version: 66.04
glider: 5
mission: 7
dive: 100
start: 9 14 109 16 6 51
data:
$ID,5
$MISSION,7
$DIVE,100
$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,-102137.2
$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,30
$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
$GPS1,160036,6230.772,-1143.487,39,1.3,39,-11.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-62.0
$GPS2,160602,6230.812,-1143.393,13,1.4,13,-11.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.169,0.178
$KALMAN_X,-97536.1,502.7,708.6,-65324.2,-7115.3
$KALMAN_Y,2660.1,663.3,943.1,96072.0,-9241.9
$MHEAD_RNG_PITCHd_Wd,327.4,35477,-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,-41.67,0.000,2,0.000,0.000,416,2149,2521
$GC,65,-1.22,-146.6,2.5,-4.2,2,117,11.18,2.58,-35.38,0.000,4,0.155,0.067,2473,717,3429
$GC,286,-1.14,-146.6,28.9,-15.2,12,291,0.10,2.50,0.00,0.000,6,0.106,0.045,2492,2132,3430
$GC,609,-1.11,-146.6,67.7,-11.6,28,613,0.00,2.55,0.00,0.000,4,0.000,0.057,2492,717,3430
$GC,698,-1.11,-146.6,78.0,-11.0,32,702,0.00,2.47,0.00,0.000,6,0.000,0.045,2492,2121,3430
$GC,1020,-1.08,-146.6,110.1,-9.7,48,1024,0.00,2.55,0.00,0.000,4,0.000,0.060,2492,711,3431
$GC,1060,-1.08,-146.6,114.3,-10.6,50,1064,0.00,2.47,0.00,0.000,6,0.000,0.047,2492,2115,3431
$GC,1387,-1.08,-146.6,149.2,-11.0,66,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2115,3431
$GC,1696,-1.08,-146.6,183.5,-11.2,81,1700,0.00,2.53,0.00,0.000,4,0.000,0.061,2492,719,3431
$GC,1740,-1.08,-146.6,188.6,-11.3,83,1744,0.00,2.45,0.00,0.000,6,0.000,0.048,2492,2103,3431
$GC,2061,-1.08,-146.6,224.1,-11.0,99,2065,0.00,2.53,0.00,0.000,4,0.000,0.063,2492,715,3431
$GC,2088,-1.08,-146.6,227.4,-11.0,100,2092,0.00,2.45,0.00,0.000,6,0.000,0.049,2492,2108,3431
$GC,2410,-1.08,-146.6,262.9,-10.9,116,2414,0.00,2.53,0.00,0.000,4,0.000,0.062,2492,715,3431
$GC,2437,-1.08,-146.6,266.1,-11.4,117,2441,0.00,2.45,0.00,0.000,6,0.000,0.049,2492,2098,3431
$GC,2753,-1.08,-146.6,300.7,-11.1,132,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2098,3431
$GC,3062,-1.08,-146.6,334.8,-11.1,147,3066,0.00,2.50,0.00,0.000,4,0.000,0.063,2492,718,3431
$GC,3102,-1.08,-146.6,339.3,-11.2,149,3106,0.00,2.45,0.00,0.000,6,0.000,0.050,2492,2102,3431
$GC,3429,-1.08,-146.6,375.8,-11.3,165,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2104,3430
$GC,3738,-1.08,-146.6,410.5,-11.2,180,3742,0.00,2.53,0.00,0.000,4,0.000,0.064,2492,710,3430
$GC,3765,-1.08,-146.6,413.6,-11.4,181,3770,0.00,2.45,0.00,0.000,6,0.000,0.051,2492,2090,3430
$GC,4082,-1.08,-146.6,448.3,-10.9,196,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2090,3429
$GC,4391,-1.08,-146.6,481.6,-10.5,211,4395,0.00,2.50,0.00,0.000,4,0.000,0.064,2492,714,3429
$GC,4459,-1.08,-146.6,489.1,-11.2,214,4463,0.00,2.42,0.00,0.000,6,0.000,0.051,2492,2079,3429
$GC,4781,-1.08,-146.6,520.6,-9.3,230,4785,0.00,2.65,0.00,0.000,4,0.000,0.073,2492,3542,3429
$GC,4808,-1.08,-146.6,523.3,-9.1,231,4813,0.00,2.65,0.00,0.000,6,0.000,0.058,2492,2072,3429
$GC,5124,-1.08,-146.6,550.7,-8.7,246,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2063,3429
$GC,5434,-1.08,-146.6,578.9,-9.3,261,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2063,3429
$GC,5743,-1.08,-146.6,606.4,-8.6,276,5748,0.00,2.42,0.00,0.000,4,0.000,0.066,2492,718,3428
$GC,5783,-1.08,-146.6,610.0,-9.7,278,5788,0.00,2.42,0.00,0.000,6,0.000,0.051,2492,2085,3428
$GC,6110,-1.08,-146.6,639.4,-9.8,294,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2085,3428
$GC,6420,-1.08,-146.6,669.9,-9.6,309,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2085,3428
$GC,6729,-1.08,-146.6,697.6,-8.6,324,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2085,3427
$GC,7038,-1.08,-146.6,724.0,-8.7,339,7039,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2085,3427
$GC,7348,-1.08,-146.6,752.1,-9.2,354,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2085,3426
$STATE,7571,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7572,begin apogee
$GC,7579,-0.33,0.0,772.7,8.9,365,7715,0.85,0.00,130.23,1.348,6,0.085,0.000,2673,1836,2831
$STATE,7715,end apogee,CONTROL_FINISHED_OK
$STATE,7715,begin climb
$GC,7718,1.22,146.6,776.4,0.0,372,7856,1.58,0.00,131.32,1.306,6,0.062,0.000,3011,1835,2233
$GC,8170,1.14,162.4,747.7,7.4,394,8187,0.00,0.00,15.43,1.193,6,0.000,0.000,3011,1835,2169
$GC,8495,1.10,192.9,723.3,6.9,410,8526,0.15,0.00,28.42,1.258,6,0.100,0.000,2982,1835,2044
$GC,8824,1.17,236.4,701.9,6.4,426,8866,0.00,0.00,39.22,1.276,6,0.000,0.000,2982,1835,1867
$GC,9173,1.21,259.5,677.8,7.2,443,9197,0.12,0.00,21.88,1.238,6,0.062,0.000,3014,1835,1773
$GC,9503,1.16,259.5,647.3,9.4,459,9507,0.00,2.65,0.00,0.000,4,0.000,0.070,3014,3261,1773
$GC,9558,1.16,259.5,641.2,10.7,461,9564,0.00,2.62,0.00,0.000,6,0.000,0.067,3014,1848,1773
$GC,9874,1.11,259.5,609.1,9.8,477,9879,0.15,2.60,0.00,0.000,4,0.097,0.076,2986,438,1772
$GC,9914,1.11,259.5,605.2,8.9,479,9919,0.00,2.55,0.00,0.000,6,0.000,0.055,2985,1851,1773
$GC,10241,1.11,259.5,577.9,8.2,495,10243,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1865,1772
$GC,10551,1.11,259.5,551.9,8.5,510,10552,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1865,1772
$GC,10860,1.11,259.5,525.0,8.8,525,10861,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1865,1772
$GC,11169,1.11,259.5,499.0,8.5,540,11173,0.00,2.53,0.00,0.000,4,0.000,0.064,2986,3257,1772
$GC,11209,1.17,259.5,495.4,9.0,542,11214,0.00,2.60,0.00,0.000,6,0.000,0.060,2986,1828,1772
$GC,11536,1.17,259.5,466.4,8.9,558,11540,0.00,2.62,0.00,0.000,4,0.000,0.062,2986,3263,1772
$GC,11580,1.23,259.5,462.1,9.5,560,11585,0.12,2.58,0.00,0.000,6,0.058,0.058,3020,1844,1772
$GC,11903,1.18,259.5,429.1,10.1,576,11904,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1843,1773
$GC,12212,1.14,259.5,398.5,9.6,591,12217,0.15,2.60,0.00,0.000,4,0.094,0.061,2991,3265,1773
$GC,12268,1.19,259.5,393.4,8.3,593,12274,0.00,2.55,0.00,0.000,6,0.000,0.055,2991,1851,1773
$GC,12584,1.19,259.5,367.4,8.4,609,12585,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1851,1774
$GC,12893,1.19,259.5,341.5,8.3,624,12897,0.00,2.55,0.00,0.000,4,0.000,0.061,2991,3259,1774
$GC,12960,1.24,259.5,335.4,8.8,627,12965,0.12,2.50,0.00,0.000,6,0.056,0.054,3025,1869,1774
$GC,13282,1.19,259.5,302.8,10.1,643,13283,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1869,1774
$GC,13590,1.15,259.5,271.6,10.0,658,13595,0.15,2.53,0.00,0.000,4,0.087,0.061,2995,3265,1774
$GC,13631,1.20,259.5,268.0,8.0,660,13635,0.00,2.50,0.00,0.000,6,0.000,0.053,2995,1867,1774
$GC,13964,1.20,259.5,240.3,8.4,676,13965,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1867,1774
$GC,14273,1.20,259.5,214.7,8.1,691,14277,0.00,2.53,0.00,0.000,4,0.000,0.059,2996,3260,1774
$GC,14325,1.25,259.5,210.5,8.1,693,14330,0.10,2.45,0.00,0.000,6,0.060,0.052,3022,1885,1774
$GC,14647,1.21,259.5,180.2,9.4,709,14648,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1886,1775
$GC,14956,1.17,259.5,151.2,9.0,724,14961,0.12,2.47,0.00,0.000,4,0.091,0.058,2999,3256,1775
$GC,14997,1.23,259.5,147.9,8.1,726,15001,0.00,2.42,0.00,0.000,6,0.000,0.051,2999,1893,1775
$GC,15324,1.27,285.5,123.8,7.1,742,15349,0.00,0.00,22.92,0.861,6,0.000,0.000,2999,1892,1667
$GC,15655,1.32,301.6,100.5,7.4,758,15677,0.17,2.53,14.77,0.825,4,0.049,0.058,3045,3249,1600
$GC,15705,1.32,301.6,95.0,10.3,760,15709,0.00,2.45,0.00,0.000,6,0.000,0.049,3045,1888,1600
$GC,16023,1.27,301.6,55.9,13.7,775,16028,0.12,2.62,0.00,0.000,4,0.089,0.067,3020,436,1600
$GC,16073,1.27,301.6,49.7,11.2,777,16078,0.00,2.60,0.00,0.000,6,0.000,0.048,3020,1901,1600
$GC,16391,1.27,301.6,18.4,9.9,792,16395,0.00,2.40,0.00,0.000,4,0.000,0.058,3020,3257,1601
$GC,16441,1.34,301.6,13.3,11.0,794,16446,0.00,2.45,0.00,0.000,6,0.000,0.049,3020,1879,1600
$STATE,16548,end climb,SURFACE_DEPTH_REACHED
$STATE,16549,begin surface coast
$FINISH,0.8,1.026831
$STATE,16572,end surface coast,CONTROL_FINISHED_OK
$STATE,16572,begin surface
$SM_CCo,16656,0.00,0.000,0,0,1600,301.96
$SM_GC,1.60,11.20,0.00,0.00,0.035,0.000,0.000,425,2163,1600,-10.58,0.90,301.96
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1844
$TCM_TEMP,17.60
$XPDR_PINGS,39
$ALTIM_BOTTOM_PING,720.4,61.8
$24V_AH,23.8,19.274
$10V_AH,10.1,8.620
$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,26.400,116.875,404.200,0.000,0.000,37.763,35.010,135.092,16.500,0.000,0.000,13.826,1451.462,12881.783,533.963,1618.791,492.788,33.359,1342.337,0.000,1582.653,0.000,47.487,0.000
$DEVICE_MAMPS,154.934,75.933,1348.386,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,548.694,598.403,469.687,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41159,800
$CAP_FILE_SIZE,117473,0
$CFSIZE,254472192,246280192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,140909,204537,6232.365,-1149.203,33,1.3,33,-11.2