version: 66.04
glider: 5
mission: 7
dive: 98
start: 9 14 109 6 42 21
data:
$ID,5
$MISSION,7
$DIVE,98
$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,-102110.4
$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,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
$GPS1,063607,6228.809,-1134.491,28,1.2,28,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-59.9
$GPS2,064132,6228.778,-1134.386,12,1.4,12,-11.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.047,0.241
$KALMAN_X,-94221.7,877.8,647.8,-61024.4,-7306.0
$KALMAN_Y,7405.9,1041.3,816.7,87293.3,-9957.0
$MHEAD_RNG_PITCHd_Wd,22.0,5308,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.22,-146.6,0.0,0.0,0,61,0.00,0.00,-41.60,0.000,2,0.000,0.000,425,2143,2530
$GC,65,-1.22,-146.6,2.8,-5.1,2,116,11.38,2.60,-33.17,0.000,4,0.163,0.067,2471,720,3430
$GC,358,-1.16,-146.6,38.9,-13.5,15,363,0.00,2.50,0.00,0.000,6,0.000,0.045,2471,2141,3430
$GC,682,-1.10,-146.6,76.5,-11.4,31,687,0.15,2.58,0.00,0.000,4,0.096,0.056,2504,710,3431
$GC,755,-1.10,-146.6,85.1,-10.9,34,759,0.00,2.50,0.00,0.000,6,0.000,0.045,2504,2128,3432
$GC,1072,-1.10,-146.6,121.1,-11.5,49,1076,0.00,2.55,0.00,0.000,4,0.000,0.060,2503,717,3432
$GC,1112,-1.10,-146.6,125.8,-11.9,51,1116,0.00,2.45,0.00,0.000,6,0.000,0.048,2503,2116,3432
$GC,1444,-1.10,-146.6,160.4,-9.9,67,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2117,3432
$GC,1753,-1.10,-146.6,190.2,-9.5,82,1757,0.00,2.53,0.00,0.000,4,0.000,0.061,2503,719,3432
$GC,1798,-1.13,-146.6,194.7,-9.9,84,1806,0.00,2.47,0.00,0.000,6,0.000,0.048,2503,2118,3432
$GC,2127,-1.13,-146.6,227.3,-10.2,100,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2119,3432
$GC,2436,-1.13,-146.6,260.2,-10.8,115,2441,0.00,2.55,0.00,0.000,4,0.000,0.061,2504,712,3432
$GC,2494,-1.16,-146.6,266.4,-11.3,117,2500,0.00,2.47,0.00,0.000,6,0.000,0.048,2503,2111,3432
$GC,2810,-1.16,-146.6,300.2,-10.7,133,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2110,3432
$GC,3119,-1.16,-146.6,332.4,-10.3,148,3124,0.00,2.53,0.00,0.000,4,0.000,0.062,2503,719,3432
$GC,3165,-1.20,-146.6,337.2,-10.9,150,3169,0.00,2.45,0.00,0.000,6,0.000,0.050,2503,2102,3432
$GC,3487,-1.20,-146.6,370.2,-10.3,166,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2103,3432
$GC,3795,-1.20,-146.6,403.1,-10.7,181,3799,0.00,2.53,0.00,0.000,4,0.000,0.064,2503,712,3431
$GC,3829,-1.23,-146.6,406.9,-11.1,182,3836,0.12,2.47,0.00,0.000,6,0.058,0.051,2468,2107,3431
$GC,4146,-1.17,-146.6,446.8,-12.8,198,4148,0.10,0.00,0.00,0.000,6,0.094,0.000,2487,2108,3431
$GC,4455,-1.17,-146.6,483.7,-11.8,213,4459,0.00,2.53,0.00,0.000,4,0.000,0.064,2486,718,3431
$GC,4504,-1.17,-146.6,489.9,-12.6,215,4509,0.00,2.45,0.00,0.000,6,0.000,0.051,2487,2099,3431
$GC,4820,-1.17,-146.6,527.1,-11.7,230,4824,0.00,2.50,0.00,0.000,4,0.000,0.064,2487,719,3430
$GC,4854,-1.17,-146.6,531.2,-12.0,231,4860,0.00,2.42,0.00,0.000,6,0.000,0.052,2487,2087,3430
$GC,5170,-1.17,-146.6,567.2,-11.2,247,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2087,3430
$GC,5479,-1.17,-146.6,599.6,-10.0,262,5483,0.00,2.50,0.00,0.000,4,0.000,0.066,2487,714,3429
$GC,5529,-1.17,-146.6,604.5,-9.8,264,5533,0.00,2.42,0.00,0.000,6,0.000,0.052,2487,2078,3429
$GC,5845,-1.17,-146.6,634.5,-9.6,279,5848,0.00,2.47,0.00,0.000,4,0.000,0.068,2486,719,3429
$GC,5923,-1.17,-146.6,642.4,-9.7,282,5927,0.00,2.40,0.00,0.000,6,0.000,0.052,2487,2068,3429
$GC,6240,-1.17,-146.6,670.8,-8.4,297,6244,0.00,2.67,0.00,0.000,4,0.000,0.071,2487,3540,3429
$GC,6284,-1.17,-146.6,674.8,-8.3,299,6288,0.00,2.67,0.00,0.000,6,0.000,0.059,2487,2057,3429
$GC,6605,-1.17,-146.6,700.6,-8.2,315,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2057,3429
$GC,6914,-1.17,-146.6,726.2,-8.2,330,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2057,3428
$GC,7223,-1.17,-146.6,753.6,-9.1,345,7224,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2047,3428
$GC,7532,-1.17,-146.6,783.4,-10.0,360,7537,0.00,2.78,0.00,0.000,4,0.000,0.079,2487,3538,3427
$GC,7554,-1.17,-146.6,785.8,-11.0,361,7559,0.00,2.70,0.00,0.000,4,0.000,0.067,2487,2063,3427
$STATE,7559,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7559,begin apogee
$GC,7567,-0.33,0.0,786.6,11.6,361,7702,0.82,0.00,131.82,1.352,6,0.084,0.000,2666,1838,2831
$STATE,7703,end apogee,CONTROL_FINISHED_OK
$STATE,7703,begin climb
$GC,7706,1.22,146.6,792.6,0.0,368,7846,1.58,2.65,131.65,1.314,4,0.064,0.079,3008,446,2233
$GC,8040,1.06,146.6,771.8,9.2,382,8045,0.17,2.58,0.00,0.000,6,0.098,0.058,2977,1859,2232
$GC,8356,1.08,160.3,749.0,7.5,397,8375,0.00,0.00,13.52,1.197,6,0.000,0.000,2977,1874,2176
$GC,8685,1.12,183.4,726.0,7.2,413,8708,0.00,0.00,21.35,1.264,6,0.000,0.000,2977,1874,2083
$GC,9014,1.12,183.4,698.9,8.7,429,9019,0.00,2.67,0.00,0.000,4,0.000,0.078,2976,436,2082
$GC,9060,1.06,183.4,694.7,8.8,431,9064,0.00,2.58,0.00,0.000,6,0.000,0.059,2976,1846,2082
$GC,9381,1.16,243.8,672.7,5.8,447,9436,0.00,0.00,53.33,1.303,6,0.000,0.000,2976,1861,1836
$GC,9733,1.31,318.6,653.8,5.3,464,9801,0.22,0.00,65.68,1.277,6,0.051,0.000,3034,1861,1532
$GC,10105,1.25,318.6,620.8,9.8,482,10109,0.00,2.62,0.00,0.000,4,0.000,0.075,3034,444,1532
$GC,10167,1.16,318.6,614.0,11.1,485,10172,0.20,2.55,0.00,0.000,6,0.093,0.055,2997,1851,1532
$GC,10495,1.16,318.6,586.0,8.6,501,10496,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1865,1532
$GC,10804,1.16,318.6,559.3,8.6,516,10805,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1865,1532
$GC,11113,1.16,318.6,530.7,9.7,531,11114,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1865,1533
$GC,11422,1.16,318.6,499.7,10.3,546,11424,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1865,1533
$GC,11731,1.16,318.6,468.1,10.2,561,11736,0.00,2.60,0.00,0.000,4,0.000,0.069,2996,444,1534
$GC,11765,1.16,318.6,464.3,10.9,562,11771,0.00,2.53,0.00,0.000,6,0.000,0.051,2996,1858,1534
$GC,12081,1.16,318.6,432.2,10.2,578,12082,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1873,1534
$GC,12390,1.16,318.6,401.7,9.5,593,12394,0.00,2.60,0.00,0.000,4,0.000,0.067,2996,440,1534
$GC,12417,1.16,318.6,398.8,10.5,594,12421,0.00,2.50,0.00,0.000,6,0.000,0.050,2996,1848,1535
$GC,12733,1.19,318.6,369.2,9.4,609,12737,0.00,2.50,0.00,0.000,4,0.000,0.061,2997,3256,1535
$GC,12757,1.25,318.6,366.8,10.3,610,12761,0.00,2.55,0.00,0.000,6,0.000,0.056,2996,1837,1535
$GC,13084,1.25,318.6,335.7,9.3,626,13088,0.00,2.58,0.00,0.000,4,0.000,0.061,2996,3253,1535
$GC,13112,1.32,318.6,332.9,9.9,627,13117,0.15,2.55,0.00,0.000,6,0.051,0.055,3037,1839,1536
$GC,13428,1.27,318.6,297.4,11.1,642,13429,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1839,1536
$GC,13737,1.23,318.6,263.8,10.9,657,13742,0.12,2.58,0.00,0.000,4,0.087,0.060,3012,3255,1536
$GC,13771,1.27,318.6,260.2,9.9,658,13777,0.00,2.53,0.00,0.000,6,0.000,0.054,3013,1848,1536
$GC,14087,1.27,318.6,229.0,10.1,674,14088,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1848,1536
$GC,14396,1.27,318.6,197.0,10.4,689,14400,0.00,2.55,0.00,0.000,4,0.000,0.061,3013,3255,1536
$GC,14446,1.32,318.6,191.9,9.4,691,14451,0.00,2.50,0.00,0.000,6,0.000,0.052,3012,1856,1536
$GC,14768,1.32,318.6,160.2,10.0,707,14769,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1856,1536
$GC,15077,1.32,318.6,126.2,11.2,722,15082,0.00,2.53,0.00,0.000,4,0.000,0.059,3013,3254,1536
$GC,15128,1.38,318.6,120.3,10.8,724,15133,0.15,2.47,0.00,0.000,6,0.051,0.051,3054,1863,1536
$GC,15445,1.31,318.6,77.9,13.1,739,15447,0.12,0.00,0.00,0.000,6,0.091,0.000,3029,1863,1536
$GC,15754,1.31,318.6,42.5,10.5,754,15758,0.00,2.50,0.00,0.000,4,0.000,0.059,3029,3257,1537
$GC,15842,1.35,318.6,33.9,10.3,758,15846,0.00,2.42,0.00,0.000,6,0.000,0.048,3029,1890,1537
$STATE,16124,end climb,SURFACE_DEPTH_REACHED
$STATE,16124,begin surface coast
$FINISH,0.8,1.025720
$STATE,16146,end surface coast,CONTROL_FINISHED_OK
$STATE,16146,begin surface
$SM_CCo,16230,0.00,0.000,0,0,1537,317.66
$SM_GC,1.62,11.27,0.00,0.00,0.038,0.000,0.000,418,2144,1537,-10.60,0.45,317.66
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1833
$TCM_TEMP,17.60
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,746.1,49.8
$24V_AH,23.8,18.964
$10V_AH,10.1,8.472
$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,26.575,122.675,417.350,0.000,0.000,37.761,27.541,141.905,14.750,0.000,0.000,12.314,1412.045,12467.355,520.289,1662.873,488.841,33.363,1372.136,0.000,1625.162,0.000,46.124,0.000
$DEVICE_MAMPS,162.604,79.001,1352.221,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,529.953,574.531,435.252,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37955,773
$CAP_FILE_SIZE,115959,0
$CFSIZE,254472192,246398976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140909,111407,6229.856,-1136.044,39,1.1,39,-11.0