version: 66.04
glider: 5
mission: 7
dive: 68
start: 9 9 109 5 27 12
data:
$ID,5
$MISSION,7
$DIVE,68
$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,-101539.99
$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,0.2
$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,42
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,300
$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,6
$XPDR_INHIBIT,9
$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
$GPS1,052154,6207.678,-941.883,41,1.2,41,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-60.2
$GPS2,052620,6207.682,-941.883,12,1.5,12,-9.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.201,-0.092
$KALMAN_X,-89147.4,226.0,266.2,33987.8,26694.8
$KALMAN_Y,45785.7,-1569.6,-1613.8,15068.7,47067.0
$MHEAD_RNG_PITCHd_Wd,255.2,47767,-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,15,-0.97,-146.6,0.0,0.0,0,69,0.00,0.00,-51.45,0.000,2,0.000,0.000,425,2133,2710
$GC,73,-0.97,-146.6,2.6,-2.9,3,116,11.48,2.55,-24.15,0.000,4,0.156,0.076,2527,3537,3430
$GC,211,-0.32,-146.6,20.9,-13.8,9,216,0.68,2.50,0.00,0.000,6,0.071,0.048,2675,2138,3430
$GC,539,-2.31,-146.6,44.2,-8.4,25,548,1.85,2.58,0.00,0.000,4,0.035,0.058,2218,711,3431
$GC,726,-2.31,-146.6,97.2,-29.6,33,731,0.12,2.45,0.00,0.000,6,0.116,0.044,2240,2098,3431
$GC,1051,-2.31,-146.6,184.0,-26.8,51,1055,0.00,2.47,0.00,0.000,4,0.000,0.058,2240,722,3432
$GC,1141,-2.31,-146.6,209.0,-27.9,56,1145,0.00,2.40,0.00,0.000,6,0.000,0.046,2240,2076,3432
$GC,1465,-2.31,-146.6,296.0,-27.9,76,1469,0.00,2.47,0.00,0.000,4,0.000,0.061,2240,714,3432
$GC,1500,-2.31,-146.6,307.1,-27.6,78,1504,0.00,2.42,0.00,0.000,6,0.000,0.048,2240,2078,3432
$GC,1822,-2.31,-146.6,394.6,-27.6,98,1826,0.00,2.47,0.00,0.000,4,0.000,0.063,2240,719,3432
$GC,1839,-2.31,-146.6,400.1,-26.9,99,1843,0.00,2.40,0.00,0.000,6,0.000,0.049,2240,2070,3432
$GC,2166,-2.31,-146.6,488.0,-27.3,120,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2070,3432
$GC,2476,-2.31,-146.6,569.8,-26.2,140,2481,0.00,2.67,0.00,0.000,4,0.000,0.071,2240,3538,3432
$GC,2510,-2.31,-146.6,578.6,-24.4,142,2515,0.00,2.65,0.00,0.000,6,0.000,0.059,2240,2073,3432
$GC,2838,-2.31,-146.6,650.8,-22.5,163,2842,0.00,2.72,0.00,0.000,4,0.000,0.072,2240,3538,3432
$GC,2860,-2.31,-146.6,656.6,-23.0,164,2866,0.00,2.67,0.00,0.000,6,0.000,0.060,2241,2064,3432
$STATE,3020,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3020,begin apogee
$GC,3027,-0.33,0.0,692.5,22.4,175,3163,2.10,0.00,130.27,1.257,6,0.100,0.000,2669,1899,2831
$STATE,3163,end apogee,CONTROL_FINISHED_OK
$STATE,3163,begin climb
$GC,3166,0.97,146.6,699.1,0.0,184,3303,1.30,0.00,130.27,1.225,6,0.066,0.000,2952,1899,2233
$GC,3616,0.36,146.6,674.6,6.5,213,3619,0.60,0.00,0.00,0.000,6,0.080,0.000,2826,1899,2232
$GC,3929,1.96,159.2,659.2,5.7,233,3949,1.48,2.72,12.43,1.122,4,0.040,0.069,3180,3322,2181
$GC,4096,-1.44,159.2,633.8,15.8,243,4105,3.62,2.55,0.00,0.000,6,0.097,0.067,2436,1950,2179
$GC,4429,-1.44,159.2,611.8,7.1,264,4433,0.00,2.65,0.00,0.000,4,0.000,0.081,2435,512,2179
$GC,4559,-1.44,159.2,602.9,6.7,272,4563,0.00,2.62,0.00,0.000,6,0.000,0.058,2435,1958,2178
$GC,4883,-1.44,159.2,582.2,7.3,293,4887,0.00,2.53,0.00,0.000,4,0.000,0.076,2435,3328,2177
$GC,4939,-1.44,159.2,578.1,7.9,296,4945,0.00,2.67,0.00,0.000,6,0.000,0.072,2435,1897,2177
$GC,5258,-1.44,159.2,551.8,9.4,317,5263,0.00,2.65,0.00,0.000,4,0.000,0.074,2435,3323,2177
$GC,5315,-1.44,159.2,545.7,10.8,320,5321,0.00,2.75,0.00,0.000,6,0.000,0.071,2435,1846,2176
$GC,5634,-1.44,159.2,517.8,8.2,341,5639,0.00,2.75,0.00,0.000,4,0.000,0.072,2434,3330,2176
$GC,5657,-1.44,159.2,515.6,9.1,342,5663,0.00,2.72,0.00,0.000,6,0.000,0.068,2434,1856,2176
$GC,5976,-1.44,159.2,487.4,9.1,363,5981,0.00,2.72,0.00,0.000,4,0.000,0.070,2434,3324,2176
$GC,6073,-1.44,159.2,478.2,10.9,369,6078,0.00,2.83,0.00,0.000,6,0.000,0.067,2434,1789,2176
$GC,6397,-1.44,159.2,447.7,9.4,390,6402,0.00,2.85,0.00,0.000,4,0.000,0.068,2434,3334,2176
$GC,6494,-1.44,159.2,438.7,10.1,396,6499,0.00,2.90,0.00,0.000,6,0.000,0.063,2434,1750,2176
$GC,6819,-1.44,159.2,411.1,8.2,417,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1750,2176
$GC,7131,-1.44,159.2,386.6,8.5,437,7135,0.00,2.28,0.00,0.000,4,0.000,0.075,2434,499,2176
$GC,7181,-1.44,159.2,382.1,9.7,440,7185,0.00,2.12,0.00,0.000,6,0.000,0.051,2433,1702,2176
$GC,7507,-1.44,159.2,354.9,8.7,461,7511,0.00,2.90,0.00,0.000,4,0.000,0.064,2434,3324,2177
$GC,7613,-1.44,159.2,344.6,9.3,467,7619,0.00,3.08,0.00,0.000,6,0.000,0.060,2434,1640,2177
$GC,7932,-1.44,159.2,313.3,10.1,488,7937,0.00,3.10,0.00,0.000,4,0.000,0.063,2433,3331,2177
$GC,7955,-1.44,159.2,310.9,11.4,489,7961,0.00,3.22,0.00,0.000,6,0.000,0.061,2433,1565,2177
$GC,8274,-1.44,159.2,278.2,10.2,510,8278,0.00,1.90,0.00,0.000,4,0.000,0.072,2433,500,2177
$GC,8302,-1.44,159.2,274.9,10.6,511,8308,0.00,1.90,0.00,0.000,6,0.000,0.051,2433,1598,2177
$GC,8622,-1.44,159.2,244.7,8.7,532,8625,0.00,1.98,0.00,0.000,4,0.000,0.070,2432,504,2178
$GC,8830,-1.44,159.2,226.3,8.3,544,8833,0.00,1.88,0.00,0.000,6,0.000,0.048,2433,1586,2178
$GC,9155,-1.44,159.2,202.1,7.2,565,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1602,2178
$GC,9467,-1.44,159.2,177.3,8.4,585,9470,0.00,1.98,0.00,0.000,4,0.000,0.067,2433,496,2179
$GC,9552,-1.44,159.2,169.2,9.9,590,9556,0.00,1.88,0.00,0.000,6,0.000,0.048,2432,1577,2179
$GC,9877,-1.44,159.2,140.5,8.8,609,9881,0.00,1.98,0.00,0.000,4,0.000,0.071,2432,499,2179
$GC,10014,-1.44,159.2,127.7,9.2,615,10018,0.00,1.88,0.00,0.000,6,0.000,0.048,2432,1580,2179
$GC,10349,3.06,159.2,97.7,10.3,631,10356,4.75,0.00,0.00,0.000,6,0.101,0.000,3408,1595,2179
$GC,10657,3.06,159.2,32.8,19.8,646,10662,0.00,3.10,0.00,0.000,4,0.000,0.054,3409,3330,2180
$GC,10769,3.06,159.2,11.2,19.9,651,10774,0.00,3.17,0.00,0.000,6,0.000,0.051,3409,1557,2180
$STATE,10821,end climb,SURFACE_DEPTH_REACHED
$STATE,10821,begin surface coast
$FINISH,0.7,1.014053
$STATE,10841,end surface coast,CONTROL_FINISHED_OK
$STATE,10842,begin surface
$SM_CCo,10867,74.65,0.780,0,0,1608,300.00
$SM_GC,1.20,0.00,0.00,74.65,0.000,0.000,0.780,417,2161,1608,-10.71,0.88,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1842
$TCM_TEMP,17.20
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,620.3,80.2
$24V_AH,23.8,14.175
$10V_AH,10.1,6.412
$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,40.950,113.000,272.975,74.650,0.000,37.759,27.693,101.507,11.250,0.000,0.000,12.849,1219.188,7642.731,489.445,1467.129,401.768,33.356,1219.670,0.000,1433.132,0.000,38.289,0.000
$DEVICE_MAMPS,155.701,81.302,1257.113,780.039,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.232,475.408,354.352,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34822,655
$CAP_FILE_SIZE,98697,0
$CFSIZE,254472192,248037376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,090909,083054,6208.337,-942.875,40,1.5,40,-9.8