version: 66.04
glider: 5
mission: 7
dive: 52
start: 9 5 109 18 17 41
data:
$ID,5
$MISSION,7
$DIVE,52
$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,-101252.09
$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,20
$R_STBD_OVSHOOT,30
$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
$GPS1,181106,6143.718,-928.043,42,1.0,42,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-63.2
$GPS2,181650,6143.681,-928.043,12,1.2,12,-9.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.187,0.159
$KALMAN_X,-69747.9,132.9,81.2,27099.9,-14173.3
$KALMAN_Y,23947.6,1033.1,595.8,-12508.3,-5984.4
$MHEAD_RNG_PITCHd_Wd,59.1,11691,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.60,0.000,2,0.000,0.000,416,2155,2445
$GC,63,-1.22,-146.6,2.0,-2.5,2,121,11.15,2.62,-40.97,0.000,4,0.155,0.074,2469,718,3428
$GC,375,-1.12,-146.6,38.5,-13.0,15,380,0.15,2.47,0.00,0.000,6,0.107,0.046,2499,2125,3429
$GC,698,-1.07,-146.6,67.1,-9.6,31,703,0.00,2.55,0.00,0.000,4,0.000,0.064,2499,710,3430
$GC,883,-1.07,-146.6,86.5,-10.3,39,887,0.00,2.47,0.00,0.000,6,0.000,0.048,2499,2127,3430
$GC,1205,-1.07,-146.6,116.0,-9.2,55,1210,0.00,2.55,0.00,0.000,4,0.000,0.071,2499,3534,3431
$GC,1233,-1.07,-146.6,118.7,-9.6,56,1238,0.00,2.53,0.00,0.000,6,0.000,0.050,2499,2104,3431
$GC,1550,-1.07,-146.6,148.4,-9.3,71,1554,0.00,2.62,0.00,0.000,4,0.000,0.068,2499,3537,3431
$GC,1612,-1.07,-146.6,154.3,-9.0,74,1616,0.00,2.50,0.00,0.000,6,0.000,0.050,2499,2122,3431
$GC,1938,-1.07,-146.6,183.1,-8.9,90,1943,0.00,2.60,0.00,0.000,4,0.000,0.068,2499,3539,3431
$GC,1983,-1.07,-146.6,187.4,-9.4,92,1987,0.00,2.47,0.00,0.000,6,0.000,0.051,2498,2141,3431
$GC,2304,-1.07,-146.6,217.8,-9.6,108,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2127,3431
$GC,2613,-1.07,-146.6,249.7,-10.0,123,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2127,3431
$GC,2922,-1.07,-146.6,280.2,-9.3,138,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2127,3431
$GC,3232,-1.07,-146.6,308.3,-9.5,153,3236,0.00,2.53,0.00,0.000,4,0.000,0.070,2499,723,3430
$GC,3264,-1.07,-146.6,311.7,-10.4,154,3270,0.00,2.50,0.00,0.000,6,0.000,0.050,2499,2141,3431
$GC,3580,-1.07,-146.6,341.2,-9.3,170,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2142,3430
$GC,3890,-1.07,-146.6,369.5,-9.1,185,3894,0.00,2.58,0.00,0.000,4,0.000,0.069,2499,722,3430
$GC,3951,-1.07,-146.6,375.2,-9.2,187,3957,0.00,2.50,0.00,0.000,6,0.000,0.051,2499,2144,3430
$GC,4267,-1.07,-146.6,405.5,-10.2,203,4271,0.00,2.58,0.00,0.000,4,0.000,0.067,2499,724,3430
$GC,4299,-1.07,-146.6,409.1,-10.9,204,4306,0.00,2.47,0.00,0.000,6,0.000,0.051,2499,2131,3429
$GC,4615,-1.07,-146.6,442.7,-10.9,220,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2131,3429
$GC,4925,-1.07,-146.6,474.8,-10.3,235,4929,0.00,2.55,0.00,0.000,4,0.000,0.067,2499,722,3429
$GC,4980,-1.07,-146.6,480.7,-10.2,237,4986,0.00,2.47,0.00,0.000,6,0.000,0.051,2499,2130,3429
$GC,5296,-1.07,-146.6,510.1,-8.9,253,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2130,3429
$GC,5605,-1.07,-146.6,537.3,-8.6,268,5609,0.00,2.55,0.00,0.000,4,0.000,0.069,2499,724,3428
$GC,5650,-1.12,-146.6,541.0,-8.7,270,5654,0.00,2.45,0.00,0.000,6,0.000,0.053,2499,2115,3429
$GC,5971,-1.12,-146.6,562.6,-6.7,286,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2116,3428
$GC,6280,-1.12,-146.6,587.2,-8.4,301,6284,0.00,2.53,0.00,0.000,4,0.000,0.070,2499,724,3428
$GC,6337,-1.16,-146.6,592.0,-8.9,303,6343,0.00,2.47,0.00,0.000,6,0.000,0.051,2498,2127,3428
$GC,6652,-1.16,-146.6,617.4,-8.7,319,6657,0.00,2.58,0.00,0.000,4,0.000,0.074,2499,718,3428
$GC,6709,-1.21,-146.6,622.9,-10.0,321,6715,0.00,2.45,0.00,0.000,6,0.000,0.054,2499,2109,3427
$GC,7025,-1.21,-146.6,650.7,-8.1,337,7029,0.00,2.53,0.00,0.000,4,0.000,0.072,2499,724,3428
$GC,7081,-1.25,-146.6,654.9,-7.4,339,7088,0.12,2.42,0.00,0.000,6,0.057,0.054,2463,2097,3427
$GC,7397,-1.18,-146.6,685.6,-11.4,355,7399,0.12,0.00,0.00,0.000,6,0.100,0.000,2487,2097,3427
$GC,7706,-1.18,-146.6,711.8,-7.4,370,7711,0.00,2.65,0.00,0.000,4,0.000,0.079,2488,3535,3426
$GC,7757,-1.18,-146.6,715.8,-7.7,372,7762,0.00,2.58,0.00,0.000,6,0.000,0.062,2487,2102,3426
$GC,8073,-1.18,-146.6,737.5,-6.6,387,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2088,3426
$GC,8382,-1.18,-146.6,760.8,-8.5,402,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2088,3425
$GC,8691,-1.18,-146.6,785.6,-9.1,417,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2088,3425
$GC,9001,-1.18,-146.6,815.6,-13.5,432,9002,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2076,3423
$GC,9311,-1.11,-146.6,848.7,-7.6,447,9315,0.00,2.70,0.00,0.000,6,0.000,0.082,2488,3530,3424
$STATE,9316,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9316,begin apogee
$GC,9326,-0.33,0.0,849.7,6.9,447,9462,0.82,0.00,128.20,1.420,6,0.087,0.000,2666,1912,2831
$STATE,9463,end apogee,CONTROL_FINISHED_OK
$STATE,9463,begin climb
$GC,9466,1.22,146.6,855.1,0.0,454,9603,1.58,2.72,127.95,1.384,4,0.065,0.085,3009,514,2233
$GC,9719,1.12,222.8,844.3,5.2,465,9792,0.00,2.58,66.75,1.347,6,0.000,0.062,3009,1942,1923
$GC,10114,1.02,222.8,807.2,8.6,485,10119,0.17,2.72,0.00,0.000,4,0.100,0.087,2973,514,1922
$GC,10155,1.00,231.8,803.9,7.7,487,10170,0.00,2.53,9.82,1.179,6,0.000,0.064,2973,1895,1885
$GC,10481,1.00,231.8,768.3,12.2,502,10485,0.00,2.65,0.00,0.000,4,0.000,0.089,2973,510,1885
$GC,10521,0.95,231.8,762.2,16.2,504,10525,0.00,2.55,0.00,0.000,6,0.000,0.065,2973,1903,1885
$GC,10847,0.95,231.8,716.7,14.6,520,10852,0.00,2.65,0.00,0.000,4,0.000,0.087,2973,514,1884
$GC,10891,0.95,231.8,710.1,14.4,522,10896,0.00,2.50,0.00,0.000,6,0.000,0.063,2973,1891,1884
$GC,11213,0.95,231.8,675.1,8.9,538,11218,0.00,2.62,0.00,0.000,4,0.000,0.085,2973,510,1883
$GC,11268,0.95,231.8,669.7,10.3,540,11275,0.00,2.47,0.00,0.000,6,0.000,0.060,2973,1879,1883
$GC,11585,0.96,238.6,644.0,7.8,556,11593,0.00,0.00,7.03,1.080,6,0.000,0.000,2973,1894,1858
$GC,11894,1.08,310.8,624.8,5.4,571,11964,0.00,2.70,62.35,1.283,4,0.000,0.081,2973,513,1563
$GC,12004,1.20,385.6,618.9,5.3,576,12075,0.15,2.45,64.62,1.254,6,0.057,0.059,3010,1878,1259
$GC,12392,1.24,412.8,594.3,7.0,595,12422,0.00,2.62,25.15,1.193,4,0.000,0.082,3010,514,1148
$GC,12496,1.26,421.4,586.2,7.7,599,12511,0.00,2.38,9.18,1.065,6,0.000,0.057,3010,1827,1113
$GC,12835,1.37,489.8,564.4,5.5,616,12897,0.15,0.00,59.72,1.201,6,0.056,0.000,3048,1841,834
$GC,13206,1.26,489.8,522.2,12.1,634,13211,0.15,2.47,0.00,0.000,4,0.092,0.080,3020,513,835
$GC,13228,1.17,489.8,519.6,10.9,635,13232,0.00,2.35,0.00,0.000,6,0.000,0.053,3020,1825,835
$GC,13550,1.22,527.3,497.8,6.6,651,13588,0.00,0.00,33.53,1.131,6,0.000,0.000,3019,1839,681
$GC,13898,1.22,527.3,470.8,8.5,668,13902,0.00,2.45,0.00,0.000,4,0.000,0.077,3020,511,682
$GC,13925,1.22,527.3,468.1,9.2,669,13929,0.00,2.33,0.00,0.000,6,0.000,0.053,3019,1817,682
$GC,14247,1.22,527.3,436.4,11.0,685,14248,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1831,683
$GC,14556,1.22,527.3,397.8,12.7,700,14560,0.00,2.42,0.00,0.000,4,0.000,0.075,3019,512,683
$GC,14600,1.22,527.3,391.9,11.9,702,14604,0.00,2.30,0.00,0.000,6,0.000,0.051,3019,1811,684
$GC,14921,1.22,527.3,352.1,12.8,718,14922,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1826,683
$GC,15230,1.22,527.3,312.1,13.5,733,15234,0.00,2.40,0.00,0.000,4,0.000,0.074,3019,510,684
$GC,15263,1.22,527.3,307.5,13.3,734,15269,0.00,2.30,0.00,0.000,6,0.000,0.051,3019,1812,684
$GC,15579,1.22,527.3,268.9,11.9,750,15580,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1827,685
$GC,15888,1.22,527.3,232.5,11.9,765,15892,0.00,2.40,0.00,0.000,4,0.000,0.073,3019,510,685
$GC,15921,1.22,527.3,228.3,11.6,766,15927,0.00,2.28,0.00,0.000,6,0.000,0.051,3019,1804,685
$GC,16237,1.22,527.3,190.6,12.5,782,16238,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1819,685
$GC,16546,1.22,527.3,154.0,11.6,797,16547,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1819,685
$GC,16856,1.22,527.3,122.5,9.3,812,16857,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1819,685
$GC,17166,1.40,606.6,102.1,5.1,827,17228,0.12,0.00,59.60,0.862,6,0.054,0.000,3055,1818,390
$GC,17536,1.32,606.6,50.1,16.2,845,17546,0.12,2.75,3.53,0.510,4,0.089,0.062,3030,3315,390
$GC,17563,1.32,606.6,45.6,13.6,846,17567,0.00,2.72,0.00,0.000,6,0.000,0.056,3030,1803,390
$GC,17884,1.32,606.6,5.2,13.8,862,17888,0.00,0.00,1.67,0.134,6,0.000,0.000,3031,1803,390
$STATE,17902,end climb,SURFACE_DEPTH_REACHED
$STATE,17902,begin surface coast
$FINISH,0.6,1.026787
$STATE,17924,end surface coast,CONTROL_FINISHED_OK
$STATE,17924,begin surface
$SM_CCo,18008,0.00,0.000,0,0,390,598.78
$SM_GC,1.24,11.30,0.00,0.00,0.035,0.000,0.000,426,2117,390,-10.58,-0.40,598.78
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1830
$TCM_TEMP,16.50
$XPDR_PINGS,62
$ALTIM_BOTTOM_PING,820.5,38.9
$24V_AH,23.7,10.787
$10V_AH,10.1,5.053
$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,26.125,142.350,659.100,0.000,0.000,37.759,36.049,147.056,23.250,0.000,0.000,12.909,1552.520,13643.725,726.124,1895.922,531.114,33.358,1730.039,0.000,1851.260,0.000,55.505,0.000
$DEVICE_MAMPS,154.934,88.972,1420.484,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,591.092,644.176,485.117,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44181,864
$CAP_FILE_SIZE,131210,0
$CFSIZE,254472192,249061376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,48,0,0
$GPS,050909,231907,6146.220,-928.603,41,0.9,41,-9.6