1.54,-146.6,857.9,0.5,386,8107,0.00,3.00,0.00,0.000,6,0.000,0.143,2393,2125,3421
$STATE,8168,end dive,NO_VERTICAL_VELOCITY
$STATE,8168,begin apogee
$GC,8175,-0.33,0.0,858.0,0.0,389,8311,1.27,0.00,128.48,1.447,6,0.071,0.000,2673,1882,2830
$STATE,8312,end apogee,CONTROL_FINISHED_OK
$STATE,8312,begin climb
$GC,8315,1.22,146.6,857.6,0.0,396,8454,1.58,2.80,128.73,1.405,4,0.061,0.080,3011,3337,2233
$GC,8698,1.08,146.6,838.8,8.1,413,8705,0.17,2.62,0.00,0.000,6,0.107,0.072,2979,1936,2232
$GC,9014,0.98,146.6,812.0,11.4,429,9019,0.00,2.67,0.00,0.000,4,0.000,0.088,2980,512,2231
$GC,9042,0.83,146.6,808.7,12.8,430,9048,0.28,2.58,0.00,0.000,6,0.096,0.064,2925,1918,2231
$GC,9359,1.06,232.0,787.6,4.9,445,9440,0.17,0.00,74.53,1.394,6,0.057,0.000,2975,1935,1885
$GC,9750,1.14,284.0,762.8,6.1,464,9799,0.00,0.00,46.47,1.368,6,0.000,0.000,2975,1935,1673
$GC,10100,1.18,312.3,743.4,7.0,481,10134,0.12,2.78,26.40,1.331,4,0.064,0.086,3005,512,1556
$GC,10202,1.10,312.3,732.9,11.6,485,10209,0.00,2.55,0.00,0.000,6,0.000,0.063,3005,1903,1556
$GC,10519,1.05,312.3,699.8,10.5,501,10524,0.15,2.67,0.00,0.000,4,0.097,0.083,2976,506,1556
$GC,10575,1.05,312.3,693.5,10.7,503,10581,0.00,2.47,0.00,0.000,6,0.000,0.062,2977,1865,1556
$GC,10891,1.10,312.3,658.8,10.8,519,10896,0.00,2.58,0.00,0.000,4,0.000,0.085,2976,510,1556
$GC,10919,1.10,312.3,655.5,10.7,520,10923,0.00,2.45,0.00,0.000,6,0.000,0.061,2977,1862,1556
$GC,11235,1.15,312.3,624.3,10.0,535,11239,0.00,2.55,0.00,0.000,4,0.000,0.081,2977,510,1556
$GC,11292,1.15,312.3,618.4,10.5,537,11298,0.00,2.40,0.00,0.000,6,0.000,0.058,2977,1843,1556
$GC,11608,1.20,312.3,586.9,10.6,553,11613,0.12,2.53,0.00,0.000,4,0.060,0.079,3009,508,1557
$GC,11664,1.12,312.3,579.1,13.9,555,11671,0.00,2.33,0.00,0.000,6,0.000,0.058,3009,1816,1557
$GC,11981,1.08,312.3,538.2,13.8,571,11986,0.15,2.75,0.00,0.000,4,0.092,0.067,2979,3327,1557
$GC,12004,1.12,312.3,535.0,13.4,572,12008,0.00,2.78,0.00,0.000,6,0.000,0.064,2979,1810,1557
$GC,12325,1.18,312.3,497.9,11.7,588,12330,0.10,2.38,0.00,0.000,4,0.063,0.078,3007,512,1557
$GC,12353,1.18,312.3,494.1,13.2,589,12357,0.00,2.33,0.00,0.000,6,0.000,0.054,3007,1824,1557
$GC,12668,1.18,312.3,453.1,12.7,604,12669,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1838,1558
$GC,12978,1.18,312.3,416.4,11.6,619,12979,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1838,1558
$GC,13287,1.18,312.3,379.7,12.0,634,13288,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1838,1558
$GC,13596,1.18,312.3,343.5,11.8,649,13597,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1838,1559
$GC,13906,1.18,312.3,307.7,11.7,664,13907,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1838,1560
$GC,14215,1.18,312.3,270.3,12.3,679,14219,0.00,2.42,0.00,0.000,4,0.000,0.076,3006,512,1560
$GC,14238,1.18,312.3,267.4,12.7,680,14242,0.00,2.30,0.00,0.000,6,0.000,0.051,3007,1820,1561
$GC,14565,1.18,312.3,227.6,11.6,696,14570,0.00,2.70,0.00,0.000,4,0.000,0.065,3007,3332,1561
$GC,14588,1.18,312.3,224.7,11.9,697,14593,0.00,2.72,0.00,0.000,6,0.000,0.057,3007,1818,1562
$GC,14909,1.18,312.3,189.4,11.0,713,14913,0.00,2.75,0.00,0.000,4,0.000,0.063,3007,3337,1562
$GC,14936,1.18,312.3,186.2,10.9,714,14941,0.00,2.70,0.00,0.000,6,0.000,0.056,3007,1830,1562
$GC,15252,1.18,312.3,151.9,10.4,729,15257,0.00,2.72,0.00,0.000,4,0.000,0.062,3006,3337,1563
$GC,15302,1.24,312.3,146.8,10.1,731,15307,0.00,2.67,0.00,0.000,6,0.000,0.057,3007,1838,1563
$GC,15618,1.24,312.3,118.5,9.5,746,15623,0.00,2.40,0.00,0.000,4,0.000,0.073,3007,512,1564
$GC,15641,1.24,312.3,115.6,12.3,747,15645,0.00,2.35,0.00,0.000,6,0.000,0.048,3007,1854,1563
$GC,15963,1.24,312.3,78.4,11.3,763,15964,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1868,1564
$GC,16273,1.24,312.3,44.0,9.9,778,16277,0.00,2.45,0.00,0.000,4,0.000,0.072,3007,511,1564
$GC,16306,1.24,312.3,40.4,10.4,779,16313,0.00,2.33,0.00,0.000,6,0.000,0.048,3007,1851,1564
$GC,16623,1.29,312.3,12.4,8.6,795,16627,0.00,2.45,0.00,0.000,4,0.000,0.071,3007,509,1564
$GC,16672,1.29,312.3,7.7,8.4,797,16677,0.00,2.30,0.00,0.000,6,0.000,0.048,3007,1829,1564
$STATE,16738,end climb,SURFACE_DEPTH_REACHED
$STATE,16738,begin surface coast
$FINISH,0.5,1.012612
$STATE,16760,end surface coast,CONTROL_FINISHED_OK
$STATE,16760,begin surface
$SM_CCo,16844,0.00,0.000,0,0,1564,310.80
$SM_GC,1.22,11.15,0.00,0.00,0.035,0.000,0.000,417,2152,1564,-10.60,0.65,310.80
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1842
$TCM_TEMP,17.90
$XPDR_PINGS,55
$ALTIM_BOTTOM_PING,795.4,75.0
$24V_AH,23.7,10.538
$10V_AH,10.1,4.970
$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,27.175,169.875,404.600,0.000,0.000,37.762,46.163,138.397,21.000,0.000,0.000,34.716,1514.008,12739.796,552.107,1869.403,531.701,33.354,1508.512,0.000,1801.033,0.000,51.170,0.000
$DEVICE_MAMPS,152.633,142.662,1446.562,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,550.101,597.643,449.127,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41163,801
$CAP_FILE_SIZE,132993,0
$CFSIZE,254472192,249126912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,58,0,0
$GPS,050909,181106,6143.718,-928.043,42,1.0,42,-9.5