version: 66.04
glider: 5
mission: 7
dive: 94
start: 9 13 109 11 26 59
data:
$ID,5
$MISSION,7
$DIVE,94
$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,-102035.15
$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,23
$R_STBD_OVSHOOT,24
$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
$GPS1,112037,6224.542,-1113.412,39,1.1,39,-10.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-61.3
$GPS2,112608,6224.581,-1113.435,12,1.4,12,-10.8
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.186,0.160
$KALMAN_X,-85369.2,889.3,-251.8,-50518.1,-5300.2
$KALMAN_Y,21304.1,-340.3,-74.1,67952.5,-5483.9
$MHEAD_RNG_PITCHd_Wd,321.4,24836,-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,-146.6,0.0,0.0,0,69,0.00,0.00,-51.50,0.000,2,0.000,0.000,417,2144,2745
$GC,73,-1.22,-146.6,3.1,-2.8,3,116,11.35,2.62,-22.33,0.000,4,0.163,0.068,2470,718,3429
$GC,257,-1.17,-146.6,25.0,-13.0,11,261,0.00,2.50,0.00,0.000,6,0.000,0.044,2470,2137,3430
$GC,579,-1.10,-146.6,68.0,-13.2,27,584,0.17,2.55,0.00,0.000,4,0.095,0.056,2512,719,3430
$GC,719,-1.10,-146.6,83.4,-9.7,33,723,0.00,2.42,0.00,0.000,6,0.000,0.044,2512,2112,3430
$GC,1041,-1.10,-146.6,113.6,-10.0,49,1045,0.00,2.53,0.00,0.000,4,0.000,0.058,2512,713,3431
$GC,1068,-1.10,-146.6,116.7,-10.8,50,1073,0.00,2.45,0.00,0.000,6,0.000,0.045,2512,2102,3431
$GC,1385,-1.10,-146.6,149.6,-10.4,65,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2103,3431
$GC,1693,-1.10,-146.6,179.9,-9.3,80,1698,0.00,2.50,0.00,0.000,4,0.000,0.061,2512,720,3431
$GC,1750,-1.14,-146.6,185.4,-10.0,82,1756,0.00,2.42,0.00,0.000,6,0.000,0.048,2512,2094,3431
$GC,2066,-1.14,-146.6,213.2,-8.9,98,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2095,3431
$GC,2375,-1.14,-146.6,242.5,-9.5,113,2379,0.00,2.50,0.00,0.000,4,0.000,0.061,2512,714,3431
$GC,2397,-1.17,-146.6,244.9,-10.2,114,2403,0.10,2.42,0.00,0.000,6,0.060,0.049,2482,2079,3431
$GC,2725,-1.14,-146.6,281.0,-11.1,130,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2080,3431
$GC,3034,-1.11,-146.6,314.7,-10.9,145,3036,0.12,0.00,0.00,0.000,6,0.092,0.000,2509,2080,3432
$GC,3343,-1.11,-146.6,344.9,-9.7,160,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2080,3431
$GC,3652,-1.11,-146.6,375.5,-10.1,175,3656,0.00,2.47,0.00,0.000,4,0.000,0.064,2509,719,3430
$GC,3681,-1.14,-146.6,378.4,-10.9,176,3685,0.00,2.40,0.00,0.000,6,0.000,0.050,2509,2072,3430
$GC,3997,-1.14,-146.6,409.8,-10.1,191,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2073,3430
$GC,4306,-1.14,-146.6,440.3,-9.9,206,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2073,3430
$GC,4615,-1.14,-146.6,469.7,-9.0,221,4617,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2073,3429
$GC,4924,-1.14,-146.6,498.3,-9.3,236,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2073,3429
$GC,5234,-1.14,-146.6,527.9,-9.6,251,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2073,3429
$GC,5543,-1.14,-146.6,558.6,-10.3,266,5547,0.00,2.47,0.00,0.000,4,0.000,0.064,2509,708,3429
$GC,5571,-1.18,-146.6,561.7,-10.8,267,5576,0.00,2.42,0.00,0.000,6,0.000,0.051,2509,2078,3429
$GC,5887,-1.18,-146.6,594.5,-10.8,282,5889,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2078,3429
$GC,6197,-1.18,-146.6,628.2,-10.8,297,6201,0.00,2.47,0.00,0.000,4,0.000,0.067,2509,723,3428
$GC,6241,-1.23,-146.6,633.0,-10.8,299,6246,0.15,2.40,0.00,0.000,6,0.052,0.051,2465,2078,3429
$GC,6567,-1.18,-146.6,670.7,-11.2,315,6572,0.12,2.50,0.00,0.000,4,0.097,0.067,2489,712,3428
$GC,6600,-1.18,-146.6,674.7,-10.2,316,6607,0.00,2.42,0.00,0.000,6,0.000,0.052,2489,2078,3428
$GC,6916,-1.18,-146.6,703.3,-10.0,332,6920,0.00,2.47,0.00,0.000,4,0.000,0.068,2489,718,3428
$GC,6989,-1.18,-146.6,711.9,-11.9,335,6993,0.00,2.38,0.00,0.000,6,0.000,0.051,2489,2053,3428
$GC,7313,-1.18,-146.6,746.4,-9.3,351,7315,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2054,3428
$GC,7620,-1.18,-146.6,773.8,-8.5,366,7624,0.00,2.47,0.00,0.000,4,0.000,0.073,2489,717,3428
$GC,7675,-1.18,-146.6,778.9,-9.3,368,7681,0.00,2.42,0.00,0.000,6,0.000,0.056,2489,2069,3427
$GC,7992,-1.18,-146.6,805.7,-7.9,384,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2075,3427
$STATE,8050,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8050,begin apogee
$GC,8057,-0.33,0.0,812.5,10.0,387,8193,0.85,0.00,130.50,1.374,6,0.078,0.000,2674,1834,2831
$STATE,8194,end apogee,CONTROL_FINISHED_OK
$STATE,8194,begin climb
$GC,8197,1.22,146.6,817.0,0.0,394,8334,1.52,0.00,132.32,1.331,6,0.063,0.000,3007,1835,2233
$GC,8634,1.10,146.6,790.9,8.0,415,8639,0.12,2.65,0.00,0.000,4,0.101,0.073,2985,3251,2232
$GC,8678,1.10,146.6,786.4,9.5,417,8682,0.00,2.58,0.00,0.000,6,0.000,0.070,2985,1874,2232
$GC,8999,1.06,146.6,758.7,8.4,433,9004,0.00,2.67,0.00,0.000,4,0.000,0.081,2985,438,2231
$GC,9096,0.96,146.6,749.1,10.2,437,9101,0.17,2.58,0.00,0.000,6,0.099,0.058,2951,1856,2231
$GC,9413,1.03,192.6,726.5,6.3,452,9459,0.00,2.62,41.40,1.312,4,0.000,0.071,2950,3251,2045
$GC,9518,1.20,249.5,720.6,5.9,457,9575,0.25,2.58,51.10,1.306,6,0.052,0.068,3011,1876,1813
$GC,9885,1.14,249.5,687.9,10.1,474,9886,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1876,1813
$GC,10194,1.10,249.5,655.3,10.7,489,10199,0.15,2.65,0.00,0.000,4,0.094,0.074,2982,436,1813
$GC,10289,1.10,249.5,646.0,9.8,493,10294,0.00,2.58,0.00,0.000,6,0.000,0.054,2981,1865,1813
$GC,10605,1.10,249.5,619.3,8.3,508,10609,0.00,2.53,0.00,0.000,4,0.000,0.067,2981,3256,1813
$GC,10655,1.16,249.5,614.9,8.7,510,10660,0.00,2.58,0.00,0.000,6,0.000,0.061,2981,1852,1813
$GC,10971,1.16,249.5,588.0,8.6,525,10972,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1852,1813
$GC,11280,1.16,249.5,560.3,9.2,540,11284,0.00,2.58,0.00,0.000,4,0.000,0.064,2982,3261,1813
$GC,11320,1.22,249.5,556.6,9.2,542,11325,0.12,2.55,0.00,0.000,6,0.058,0.058,3016,1858,1813
$GC,11648,1.17,249.5,520.7,11.0,558,11649,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1858,1813
$GC,11957,1.13,249.5,488.1,10.3,573,11962,0.12,2.55,0.00,0.000,4,0.092,0.061,2992,3258,1813
$GC,11997,1.18,249.5,484.3,8.7,575,12002,0.00,2.53,0.00,0.000,6,0.000,0.058,2992,1863,1813
$GC,12325,1.18,249.5,456.3,8.4,591,12326,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1863,1813
$GC,12634,1.20,264.4,432.6,7.5,606,12656,0.00,2.60,14.18,1.035,4,0.000,0.061,2992,3263,1754
$GC,12703,1.27,273.4,427.3,7.7,609,12718,0.15,2.53,9.38,0.978,6,0.052,0.056,3030,1871,1716
$GC,13031,1.21,273.4,395.2,10.1,624,13033,0.12,0.00,0.00,0.000,6,0.092,0.000,3006,1872,1716
$GC,13338,1.21,273.4,367.5,8.6,639,13342,0.00,2.53,0.00,0.000,4,0.000,0.061,3006,3264,1716
$GC,13394,1.25,273.4,362.5,9.7,641,13399,0.00,2.47,0.00,0.000,6,0.000,0.054,3006,1887,1716
$GC,13711,1.25,273.4,334.9,9.0,656,13712,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1886,1716
$GC,14020,1.25,273.4,307.3,8.9,671,14024,0.00,2.50,0.00,0.000,4,0.000,0.060,3006,3263,1716
$GC,14060,1.28,273.4,303.5,8.9,673,14064,0.00,2.45,0.00,0.000,6,0.000,0.052,3006,1886,1717
$GC,14387,1.28,273.4,273.4,9.0,689,14388,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1886,1717
$GC,14696,1.28,273.4,245.3,9.2,704,14700,0.00,2.50,0.00,0.000,4,0.000,0.061,3006,3263,1717
$GC,14736,1.32,273.4,241.4,9.4,706,14741,0.12,2.42,0.00,0.000,6,0.054,0.052,3041,1903,1717
$GC,15064,1.26,273.4,204.1,11.5,722,15065,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1903,1717
$GC,15373,1.20,273.4,168.0,11.8,737,15375,0.17,0.00,0.00,0.000,6,0.084,0.000,3006,1903,1717
$GC,15682,1.20,273.4,137.8,9.2,752,15686,0.00,2.45,0.00,0.000,4,0.000,0.060,3006,3256,1717
$GC,15715,1.25,273.4,134.5,9.4,753,15721,0.00,2.40,0.00,0.000,6,0.000,0.050,3006,1901,1717
$GC,16033,1.25,273.4,105.3,9.7,769,16034,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1901,1717
$GC,16341,1.25,273.4,75.2,9.5,784,16345,0.00,2.45,0.00,0.000,4,0.000,0.059,3006,3256,1717
$GC,16391,1.30,273.4,70.4,9.0,786,16396,0.10,2.38,0.00,0.000,6,0.059,0.049,3035,1914,1718
$GC,16714,1.30,273.4,39.0,9.0,802,16718,0.00,2.65,0.00,0.000,4,0.000,0.066,3035,436,1718
$GC,16826,1.25,273.4,26.1,12.0,807,16830,0.00,2.60,0.00,0.000,6,0.000,0.046,3035,1917,1718
$STATE,17063,end climb,SURFACE_DEPTH_REACHED
$STATE,17063,begin surface coast
$FINISH,0.8,1.002207
$STATE,17083,end surface coast,CONTROL_FINISHED_OK
$STATE,17084,begin surface
$SM_CCo,17107,14.85,0.752,0,0,1608,300.00
$SM_GC,1.87,0.00,0.00,14.85,0.000,0.000,0.752,421,2155,1608,-10.69,0.71,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1844
$TCM_TEMP,17.50
$XPDR_PINGS,39
$ALTIM_BOTTOM_PING,795.5,27.0
$24V_AH,23.8,18.310
$10V_AH,10.1,8.170
$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,27.275,126.150,378.875,14.850,0.000,37.759,26.264,149.047,17.250,0.000,0.000,12.847,1506.574,13189.285,511.544,1733.504,514.224,33.359,1387.543,0.000,1693.939,0.000,52.141,0.000
$DEVICE_MAMPS,163.371,81.302,1373.697,752.427,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,562.135,612.837,474.723,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41112,820
$CAP_FILE_SIZE,125623,0
$CFSIZE,254472192,246620160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,130909,161336,6224.780,-1121.263,34,1.7,34,-10.8