version: 66.04
glider: 5
mission: 7
dive: 77
start: 9 10 109 5 5 43
data:
$ID,5
$MISSION,7
$DIVE,77
$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,330
$T_MISSION,350
$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,-101728.62
$T_RSLEEP,27
$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,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,35
$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
$GPS1,045954,6215.747,-1001.822,42,1.4,42,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-62.2
$GPS2,050452,6215.706,-1001.864,12,1.7,14,-10.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.241,-0.107
$KALMAN_X,-76682.6,-1635.1,-1314.3,7479.1,16650.2
$KALMAN_Y,55334.4,-1463.8,-2311.9,20925.1,18959.3
$MHEAD_RNG_PITCHd_Wd,256.2,28603,-18.1,-10.000
$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,13,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,59,0.00,0.00,-41.17,0.000,2,0.000,0.000,416,2149,2522
$GC,63,-1.44,-146.6,2.5,-4.2,2,120,11.05,2.53,-36.92,0.000,4,0.161,0.075,2427,3519,3430
$GC,149,-1.27,-146.6,8.5,-14.0,6,154,0.20,2.50,0.00,0.000,6,0.097,0.046,2467,2112,3429
$GC,471,-1.27,-146.6,50.5,-12.3,22,475,0.00,2.60,0.00,0.000,4,0.000,0.063,2467,3527,3430
$GC,511,-1.27,-146.6,55.6,-12.5,24,515,0.00,2.47,0.00,0.000,6,0.000,0.046,2467,2128,3430
$GC,838,-1.27,-146.6,91.4,-10.7,40,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2115,3431
$GC,1147,-1.27,-146.6,127.3,-11.5,55,1151,0.00,2.58,0.00,0.000,4,0.000,0.064,2467,3530,3431
$GC,1191,-1.27,-146.6,133.3,-13.7,57,1196,0.00,2.47,0.00,0.000,6,0.000,0.048,2467,2133,3431
$GC,1513,-1.27,-146.6,184.3,-16.4,73,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2120,3431
$GC,1822,-1.27,-146.6,224.8,-11.3,88,1826,0.00,2.50,0.00,0.000,4,0.000,0.061,2467,722,3432
$GC,1862,-1.36,-146.6,229.2,-11.0,90,1866,0.00,2.50,0.00,0.000,6,0.000,0.047,2467,2144,3432
$GC,2189,-1.36,-146.6,267.2,-12.1,106,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2144,3432
$GC,2499,-1.36,-146.6,306.6,-12.5,121,2503,0.00,2.58,0.00,0.000,4,0.000,0.062,2467,723,3432
$GC,2584,-1.43,-146.6,317.4,-12.8,125,2589,0.15,2.50,0.00,0.000,6,0.052,0.048,2426,2142,3432
$GC,2914,-1.37,-146.6,364.1,-14.6,141,2919,0.10,2.58,0.00,0.000,4,0.103,0.061,2445,717,3432
$GC,2971,-1.37,-146.6,372.4,-13.1,143,2977,0.00,2.50,0.00,0.000,6,0.000,0.048,2445,2133,3432
$GC,3287,-1.37,-146.6,414.0,-13.6,159,3291,0.00,2.55,0.00,0.000,4,0.000,0.062,2445,723,3432
$GC,3320,-1.37,-146.6,419.0,-14.5,160,3326,0.00,2.47,0.00,0.000,6,0.000,0.049,2445,2125,3432
$GC,3636,-1.37,-146.6,464.1,-13.7,176,3640,0.00,2.55,0.00,0.000,4,0.000,0.063,2445,717,3432
$GC,3709,-1.37,-146.6,473.7,-12.4,179,3713,0.00,2.47,0.00,0.000,6,0.000,0.048,2445,2117,3432
$GC,4024,-1.37,-146.6,509.5,-10.9,194,4029,0.00,2.53,0.00,0.000,4,0.000,0.063,2445,722,3431
$GC,4075,-1.37,-146.6,515.3,-11.0,196,4079,0.00,2.42,0.00,0.000,6,0.000,0.050,2445,2102,3431
$GC,4396,-1.37,-146.6,549.9,-11.8,212,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2103,3431
$GC,4705,-1.37,-146.6,591.6,-13.1,227,4710,0.00,2.62,0.00,0.000,4,0.000,0.075,2445,3535,3430
$GC,4738,-1.37,-146.6,595.9,-12.5,228,4745,0.00,2.65,0.00,0.000,6,0.000,0.059,2444,2066,3430
$GC,5055,-1.37,-146.6,629.1,-9.8,244,5059,0.00,2.72,0.00,0.000,4,0.000,0.072,2445,3536,3430
$GC,5184,-1.37,-146.6,642.0,-10.6,250,5189,0.00,2.60,0.00,0.000,6,0.000,0.058,2445,2091,3429
$GC,5511,-1.37,-146.6,676.4,-12.1,266,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2087,3429
$GC,5820,-1.37,-146.6,720.0,-14.0,281,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2080,3429
$GC,6130,-1.37,-146.6,757.3,-11.1,296,6134,0.00,2.50,0.00,0.000,6,0.000,0.077,2445,720,3427
$STATE,6135,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6135,begin apogee
$GC,6144,-0.33,0.0,758.1,11.3,296,6281,1.02,0.00,133.32,1.335,6,0.087,0.000,2666,1870,2831
$STATE,6282,end apogee,CONTROL_FINISHED_OK
$STATE,6282,begin climb
$GC,6285,1.44,146.6,763.8,0.0,303,6429,1.80,0.00,135.80,1.287,6,0.067,0.000,3053,1871,2232
$GC,6739,1.33,146.6,725.2,10.2,325,6743,0.00,2.70,0.00,0.000,4,0.000,0.081,3053,441,2231
$GC,6794,1.11,146.6,719.2,10.6,327,6801,0.35,2.58,0.00,0.000,6,0.100,0.059,2986,1851,2231
$GC,7111,1.33,244.1,699.0,5.6,343,7206,0.22,2.75,88.82,1.274,4,0.054,0.081,3039,445,1835
$GC,7231,1.27,256.3,689.6,9.4,348,7252,0.00,2.60,12.52,1.134,6,0.000,0.061,3039,1863,1786
$GC,7562,1.27,256.3,656.4,10.1,364,7563,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1866,1786
$GC,7871,1.27,256.3,623.1,12.6,379,7875,0.00,2.58,0.00,0.000,4,0.000,0.073,3039,3252,1784
$GC,7911,1.27,256.3,617.7,14.5,381,7915,0.00,2.58,0.00,0.000,6,0.000,0.069,3039,1869,1784
$GC,8238,1.27,256.3,577.1,10.4,397,8242,0.00,2.58,0.00,0.000,4,0.000,0.071,3039,3249,1784
$GC,8305,1.34,300.7,571.0,8.0,400,8350,0.00,2.53,39.60,1.220,6,0.000,0.064,3039,1878,1605
$GC,8676,1.34,300.7,535.9,13.2,418,8680,0.00,2.55,0.00,0.000,4,0.000,0.067,3039,3252,1605
$GC,8716,1.41,300.7,529.9,14.8,420,8720,0.00,2.47,0.00,0.000,6,0.000,0.061,3039,1902,1605
$GC,9043,1.41,300.7,485.2,12.0,436,9047,0.00,2.50,0.00,0.000,4,0.000,0.066,3039,3257,1605
$GC,9071,1.46,300.7,481.8,11.5,437,9076,0.12,2.42,0.00,0.000,6,0.060,0.059,3072,1915,1605
$GC,9387,1.41,300.7,439.4,14.9,452,9392,0.00,2.67,0.00,0.000,4,0.000,0.071,3073,442,1606
$GC,9420,1.29,300.7,434.1,15.9,453,9427,0.22,2.62,0.00,0.000,6,0.092,0.051,3028,1911,1606
$GC,9737,1.37,301.4,398.3,10.0,469,9738,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1923,1606
$GC,10046,1.45,301.4,366.6,10.7,484,10048,0.15,0.00,0.00,0.000,6,0.054,0.000,3067,1926,1607
$GC,10355,1.45,301.4,322.9,14.2,499,10359,0.00,2.72,0.00,0.000,4,0.000,0.068,3067,434,1607
$GC,10396,1.36,301.4,317.0,14.7,501,10401,0.12,2.60,0.00,0.000,6,0.098,0.049,3044,1898,1607
$GC,10723,1.36,301.4,279.0,11.5,517,10727,0.00,2.67,0.00,0.000,4,0.000,0.066,3043,441,1607
$GC,10750,1.36,301.4,275.3,13.7,518,10754,0.00,2.58,0.00,0.000,6,0.000,0.048,3043,1896,1607
$GC,11066,1.41,301.4,235.1,12.5,533,11071,0.00,2.67,0.00,0.000,4,0.000,0.065,3043,436,1608
$GC,11100,1.41,301.4,230.4,12.6,534,11106,0.00,2.58,0.00,0.000,6,0.000,0.048,3043,1892,1608
$GC,11416,1.45,301.4,195.8,11.4,550,11420,0.00,2.65,0.00,0.000,4,0.000,0.067,3043,442,1608
$GC,11443,1.45,301.4,191.9,13.4,551,11448,0.00,2.55,0.00,0.000,6,0.000,0.048,3043,1882,1608
$GC,11760,1.50,301.4,145.8,15.1,566,11765,0.12,2.45,0.00,0.000,4,0.054,0.058,3077,3264,1609
$GC,11782,1.50,301.4,142.3,15.1,567,11787,0.00,2.50,0.00,0.000,6,0.000,0.051,3077,1860,1609
$GC,12105,1.48,315.2,106.8,9.4,583,12127,0.00,2.62,14.23,0.816,4,0.000,0.065,3077,442,1545
$GC,12167,1.41,315.2,97.8,15.5,585,12174,0.15,2.55,0.00,0.000,6,0.092,0.047,3048,1878,1545
$GC,12484,1.48,315.2,52.4,15.4,601,12488,0.00,2.45,0.00,0.000,4,0.000,0.057,3048,3262,1546
$GC,12569,1.60,315.2,40.5,12.9,605,12574,0.20,2.42,0.00,0.000,6,0.049,0.048,3103,1893,1546
$STATE,12811,end climb,SURFACE_DEPTH_REACHED
$STATE,12811,begin surface coast
$FINISH,0.8,1.026808
$STATE,12833,end surface coast,CONTROL_FINISHED_OK
$STATE,12835,begin surface
$SM_CCo,12919,0.00,0.000,0,0,1546,315.46
$SM_GC,1.64,11.48,0.00,0.00,0.031,0.000,0.000,419,2155,1546,-10.59,0.88,315.46
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1845
$TCM_TEMP,17.90
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,722.7,45.3
$24V_AH,23.8,15.420
$10V_AH,10.1,6.890
$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,27.475,133.100,424.300,0.000,0.000,37.760,26.215,123.250,12.500,0.000,0.000,14.382,1159.083,9710.986,537.085,1378.623,434.421,33.355,1274.232,0.000,1341.775,0.000,44.522,0.000
$DEVICE_MAMPS,161.070,81.302,1335.347,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.593,457.082,371.832,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31700,618
$CAP_FILE_SIZE,103532,0
$CFSIZE,254472192,247652352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100909,084207,6212.722,-1009.401,28,2.0,28,-10.1