version: 66.04
glider: 5
mission: 7
dive: 53
start: 9 5 109 23 25 32
data:
$ID,5
$MISSION,7
$DIVE,53
$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,550
$T_MISSION,560
$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,-101266.52
$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,19
$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
$GPS1,231907,6146.220,-928.603,41,0.9,41,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-56.4
$GPS2,232438,6146.232,-928.608,13,1.5,13,-9.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.154,0.159
$KALMAN_X,-76011.8,857.9,1303.2,30867.6,-20337.5
$KALMAN_Y,26119.2,282.8,589.1,-9214.0,-2401.7
$MHEAD_RNG_PITCHd_Wd,53.6,12145,-11.0,-6.000
$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,16,-0.97,-146.6,0.0,0.0,0,119,0.00,0.00,-101.30,0.000,2,0.000,0.000,426,2120,2532
$GC,123,-0.97,-146.6,2.2,-1.2,5,177,11.48,2.55,-35.80,0.000,4,0.158,0.071,2525,715,3428
$GC,184,-0.74,-146.6,5.5,-8.7,8,190,0.28,2.47,0.00,0.000,6,0.077,0.044,2584,2128,3428
$GC,512,-0.74,-146.6,31.1,-6.7,24,516,0.00,2.55,0.00,0.000,4,0.000,0.061,2584,710,3427
$GC,764,-0.83,-146.6,50.5,-7.2,35,768,0.00,2.47,0.00,0.000,6,0.000,0.044,2584,2131,3427
$GC,1081,-0.87,-146.6,69.7,-5.5,50,1083,0.15,0.00,0.00,0.000,6,0.048,0.000,2539,2131,3427
$GC,1391,-0.79,-146.6,95.9,-8.8,65,1396,0.15,2.58,0.00,0.000,4,0.077,0.061,2572,712,3428
$GC,1509,-0.85,-146.6,104.9,-6.9,70,1513,0.00,2.47,0.00,0.000,6,0.000,0.048,2572,2125,3428
$GC,1827,-0.85,-146.6,124.1,-5.2,85,1832,0.00,2.58,0.00,0.000,4,0.000,0.071,2572,3540,3428
$GC,1868,-0.85,-146.6,126.6,-6.5,87,1872,0.00,2.58,0.00,0.000,6,0.000,0.051,2572,2084,3428
$GC,2196,-0.85,-146.6,146.3,-6.8,103,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2071,3428
$GC,2504,-0.85,-146.6,169.2,-7.5,118,2508,0.00,2.65,0.00,0.000,4,0.000,0.069,2572,3529,3427
$GC,2553,-0.85,-146.6,173.4,-8.0,120,2558,0.00,2.53,0.00,0.000,6,0.000,0.052,2572,2104,3428
$GC,2869,-0.85,-146.6,198.7,-8.3,135,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2092,3428
$GC,3179,-0.85,-146.6,224.7,-8.6,150,3183,0.00,2.62,0.00,0.000,4,0.000,0.069,2572,3535,3427
$GC,3211,-0.85,-146.6,227.5,-8.8,151,3217,0.00,2.53,0.00,0.000,6,0.000,0.054,2572,2113,3427
$GC,3527,-0.85,-146.6,253.9,-8.3,167,3531,0.00,2.60,0.00,0.000,4,0.000,0.069,2573,3530,3427
$GC,3560,-0.85,-146.6,256.9,-9.0,168,3566,0.00,2.50,0.00,0.000,6,0.000,0.054,2572,2121,3426
$GC,3876,-0.85,-146.6,282.5,-8.0,184,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2109,3426
$GC,4185,-0.85,-146.6,309.0,-9.0,199,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2109,3426
$GC,4494,-0.85,-146.6,338.9,-9.8,214,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2108,3426
$GC,4804,-0.85,-146.6,368.9,-9.6,229,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2107,3425
$GC,5114,-0.85,-146.6,396.4,-8.5,244,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2107,3426
$GC,5422,-0.85,-146.6,422.8,-8.4,259,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2107,3425
$GC,5732,-0.89,-146.6,449.6,-9.2,274,5736,0.00,2.50,0.00,0.000,4,0.000,0.069,2573,722,3425
$GC,5776,-0.97,-146.6,454.1,-10.3,276,5781,0.17,2.45,0.00,0.000,6,0.050,0.051,2521,2116,3425
$GC,6098,-0.88,-146.6,494.1,-13.3,292,6103,0.15,2.55,0.00,0.000,4,0.079,0.067,2554,722,3424
$GC,6131,-0.88,-146.6,498.5,-12.7,293,6137,0.00,2.45,0.00,0.000,6,0.000,0.051,2553,2116,3424
$GC,6447,-0.88,-146.6,535.3,-12.2,309,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2117,3424
$GC,6756,-0.88,-146.6,578.4,-14.3,324,6760,0.00,2.53,0.00,0.000,4,0.000,0.069,2554,725,3424
$GC,6806,-0.88,-146.6,585.8,-14.9,326,6810,0.00,2.42,0.00,0.000,6,0.000,0.052,2553,2102,3424
$GC,7122,-0.88,-146.6,635.3,-16.0,341,7127,0.00,2.53,0.00,0.000,4,0.000,0.074,2553,721,3424
$GC,7239,-0.88,-146.6,652.3,-13.5,346,7244,0.00,2.40,0.00,0.000,6,0.000,0.053,2553,2079,3424
$GC,7556,-0.88,-146.6,682.1,-6.8,361,7560,0.00,2.50,0.00,0.000,4,0.000,0.074,2553,720,3424
$GC,7606,-0.88,-146.6,685.0,-5.2,363,7611,0.00,2.42,0.00,0.000,6,0.000,0.056,2553,2087,3424
$GC,7923,-0.88,-146.6,691.0,-0.2,378,7926,0.00,2.50,0.00,0.000,4,0.000,0.074,2553,718,3423
$GC,7974,-0.93,-146.6,691.6,-1.2,380,7978,0.00,2.40,0.00,0.000,6,0.000,0.056,2553,2068,3423
$GC,8296,-0.93,-146.6,703.7,-5.7,396,8300,0.00,2.70,0.00,0.000,4,0.000,0.079,2554,3530,3423
$GC,8335,-0.93,-146.6,706.4,-7.5,398,8340,0.00,2.62,0.00,0.000,6,0.000,0.064,2554,2066,3422
$GC,8662,-0.93,-146.6,730.8,-8.5,414,8666,0.00,2.45,0.00,0.000,4,0.000,0.081,2554,728,3422
$GC,8689,-0.97,-146.6,733.1,-8.6,415,8693,0.00,2.40,0.00,0.000,6,0.000,0.059,2553,2068,3422
$GC,9005,-0.97,-146.6,758.9,-8.8,430,9009,0.00,2.50,0.00,0.000,4,0.000,0.082,2553,719,3421
$GC,9061,-1.03,-146.6,764.4,-10.9,432,9066,0.15,2.40,0.00,0.000,6,0.056,0.061,2513,2056,3421
$GC,9377,-0.92,-146.6,792.2,-8.1,447,9382,0.15,2.75,0.00,0.000,4,0.100,0.087,2543,3529,3420
$GC,9433,-0.92,-146.6,798.1,-7.9,449,9440,0.00,2.72,0.00,0.000,6,0.000,0.076,2543,2064,3419
$GC,9750,-0.92,-146.6,824.5,-11.6,465,9754,0.00,2.78,0.00,0.000,4,0.000,0.087,2543,3527,3418
$GC,9777,-0.92,-146.6,826.8,-7.6,466,9781,0.00,2.72,0.00,0.000,6,0.000,0.074,2543,2047,3419
$STATE,9966,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9966,begin apogee
$GC,9973,-0.33,0.0,841.1,8.3,475,10108,0.60,0.00,127.22,1.442,6,0.076,0.000,2672,1911,2831
$STATE,10109,end apogee,CONTROL_FINISHED_OK
$STATE,10109,begin climb
$GC,10112,0.97,146.6,847.0,0.0,482,10251,1.30,2.78,128.68,1.402,4,0.066,0.078,2954,3325,2233
$GC,10310,0.52,146.6,858.9,7.0,491,10315,0.47,2.65,0.00,0.000,6,0.111,0.075,2861,1923,2233
$GC,10635,0.87,313.1,843.2,1.4,507,10792,0.30,2.72,147.15,1.395,4,0.054,0.083,2938,3318,1554
$GC,10945,0.93,313.1,803.0,12.0,521,10950,0.00,2.88,0.00,0.000,6,0.000,0.080,2938,1807,1554
$GC,11262,1.07,402.1,777.4,3.6,536,11348,0.17,3.00,79.25,1.370,4,0.059,0.082,2981,3320,1191
$GC,11405,1.07,402.1,765.1,8.9,542,11411,0.00,2.85,0.00,0.000,6,0.000,0.084,2981,1837,1191
$GC,11721,0.96,402.1,742.5,6.0,558,11726,0.15,2.55,0.00,0.000,4,0.097,0.098,2952,511,1192
$GC,11749,1.01,435.2,741.0,5.1,559,11784,0.00,2.45,30.50,1.339,6,0.000,0.069,2952,1851,1056
$GC,12109,1.29,606.5,736.1,1.3,577,12264,0.30,2.70,143.85,1.371,4,0.054,0.093,3026,507,390
$GC,12304,1.12,606.5,715.3,12.9,586,12314,0.20,2.42,2.58,0.484,6,0.092,0.071,2988,1817,390
$GC,12630,1.12,606.5,677.3,13.3,602,12639,0.00,2.55,3.03,0.637,4,0.000,0.089,2988,513,390
$GC,12679,1.12,606.5,670.2,14.9,604,12684,0.00,2.35,0.08,0.178,6,0.000,0.062,2988,1799,390
$GC,13000,1.12,606.5,623.1,15.0,620,13009,0.00,2.50,2.47,0.447,4,0.000,0.087,2988,511,390
$GC,13039,1.12,606.5,617.2,15.0,621,13045,0.00,2.33,0.00,0.000,6,0.000,0.061,2988,1794,390
$GC,13355,1.12,606.5,576.0,12.3,637,13359,0.00,2.45,0.03,0.262,4,0.000,0.083,2988,505,391
$GC,13393,1.12,606.5,571.1,12.9,638,13400,0.00,2.28,0.10,0.169,6,0.000,0.060,2988,1771,391
$GC,13709,1.12,606.5,533.6,11.8,654,13713,0.00,0.00,2.30,0.351,6,0.000,0.000,2989,1787,390
$GC,14019,1.16,606.5,497.2,11.3,669,14023,0.00,2.38,0.08,0.176,4,0.000,0.077,2988,511,391
$GC,14064,1.16,606.5,491.6,12.1,671,14069,0.00,2.22,0.05,0.190,6,0.000,0.054,2988,1766,391
$GC,14391,1.16,606.5,455.1,11.2,687,14395,0.00,0.00,2.30,0.337,6,0.000,0.000,2989,1781,389
$GC,14700,1.22,606.5,422.5,10.5,702,14705,0.00,2.35,0.05,0.189,4,0.000,0.077,2988,505,390
$GC,14723,1.22,606.5,420.0,10.9,703,14727,0.00,2.22,0.00,0.000,6,0.000,0.054,2988,1763,391
$GC,15050,1.28,606.5,386.1,10.0,719,15053,0.17,0.00,0.12,0.158,6,0.048,0.000,3035,1780,390
$GC,15359,1.09,606.5,333.0,17.8,734,15364,0.28,0.00,2.25,0.297,6,0.080,0.000,2978,1780,390
$GC,15669,1.22,606.5,301.4,9.2,749,15674,0.15,2.33,0.03,0.165,4,0.047,0.075,3021,508,390
$GC,15702,1.18,606.5,297.2,13.5,750,15706,0.00,2.17,0.00,0.000,6,0.000,0.051,3021,1745,390
$GC,16018,1.04,606.5,246.0,17.5,765,16027,0.22,2.83,0.90,0.145,4,0.081,0.062,2973,3322,391
$GC,16050,1.15,606.5,241.6,11.6,766,16056,0.12,2.88,0.12,0.154,6,0.050,0.060,3011,1734,391
$GC,16369,1.09,606.5,196.0,15.5,781,16372,0.15,0.00,0.12,0.154,6,0.081,0.000,2979,1734,391
$GC,16676,1.22,606.5,164.3,9.2,796,16686,0.15,2.92,2.33,0.306,4,0.048,0.061,3022,3324,390
$GC,16703,1.30,606.5,160.7,13.7,797,16708,0.00,2.85,0.00,0.000,6,0.000,0.058,3022,1747,390
$GC,17025,1.19,606.5,110.4,14.8,813,17029,0.00,2.25,0.00,0.000,4,0.000,0.075,3022,508,390
$GC,17047,1.07,606.5,106.7,15.1,814,17052,0.22,2.20,0.00,0.000,6,0.077,0.049,2976,1762,390
$GC,17370,1.24,606.5,82.2,6.1,830,17376,0.17,2.80,0.05,0.141,4,0.045,0.061,3029,3327,390
$GC,17394,1.36,606.5,80.1,8.2,831,17399,0.00,2.83,0.00,0.000,6,0.000,0.058,3029,1757,390
$GC,17716,1.24,606.5,40.6,13.3,847,17720,0.00,2.28,0.00,0.000,4,0.000,0.074,3029,503,390
$GC,17738,1.12,606.5,37.3,12.7,848,17743,0.20,2.25,0.00,0.000,6,0.077,0.047,2988,1790,390
$GC,18060,1.29,606.5,13.8,6.4,864,18066,0.17,2.72,0.22,0.137,4,0.044,0.059,3037,3323,391
$GC,18081,1.44,625.4,12.6,5.5,865,18086,0.10,2.78,0.00,0.000,6,0.053,0.053,3071,1767,391
$STATE,18160,end climb,SURFACE_DEPTH_REACHED
$STATE,18160,begin surface coast
$FINISH,0.6,1.026771
$STATE,18180,end surface coast,CONTROL_FINISHED_OK
$STATE,18180,begin surface
$SM_CCo,18264,0.00,0.000,0,0,390,598.78
$SM_GC,1.13,11.43,0.00,0.00,0.034,0.000,0.000,418,2131,390,-10.60,0.03,598.78
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1826
$TCM_TEMP,17.80
$XPDR_PINGS,68
$ALTIM_BOTTOM_PING,795.0,54.1
$24V_AH,23.7,11.061
$10V_AH,10.0,5.140
$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,29.725,178.900,675.850,0.000,0.000,37.760,26.425,142.960,24.250,0.000,0.000,13.812,1622.814,13646.690,772.996,2008.001,544.345,33.361,1865.885,0.000,1954.903,0.000,51.092,0.000
$DEVICE_MAMPS,158.002,98.176,1441.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,595.980,645.941,538.444,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44359,870
$CAP_FILE_SIZE,148155,0
$CFSIZE,254472192,248979456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,55,0,0
$GPS,060909,043106,6146.310,-933.481,33,1.4,33,-9.6