version: 66.04
glider: 5
mission: 7
dive: 90
start: 9 12 109 16 14 58
data:
$ID,5
$MISSION,7
$DIVE,90
$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,-101955.05
$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,24
$R_STBD_OVSHOOT,26
$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
$GPS1,160827,6219.503,-1054.931,38,2.4,57,-10.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-64.1
$GPS2,161407,6219.457,-1054.861,17,2.0,17,-10.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.020,0.245
$KALMAN_X,-75113.0,-118.0,8.3,-43656.4,-1007.6
$KALMAN_Y,31121.1,169.7,225.4,47821.0,-2640.2
$MHEAD_RNG_PITCHd_Wd,5.9,11172,-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,15,-1.22,-146.6,0.0,0.0,0,54,0.00,0.00,-36.35,0.000,2,0.000,0.000,418,2146,2431
$GC,58,-1.22,-146.6,2.3,-2.7,2,121,11.05,2.60,-43.42,0.000,4,0.156,0.067,2471,722,3430
$GC,225,-1.15,-146.6,17.7,-13.2,9,230,0.12,2.47,0.00,0.000,6,0.106,0.044,2495,2130,3430
$GC,542,-1.10,-146.6,59.3,-12.2,24,546,0.00,2.55,0.00,0.000,4,0.000,0.058,2495,716,3430
$GC,593,-1.10,-146.6,65.4,-12.0,26,597,0.00,2.47,0.00,0.000,6,0.000,0.044,2495,2120,3430
$GC,909,-1.10,-146.6,104.7,-12.4,41,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2121,3431
$GC,1218,-1.10,-146.6,142.1,-12.6,56,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2121,3431
$GC,1528,-1.10,-146.6,179.8,-11.8,71,1532,0.00,2.53,0.00,0.000,4,0.000,0.060,2495,714,3432
$GC,1573,-1.10,-146.6,185.2,-11.7,73,1578,0.00,2.50,0.00,0.000,6,0.000,0.047,2495,2133,3432
$GC,1901,-1.10,-146.6,220.6,-10.4,89,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2134,3431
$GC,2210,-1.10,-146.6,253.0,-10.7,104,2214,0.00,2.58,0.00,0.000,4,0.000,0.061,2495,713,3431
$GC,2272,-1.10,-146.6,260.1,-11.0,107,2276,0.00,2.50,0.00,0.000,6,0.000,0.048,2495,2126,3432
$GC,2599,-1.10,-146.6,296.1,-11.5,123,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2127,3431
$GC,2908,-1.10,-146.6,332.2,-12.0,138,2912,0.00,2.58,0.00,0.000,4,0.000,0.064,2495,714,3431
$GC,2957,-1.10,-146.6,338.1,-11.3,140,2962,0.00,2.50,0.00,0.000,6,0.000,0.049,2495,2124,3431
$GC,3273,-1.10,-146.6,373.9,-11.3,155,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2122,3431
$GC,3583,-1.10,-146.6,406.6,-10.1,170,3587,0.00,2.55,0.00,0.000,4,0.000,0.063,2495,717,3431
$GC,3645,-1.10,-146.6,413.3,-10.2,173,3649,0.00,2.47,0.00,0.000,6,0.000,0.050,2495,2116,3431
$GC,3974,-1.10,-146.6,446.2,-10.1,189,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2116,3430
$GC,4281,-1.10,-146.6,477.8,-10.5,204,4285,0.00,2.53,0.00,0.000,4,0.000,0.063,2495,720,3430
$GC,4321,-1.10,-146.6,482.0,-10.4,206,4325,0.00,2.47,0.00,0.000,6,0.000,0.050,2495,2116,3430
$GC,4648,-1.10,-146.6,514.6,-9.8,222,4652,0.00,2.53,0.00,0.000,4,0.000,0.063,2495,720,3429
$GC,4687,-1.10,-146.6,518.4,-10.2,224,4692,0.00,2.45,0.00,0.000,6,0.000,0.050,2495,2107,3429
$GC,5015,-1.10,-146.6,547.5,-8.8,240,5019,0.00,2.53,0.00,0.000,4,0.000,0.065,2495,719,3429
$GC,5059,-1.10,-146.6,551.5,-8.6,242,5064,0.00,2.42,0.00,0.000,6,0.000,0.050,2495,2087,3428
$GC,5381,-1.10,-146.6,578.2,-8.0,258,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2087,3429
$GC,5690,-1.10,-146.6,603.0,-8.8,273,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2088,3428
$GC,6000,-1.10,-146.6,633.1,-10.5,288,6003,0.00,2.50,0.00,0.000,4,0.000,0.068,2495,716,3428
$GC,6072,-1.10,-146.6,641.8,-12.1,291,6076,0.00,2.45,0.00,0.000,6,0.000,0.051,2495,2100,3428
$GC,6394,-1.10,-146.6,679.0,-10.9,307,6398,0.00,2.53,0.00,0.000,4,0.000,0.066,2495,714,3427
$GC,6427,-1.10,-146.6,682.7,-11.4,308,6433,0.00,2.47,0.00,0.000,6,0.000,0.052,2495,2107,3428
$GC,6743,-1.10,-146.6,711.9,-9.1,324,6747,0.00,2.53,0.00,0.000,4,0.000,0.068,2495,718,3427
$GC,6811,-1.10,-146.6,718.7,-10.1,327,6815,0.00,2.42,0.00,0.000,6,0.000,0.052,2495,2079,3428
$GC,7138,-1.10,-146.6,754.7,-11.1,343,7142,0.00,2.50,0.00,0.000,4,0.000,0.071,2495,720,3427
$GC,7249,-1.10,-146.6,768.0,-11.8,348,7253,0.00,2.38,0.00,0.000,6,0.000,0.055,2496,2055,3427
$GC,7577,-1.10,-146.6,800.4,-10.6,364,7581,0.00,2.50,0.00,0.000,4,0.000,0.077,2496,716,3427
$GC,7624,-1.13,-146.6,805.6,-11.3,366,7628,0.00,2.38,0.00,0.000,6,0.000,0.058,2495,2028,3427
$STATE,7722,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7722,begin apogee
$GC,7730,-0.33,0.0,816.3,10.5,371,7865,0.82,0.00,130.23,1.371,6,0.083,0.000,2671,1840,2831
$STATE,7865,end apogee,CONTROL_FINISHED_OK
$STATE,7866,begin climb
$GC,7869,1.22,146.6,820.3,0.0,378,8013,1.55,2.72,132.20,1.330,4,0.062,0.073,3009,3259,2232
$GC,8180,1.24,208.4,812.0,5.8,392,8241,0.00,2.60,55.60,1.305,6,0.000,0.068,3009,1870,1981
$GC,8564,1.17,208.4,781.0,10.5,411,8568,0.00,2.67,0.00,0.000,4,0.000,0.083,3009,439,1980
$GC,8614,1.06,208.4,775.3,11.3,413,8619,0.17,2.55,0.00,0.000,6,0.100,0.060,2977,1835,1980
$GC,8930,1.06,208.4,744.2,9.7,428,8934,0.00,2.62,0.00,0.000,4,0.000,0.080,2977,439,1979
$GC,9160,1.00,208.4,720.0,10.0,438,9164,0.00,2.53,0.00,0.000,6,0.000,0.057,2977,1833,1978
$GC,9476,1.00,208.4,690.5,10.2,453,9480,0.00,2.58,0.00,0.000,4,0.000,0.069,2977,3253,1977
$GC,9515,1.00,208.4,687.1,9.0,455,9520,0.00,2.62,0.00,0.000,6,0.000,0.064,2977,1826,1977
$GC,9843,1.19,322.8,668.4,3.8,471,9951,0.12,2.75,99.32,1.296,4,0.061,0.066,3010,3257,1514
$GC,9981,1.19,322.8,658.4,10.0,477,9986,0.00,2.67,0.00,0.000,6,0.000,0.064,3010,1825,1514
$GC,10297,1.19,322.8,625.2,11.6,492,10301,0.00,2.55,0.00,0.000,4,0.000,0.074,3010,435,1514
$GC,10398,1.14,322.8,611.4,14.2,496,10403,0.00,2.53,0.00,0.000,6,0.000,0.054,3010,1838,1514
$GC,10714,1.14,322.8,568.7,13.3,511,10719,0.00,2.58,0.00,0.000,4,0.000,0.064,3010,3261,1515
$GC,10755,1.17,322.8,563.2,13.5,513,10760,0.00,2.62,0.00,0.000,6,0.000,0.060,3010,1823,1515
$GC,11082,1.17,322.8,524.7,11.4,529,11086,0.00,2.62,0.00,0.000,4,0.000,0.062,3010,3253,1515
$GC,11109,1.17,322.8,521.6,11.7,530,11113,0.00,2.58,0.00,0.000,6,0.000,0.059,3010,1830,1516
$GC,11425,1.17,322.8,488.5,10.3,545,11429,0.00,2.62,0.00,0.000,4,0.000,0.063,3010,3261,1516
$GC,11458,1.17,322.8,485.2,9.7,546,11464,0.00,2.58,0.00,0.000,6,0.000,0.058,3010,1845,1516
$GC,11773,1.17,322.8,454.5,9.9,562,11775,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1845,1516
$GC,12083,1.17,322.8,422.8,10.3,577,12087,0.00,2.58,0.00,0.000,4,0.000,0.061,3010,3253,1517
$GC,12117,1.21,322.8,419.3,10.6,578,12121,0.00,2.55,0.00,0.000,6,0.000,0.057,3010,1844,1517
$GC,12432,1.21,322.8,385.3,11.2,593,12437,0.00,2.58,0.00,0.000,4,0.000,0.061,3010,3263,1517
$GC,12460,1.21,322.8,381.9,12.2,594,12464,0.00,2.53,0.00,0.000,6,0.000,0.055,3010,1863,1517
$GC,12776,1.21,322.8,346.6,11.3,609,12777,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1863,1518
$GC,13085,1.21,322.8,313.0,10.8,624,13089,0.00,2.55,0.00,0.000,4,0.000,0.061,3010,3262,1518
$GC,13124,1.26,322.8,308.8,10.4,625,13131,0.00,2.50,0.00,0.000,6,0.000,0.054,3010,1866,1519
$GC,13440,1.26,322.8,275.6,10.5,641,13442,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1866,1518
$GC,13750,1.26,322.8,244.3,10.0,656,13754,0.00,2.53,0.00,0.000,4,0.000,0.061,3010,3259,1519
$GC,13800,1.30,322.8,239.1,9.4,658,13804,0.00,2.47,0.00,0.000,6,0.000,0.052,3010,1878,1519
$GC,14116,1.30,322.8,205.3,11.0,673,14117,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1879,1519
$GC,14425,1.30,322.8,170.5,11.5,688,14426,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1878,1519
$GC,14735,1.30,322.8,135.7,11.7,703,14736,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1878,1520
$GC,15045,1.30,322.8,101.5,10.1,718,15050,0.00,2.50,0.00,0.000,4,0.000,0.060,3010,3259,1520
$GC,15086,1.36,322.8,97.1,10.6,720,15091,0.15,2.45,0.00,0.000,6,0.050,0.050,3051,1880,1520
$GC,15414,1.29,322.8,54.9,13.4,736,15419,0.12,2.50,0.00,0.000,4,0.089,0.058,3026,3262,1520
$GC,15478,1.33,322.8,47.9,9.9,739,15482,0.00,2.38,0.00,0.000,6,0.000,0.048,3026,1919,1520
$GC,15806,1.33,322.8,13.9,10.4,755,15811,0.00,2.65,0.00,0.000,4,0.000,0.065,3026,439,1520
$GC,15871,1.33,322.8,6.9,11.4,758,15875,0.00,2.58,0.00,0.000,6,0.000,0.044,3026,1907,1520
$STATE,15906,end climb,SURFACE_DEPTH_REACHED
$STATE,15907,begin surface coast
$FINISH,0.8,1.025623
$STATE,15928,end surface coast,CONTROL_FINISHED_OK
$STATE,15928,begin surface
$SM_CCo,16012,0.00,0.000,0,0,1520,321.59
$SM_GC,1.53,11.23,0.00,0.00,0.035,0.000,0.000,420,2159,1520,-10.59,0.74,321.59
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1827
$TCM_TEMP,17.80
$XPDR_PINGS,71
$ALTIM_BOTTOM_PING,771.9,52.9
$24V_AH,23.8,17.670
$10V_AH,10.1,7.861
$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,25.350,152.900,417.350,0.000,0.000,37.762,26.983,142.919,25.000,0.000,0.000,17.956,1426.720,12119.302,507.147,1783.732,510.434,33.390,1441.113,0.000,1731.525,0.000,50.627,0.000
$DEVICE_MAMPS,155.701,82.836,1370.629,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,521.237,565.602,433.420,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38055,761
$CAP_FILE_SIZE,122257,0
$CFSIZE,254472192,246865920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,120909,204307,6221.550,-1058.141,40,1.3,40,-10.6