version: 66.04
glider: 5
mission: 7
dive: 79
start: 9 10 109 12 58 29
data:
$ID,5
$MISSION,7
$DIVE,79
$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,-101766.86
$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,20
$R_STBD_OVSHOOT,36
$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
$GPS1,124837,6211.036,-1011.501,40,1.2,40,-10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-59.0
$GPS2,125738,6211.087,-1011.335,15,1.4,15,-10.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.264,0.006
$KALMAN_X,-82965.9,-1077.7,1795.5,1715.7,1220.8
$KALMAN_Y,42453.9,-2729.3,489.5,23683.9,1251.2
$MHEAD_RNG_PITCHd_Wd,281.5,21655,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.78,0.000,2,0.000,0.000,426,2146,2760
$GC,82,-1.44,-146.6,3.1,-3.6,3,126,10.90,2.62,-22.00,0.000,4,0.156,0.067,2424,710,3430
$GC,173,-1.36,-146.6,14.5,-14.9,7,178,0.12,2.50,0.00,0.000,6,0.104,0.045,2449,2124,3430
$GC,502,-1.31,-146.6,74.2,-20.7,23,506,0.00,2.55,0.00,0.000,4,0.000,0.057,2449,710,3431
$GC,610,-1.31,-146.6,94.9,-18.5,28,614,0.00,2.50,0.00,0.000,6,0.000,0.044,2449,2130,3431
$GC,937,-1.31,-146.6,148.9,-16.0,44,941,0.00,2.55,0.00,0.000,4,0.000,0.058,2449,716,3431
$GC,982,-1.31,-146.6,155.8,-14.6,46,986,0.00,2.50,0.00,0.000,6,0.000,0.046,2448,2131,3432
$GC,1303,-1.31,-146.6,192.3,-10.9,62,1307,0.00,2.58,0.00,0.000,4,0.000,0.061,2449,711,3432
$GC,1353,-1.31,-146.6,198.4,-11.9,64,1357,0.00,2.50,0.00,0.000,6,0.000,0.048,2449,2122,3432
$GC,1668,-1.31,-146.6,238.8,-13.2,79,1673,0.00,2.55,0.00,0.000,4,0.000,0.061,2449,714,3432
$GC,1696,-1.31,-146.6,242.5,-13.0,80,1700,0.00,2.47,0.00,0.000,6,0.000,0.048,2449,2112,3432
$GC,2018,-1.31,-146.6,283.6,-13.3,96,2022,0.00,2.55,0.00,0.000,4,0.000,0.062,2449,706,3432
$GC,2057,-1.31,-146.6,289.2,-14.4,98,2062,0.00,2.47,0.00,0.000,6,0.000,0.048,2449,2104,3432
$GC,2384,-1.31,-146.6,333.7,-13.5,114,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2104,3431
$GC,2693,-1.31,-146.6,374.2,-12.8,129,2697,0.00,2.53,0.00,0.000,4,0.000,0.063,2448,715,3431
$GC,2726,-1.31,-146.6,378.7,-13.1,130,2730,0.00,2.45,0.00,0.000,6,0.000,0.049,2449,2098,3431
$GC,3043,-1.31,-146.6,420.1,-13.1,145,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2098,3431
$GC,3351,-1.31,-146.6,458.2,-11.8,160,3356,0.00,2.53,0.00,0.000,4,0.000,0.064,2449,710,3431
$GC,3385,-1.31,-146.6,462.2,-11.4,161,3391,0.00,2.45,0.00,0.000,6,0.000,0.050,2449,2090,3431
$GC,3702,-1.31,-146.6,495.0,-10.4,177,3706,0.00,2.53,0.00,0.000,4,0.000,0.064,2449,702,3430
$GC,3747,-1.35,-146.6,500.3,-11.5,179,3751,0.00,2.45,0.00,0.000,6,0.000,0.050,2449,2086,3430
$GC,4068,-1.35,-146.6,537.8,-12.4,195,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2086,3430
$GC,4377,-1.35,-146.6,580.8,-15.2,210,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2086,3430
$GC,4687,-1.35,-146.6,623.1,-12.3,225,4691,0.00,2.65,0.00,0.000,4,0.000,0.072,2449,3538,3429
$GC,4719,-1.35,-146.6,627.5,-13.2,226,4726,0.00,2.62,0.00,0.000,6,0.000,0.058,2449,2081,3429
$GC,5035,-1.35,-146.6,669.2,-13.8,242,5040,0.00,2.67,0.00,0.000,4,0.000,0.072,2449,3531,3429
$GC,5104,-1.35,-146.6,678.9,-14.3,245,5108,0.00,2.58,0.00,0.000,6,0.000,0.058,2450,2101,3429
$GC,5432,-1.35,-146.6,720.5,-11.7,261,5436,0.00,2.67,0.00,0.000,4,0.000,0.074,2449,3534,3429
$GC,5527,-1.35,-146.6,732.2,-12.0,265,5531,0.00,2.58,0.00,0.000,6,0.000,0.060,2449,2111,3428
$GC,5843,-1.35,-146.6,765.0,-9.9,280,5847,0.00,2.67,0.00,0.000,4,0.000,0.077,2449,3538,3428
$GC,5883,-1.35,-146.6,769.7,-11.7,282,5893,0.00,2.58,0.00,0.000,6,0.000,0.064,2448,2124,3427
$GC,6220,-1.35,-146.6,810.3,-11.9,298,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2112,3427
$STATE,6403,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6403,begin apogee
$GC,6410,-0.33,0.0,831.8,11.6,307,6547,1.05,0.00,133.52,1.388,6,0.083,0.000,2674,1839,2832
$STATE,6548,end apogee,CONTROL_FINISHED_OK
$STATE,6548,begin climb
$GC,6551,1.44,146.6,836.8,0.0,314,6697,1.75,2.72,136.23,1.341,4,0.060,0.080,3056,439,2233
$GC,6716,1.19,146.6,829.1,10.1,321,6723,0.28,2.60,0.00,0.000,6,0.100,0.057,3004,1855,2233
$GC,7033,1.20,155.7,799.8,9.6,337,7044,0.00,0.00,9.70,1.140,6,0.000,0.000,3005,1868,2196
$GC,7341,1.20,155.7,763.0,12.8,352,7345,0.00,2.58,0.00,0.000,4,0.000,0.072,3004,3264,2195
$GC,7391,1.20,155.7,756.4,12.8,354,7396,0.00,2.65,0.00,0.000,6,0.000,0.068,3005,1843,2195
$GC,7708,1.35,245.9,728.5,5.9,369,7792,0.15,0.00,81.85,1.309,6,0.059,0.000,3041,1843,1828
$GC,8099,1.37,258.8,698.5,9.4,388,8120,0.00,2.70,13.02,1.185,4,0.000,0.071,3041,3248,1775
$GC,8149,1.37,258.8,693.4,10.2,390,8153,0.00,2.62,0.00,0.000,6,0.000,0.067,3041,1847,1775
$GC,8470,1.37,258.8,659.0,10.6,406,8475,0.00,2.62,0.00,0.000,4,0.000,0.069,3041,3255,1774
$GC,8533,1.37,258.8,652.2,10.6,409,8537,0.00,2.58,0.00,0.000,6,0.000,0.065,3041,1863,1775
$GC,8860,1.37,258.8,620.1,10.3,425,8864,0.00,2.60,0.00,0.000,4,0.000,0.068,3041,3261,1774
$GC,8915,1.37,258.8,614.1,11.2,427,8921,0.00,2.58,0.00,0.000,6,0.000,0.063,3041,1860,1774
$GC,9231,1.39,271.8,581.7,9.4,443,9250,0.00,0.00,12.80,1.136,6,0.000,0.000,3041,1860,1722
$GC,9560,1.39,271.8,547.2,11.7,459,9564,0.00,2.58,0.00,0.000,4,0.000,0.064,3042,3256,1722
$GC,9621,1.45,271.8,539.3,12.1,461,9627,0.00,2.53,0.00,0.000,6,0.000,0.058,3041,1869,1722
$GC,9938,1.45,271.8,503.9,11.1,477,9942,0.00,2.60,0.00,0.000,4,0.000,0.070,3042,435,1722
$GC,9970,1.45,271.8,499.6,12.6,478,9977,0.00,2.58,0.00,0.000,6,0.000,0.051,3041,1879,1722
$GC,10286,1.45,271.8,463.8,11.9,494,10291,0.00,2.65,0.00,0.000,4,0.000,0.069,3041,437,1723
$GC,10327,1.45,271.8,458.8,13.2,496,10332,0.00,2.55,0.00,0.000,6,0.000,0.050,3041,1868,1723
$GC,10655,1.45,271.8,419.9,11.7,512,10659,0.00,2.65,0.00,0.000,4,0.000,0.069,3042,432,1723
$GC,10687,1.45,271.8,415.6,13.0,513,10693,0.00,2.55,0.00,0.000,6,0.000,0.050,3041,1868,1723
$GC,11003,1.45,271.8,379.9,10.9,529,11004,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1882,1723
$GC,11313,1.45,271.8,345.4,11.2,544,11317,0.00,2.65,0.00,0.000,4,0.000,0.069,3041,432,1723
$GC,11362,1.45,271.8,339.2,12.4,546,11367,0.00,2.53,0.00,0.000,6,0.000,0.050,3041,1855,1724
$GC,11679,1.45,271.8,302.7,11.9,561,11683,0.00,2.60,0.00,0.000,4,0.000,0.067,3042,439,1724
$GC,11718,1.45,271.8,297.5,13.7,563,11723,0.00,2.47,0.00,0.000,6,0.000,0.048,3041,1840,1724
$GC,12045,1.45,271.8,258.5,11.8,579,12047,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1855,1724
$GC,12354,1.45,271.8,222.5,11.6,594,12359,0.00,2.58,0.00,0.000,4,0.000,0.068,3041,438,1724
$GC,12399,1.45,271.8,216.9,12.5,596,12403,0.00,2.47,0.00,0.000,6,0.000,0.049,3041,1838,1725
$GC,12720,1.45,271.8,179.2,11.8,612,12721,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1852,1725
$GC,13029,1.45,271.8,141.2,12.4,627,13030,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1853,1725
$GC,13339,1.45,271.8,102.3,12.4,642,13340,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1852,1726
$GC,13650,1.50,271.8,67.7,11.9,657,13655,0.12,2.55,0.00,0.000,4,0.054,0.064,3076,439,1725
$GC,13691,1.40,271.8,61.1,16.5,659,13696,0.15,2.45,0.00,0.000,6,0.099,0.048,3048,1826,1726
$GC,14019,1.45,271.8,19.4,11.1,675,14023,0.00,2.55,0.00,0.000,4,0.000,0.066,3048,431,1726
$GC,14052,1.45,271.8,15.3,11.5,676,14058,0.00,2.47,0.00,0.000,6,0.000,0.048,3048,1841,1726
$STATE,14159,end climb,SURFACE_DEPTH_REACHED
$STATE,14159,begin surface coast
$FINISH,0.9,1.021118
$STATE,14182,end surface coast,CONTROL_FINISHED_OK
$STATE,14182,begin surface
$SM_CCo,14206,15.85,0.751,0,0,1607,300.00
$SM_GC,1.63,0.00,0.00,15.85,0.000,0.000,0.751,418,2135,1607,-10.70,0.20,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1834
$TCM_TEMP,17.40
$XPDR_PINGS,38
$ALTIM_BOTTOM_PING,770.3,70.6
$24V_AH,23.8,15.759
$10V_AH,10.1,7.026
$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,25.875,139.500,387.125,15.850,0.000,75.520,74.525,208.339,16.500,0.000,0.000,15.908,1264.406,10852.844,550.139,1473.845,625.678,33.352,1323.474,0.000,1430.564,0.000,48.717,0.000
$DEVICE_MAMPS,156.468,79.768,1388.270,750.893,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,467.373,509.984,378.433,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34752,683
$CAP_FILE_SIZE,112083,0
$CFSIZE,254472192,247529472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,100909,165654,6209.251,-1013.569,42,1.6,42,-10.1