version: 66.04
glider: 5
mission: 7
dive: 86
start: 9 11 109 20 58 5
data:
$ID,5
$MISSION,7
$DIVE,86
$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,-101889.12
$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,0.029999999
$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,22
$R_STBD_OVSHOOT,32
$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
$GPS1,205137,6213.960,-1033.622,36,1.4,36,-10.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-50.0
$GPS2,205714,6213.985,-1033.503,12,1.4,12,-10.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.208,0.129
$KALMAN_X,-72729.7,-2.5,-462.7,-26863.9,2377.3
$KALMAN_Y,36230.3,649.9,-190.0,32535.2,-774.2
$MHEAD_RNG_PITCHd_Wd,312.1,30536,-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,16,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-60.90,0.000,2,0.000,0.000,424,2149,2600
$GC,82,-1.22,-146.6,2.3,-2.5,3,134,11.15,2.62,-32.70,0.000,4,0.154,0.067,2472,718,3429
$GC,209,-1.16,-146.6,10.3,-9.5,8,216,0.00,2.47,0.00,0.000,6,0.000,0.046,2472,2127,3429
$GC,526,-1.07,-146.6,53.4,-13.1,24,531,0.17,2.55,0.00,0.000,4,0.094,0.058,2514,717,3430
$GC,577,-1.07,-146.6,59.7,-12.8,26,581,0.00,2.50,0.00,0.000,6,0.000,0.045,2514,2134,3429
$GC,893,-1.07,-146.6,95.4,-10.9,41,897,0.00,2.55,0.00,0.000,4,0.000,0.058,2514,718,3430
$GC,956,-1.11,-146.6,102.1,-10.6,44,960,0.00,2.47,0.00,0.000,6,0.000,0.045,2514,2124,3431
$GC,1283,-1.11,-146.6,138.8,-11.1,60,1287,0.00,2.55,0.00,0.000,4,0.000,0.061,2514,717,3431
$GC,1310,-1.11,-146.6,142.1,-11.2,61,1314,0.00,2.45,0.00,0.000,6,0.000,0.047,2513,2103,3431
$GC,1626,-1.11,-146.6,177.0,-10.9,76,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2103,3431
$GC,1936,-1.11,-146.6,208.9,-10.3,91,1940,0.00,2.53,0.00,0.000,4,0.000,0.063,2514,715,3431
$GC,1986,-1.15,-146.6,214.6,-10.7,93,1990,0.00,2.45,0.00,0.000,6,0.000,0.048,2514,2101,3431
$GC,2302,-1.15,-146.6,247.4,-10.1,108,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2101,3431
$GC,2612,-1.15,-146.6,277.0,-9.3,123,2616,0.00,2.53,0.00,0.000,4,0.000,0.064,2514,712,3431
$GC,2652,-1.19,-146.6,280.9,-9.8,125,2657,0.12,2.45,0.00,0.000,6,0.058,0.049,2477,2096,3431
$GC,2982,-1.14,-146.6,317.2,-11.0,141,2987,0.00,2.50,0.00,0.000,4,0.000,0.063,2477,718,3431
$GC,3011,-1.10,-146.6,320.8,-11.0,142,3016,0.12,2.42,0.00,0.000,6,0.096,0.049,2504,2088,3431
$GC,3327,-1.10,-146.6,352.0,-9.9,157,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2088,3430
$GC,3636,-1.10,-146.6,381.7,-9.5,172,3640,0.00,2.50,0.00,0.000,4,0.000,0.064,2504,712,3430
$GC,3669,-1.10,-146.6,385.0,-9.9,173,3675,0.00,2.42,0.00,0.000,6,0.000,0.049,2504,2078,3430
$GC,3985,-1.10,-146.6,416.0,-10.3,189,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2079,3430
$GC,4294,-1.10,-146.6,450.8,-11.8,204,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2079,3429
$GC,4603,-1.10,-146.6,488.2,-12.3,219,4607,0.00,2.47,0.00,0.000,4,0.000,0.064,2504,719,3429
$GC,4630,-1.10,-146.6,491.6,-12.2,220,4634,0.00,2.42,0.00,0.000,6,0.000,0.051,2504,2087,3429
$GC,4946,-1.10,-146.6,523.9,-9.3,235,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2088,3429
$GC,5255,-1.10,-146.6,552.9,-9.2,250,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2088,3429
$GC,5565,-1.10,-146.6,582.2,-9.1,265,5569,0.00,2.50,0.00,0.000,4,0.000,0.064,2504,714,3428
$GC,5599,-1.13,-146.6,585.4,-9.6,266,5605,0.00,2.42,0.00,0.000,6,0.000,0.051,2504,2078,3428
$GC,5914,-1.13,-146.6,613.2,-8.8,282,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2078,3428
$GC,6224,-1.13,-146.6,641.0,-10.0,297,6228,0.00,2.65,0.00,0.000,4,0.000,0.073,2504,3531,3428
$GC,6257,-1.13,-146.6,644.4,-10.7,298,6263,0.00,2.67,0.00,0.000,6,0.000,0.058,2504,2047,3427
$GC,6573,-1.13,-146.6,675.6,-9.8,314,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2031,3427
$GC,6882,-1.13,-146.6,702.2,-7.0,329,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2025,3427
$GC,7191,-1.13,-146.6,728.9,-8.6,344,7196,0.00,2.75,0.00,0.000,4,0.000,0.073,2503,3528,3427
$GC,7235,-1.13,-146.6,732.4,-8.4,346,7240,0.00,2.67,0.00,0.000,6,0.000,0.060,2504,2050,3427
$GC,7556,-1.13,-146.6,756.6,-9.9,362,7560,0.00,2.40,0.00,0.000,4,0.000,0.074,2503,719,3427
$GC,7624,-1.20,-146.6,764.3,-10.6,365,7629,0.00,2.38,0.00,0.000,6,0.000,0.056,2504,2043,3427
$GC,7954,-1.20,-146.6,797.2,-7.8,381,7958,0.00,2.47,0.00,0.000,4,0.000,0.074,2504,711,3426
$GC,7989,-1.23,-146.6,799.7,-7.5,382,7996,0.12,2.40,0.00,0.000,6,0.064,0.058,2470,2042,3426
$STATE,8013,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8013,begin apogee
$GC,8021,-0.33,0.0,802.2,8.3,384,8157,0.90,0.00,129.20,1.371,6,0.053,0.000,2678,1833,2831
$STATE,8157,end apogee,CONTROL_FINISHED_OK
$STATE,8157,begin climb
$GC,8160,1.22,146.6,801.3,0.0,391,8298,1.52,2.72,128.80,1.332,4,0.064,0.070,3007,3251,2233
$GC,8363,1.10,146.6,789.8,9.0,400,8368,0.12,2.62,0.00,0.000,6,0.103,0.069,2986,1852,2233
$GC,8679,1.03,149.2,767.7,7.9,415,8688,0.00,2.65,3.97,0.803,4,0.000,0.080,2986,437,2222
$GC,8775,1.00,206.3,762.1,5.9,419,8834,0.12,2.58,51.00,1.304,6,0.103,0.058,2963,1868,1989
$GC,9143,1.00,206.3,731.8,8.6,437,9147,0.00,2.70,0.00,0.000,4,0.000,0.082,2963,436,1987
$GC,9193,1.00,206.3,727.3,9.1,439,9197,0.00,2.53,0.00,0.000,6,0.000,0.059,2963,1821,1987
$GC,9509,1.00,206.3,703.6,8.8,454,9513,0.00,2.65,0.00,0.000,4,0.000,0.073,2963,3260,1986
$GC,9576,1.07,206.3,696.7,8.4,457,9580,0.00,2.65,0.00,0.000,6,0.000,0.068,2963,1836,1986
$GC,9897,1.14,230.6,672.2,7.1,473,9924,0.12,2.65,21.20,1.258,4,0.061,0.077,2995,437,1891
$GC,10082,1.07,230.6,654.0,9.7,481,10087,0.00,2.50,0.00,0.000,6,0.000,0.055,2996,1822,1891
$GC,10399,1.07,230.6,626.3,8.8,496,10403,0.00,2.62,0.00,0.000,4,0.000,0.069,2996,3261,1890
$GC,10454,1.07,230.6,621.0,9.2,498,10460,0.00,2.65,0.00,0.000,6,0.000,0.062,2996,1818,1890
$GC,10770,1.07,230.6,594.3,8.2,514,10771,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1818,1890
$GC,11079,1.12,264.0,572.1,6.8,529,11115,0.00,2.70,30.12,1.200,4,0.000,0.063,2996,3253,1754
$GC,11161,1.13,271.9,566.0,7.7,532,11175,0.00,2.60,8.70,1.048,6,0.000,0.060,2996,1830,1721
$GC,11492,1.13,271.9,534.1,10.6,548,11493,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1830,1722
$GC,11801,1.13,271.9,501.2,11.0,563,11805,0.00,2.62,0.00,0.000,4,0.000,0.062,2996,3259,1722
$GC,11868,1.18,271.9,493.5,10.8,566,11872,0.00,2.58,0.00,0.000,6,0.000,0.058,2996,1841,1722
$GC,12189,1.18,271.9,457.9,10.4,582,12194,0.00,2.60,0.00,0.000,4,0.000,0.061,2996,3261,1722
$GC,12223,1.22,271.9,454.5,9.9,583,12229,0.00,2.55,0.00,0.000,6,0.000,0.057,2996,1853,1723
$GC,12539,1.22,271.9,427.1,8.2,599,12543,0.00,2.58,0.00,0.000,4,0.000,0.062,2996,3261,1723
$GC,12567,1.25,271.9,424.6,8.8,600,12571,0.00,2.53,0.00,0.000,6,0.000,0.056,2996,1863,1723
$GC,12882,1.25,271.9,394.0,10.6,615,12884,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1863,1723
$GC,13192,1.25,271.9,356.5,12.4,630,13196,0.00,2.55,0.00,0.000,4,0.000,0.061,2997,3262,1723
$GC,13226,1.29,271.9,352.2,12.0,631,13231,0.15,2.50,0.00,0.000,6,0.050,0.054,3036,1865,1724
$GC,13542,1.22,271.9,311.3,12.3,646,13544,0.15,0.00,0.00,0.000,6,0.091,0.000,3007,1865,1724
$GC,13851,1.22,271.9,279.3,10.1,661,13856,0.00,2.53,0.00,0.000,4,0.000,0.061,3006,3255,1724
$GC,13901,1.22,271.9,274.0,9.8,663,13906,0.00,2.47,0.00,0.000,6,0.000,0.052,3006,1869,1724
$GC,14217,1.22,271.9,241.0,11.0,678,14218,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1869,1724
$GC,14527,1.22,271.9,206.4,11.3,693,14531,0.00,2.53,0.00,0.000,4,0.000,0.060,3007,3261,1724
$GC,14583,1.22,271.9,200.0,10.7,695,14587,0.00,2.45,0.00,0.000,6,0.000,0.051,3006,1885,1725
$GC,14899,1.22,271.9,167.7,9.7,710,14903,0.00,2.50,0.00,0.000,4,0.000,0.060,3006,3265,1725
$GC,14932,1.22,271.9,164.6,9.2,711,14938,0.00,2.42,0.00,0.000,6,0.000,0.051,3006,1903,1725
$GC,15248,1.22,271.9,135.3,9.6,727,15249,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1903,1725
$GC,15559,1.22,271.9,104.4,10.5,742,15563,0.00,2.45,0.00,0.000,4,0.000,0.059,3006,3257,1725
$GC,15587,1.25,271.9,101.1,10.7,743,15592,0.00,2.40,0.00,0.000,6,0.000,0.050,3006,1905,1725
$GC,15904,1.25,271.9,70.9,10.0,758,15905,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1906,1725
$GC,16213,1.25,271.9,42.8,8.2,773,16217,0.00,2.62,0.00,0.000,4,0.000,0.066,3007,439,1726
$GC,16253,1.25,271.9,39.1,9.2,775,16257,0.00,2.62,0.00,0.000,6,0.000,0.048,3007,1932,1726
$GC,16580,1.25,271.9,4.9,12.9,791,16584,0.00,2.33,0.00,0.000,4,0.000,0.057,3007,3255,1726
$STATE,16604,end climb,SURFACE_DEPTH_REACHED
$STATE,16604,begin surface coast
$FINISH,1.3,1.026834
$STATE,16611,end surface coast,CONTROL_FINISHED_OK
$STATE,16611,begin surface
$SM_CCo,16636,16.08,0.749,0,0,1607,300.00
$SM_GC,1.32,0.00,0.00,16.08,0.000,0.000,0.749,417,2111,1607,-10.71,-0.51,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1840
$TCM_TEMP,19.40
$XPDR_PINGS,43
$ALTIM_BOTTOM_PING,795.6,14.3
$24V_AH,23.8,17.015
$10V_AH,10.1,7.553
$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,25.950,157.325,373.000,16.075,0.000,37.763,29.619,151.715,18.250,0.000,0.000,12.770,1474.767,12723.321,528.436,1736.288,528.910,33.362,1433.450,0.000,1693.698,0.000,51.982,0.000
$DEVICE_MAMPS,154.167,82.069,1370.629,748.592,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,542.500,589.811,460.972,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41107,792
$CAP_FILE_SIZE,127547,0
$CFSIZE,254472192,247095296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,120909,013701,6215.817,-1038.890,42,1.8,42,-10.4