version: 66.04
glider: 5
mission: 7
dive: 101
start: 9 14 109 20 57 21
data:
$ID,5
$MISSION,7
$DIVE,101
$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,-102156.41
$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
$GPS1,204537,6232.365,-1149.203,33,1.3,33,-11.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-61.3
$GPS2,205631,6232.302,-1149.163,16,1.2,16,-11.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.179,0.168
$KALMAN_X,-97546.1,507.3,399.1,-70096.8,-4527.9
$KALMAN_Y,1830.7,1042.0,464.2,99756.4,-7010.3
$MHEAD_RNG_PITCHd_Wd,324.5,29848,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.72,0.000,2,0.000,0.000,424,2160,2510
$GC,63,-1.22,-146.6,2.4,-3.9,2,116,11.40,2.60,-35.75,0.000,4,0.163,0.066,2471,708,3428
$GC,274,-1.15,-146.6,25.0,-13.0,11,282,0.10,2.50,0.00,0.000,6,0.110,0.045,2490,2130,3428
$GC,591,-1.12,-146.6,61.1,-12.3,27,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2130,3428
$GC,900,-1.08,-146.6,98.4,-12.3,42,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2130,3430
$GC,1210,-1.05,-146.6,135.1,-11.8,57,1215,0.12,2.58,0.00,0.000,4,0.102,0.060,2516,708,3430
$GC,1251,-1.10,-146.6,139.6,-10.1,59,1255,0.00,2.50,0.00,0.000,6,0.000,0.048,2517,2122,3430
$GC,1578,-1.10,-146.6,171.9,-9.7,75,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2123,3430
$GC,1886,-1.10,-146.6,201.3,-9.7,90,1891,0.00,2.55,0.00,0.000,4,0.000,0.063,2517,718,3430
$GC,1937,-1.15,-146.6,206.4,-9.8,92,1942,0.10,2.47,0.00,0.000,6,0.059,0.050,2486,2116,3430
$GC,2254,-1.11,-146.6,241.7,-11.1,107,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2116,3430
$GC,2562,-1.08,-146.6,276.4,-11.2,122,2567,0.12,2.53,0.00,0.000,4,0.091,0.062,2513,717,3430
$GC,2584,-1.08,-146.6,279.0,-11.0,123,2589,0.00,2.47,0.00,0.000,6,0.000,0.049,2513,2114,3430
$GC,2906,-1.08,-146.6,310.5,-9.8,139,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2115,3429
$GC,3215,-1.08,-146.6,340.8,-9.9,154,3219,0.00,2.53,0.00,0.000,4,0.000,0.063,2513,720,3429
$GC,3248,-1.12,-146.6,344.3,-10.9,155,3254,0.00,2.47,0.00,0.000,6,0.000,0.050,2513,2118,3429
$GC,3565,-1.12,-146.6,377.5,-10.4,171,3569,0.00,2.55,0.00,0.000,4,0.000,0.064,2513,715,3428
$GC,3598,-1.16,-146.6,381.3,-10.6,172,3604,0.00,2.47,0.00,0.000,6,0.000,0.050,2513,2113,3428
$GC,3914,-1.16,-146.6,412.7,-9.7,188,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2112,3428
$GC,4223,-1.16,-146.6,441.8,-9.1,203,4227,0.00,2.53,0.00,0.000,4,0.000,0.064,2513,719,3428
$GC,4258,-1.21,-146.6,445.0,-9.2,204,4265,0.15,2.45,0.00,0.000,6,0.054,0.051,2471,2102,3428
$GC,4575,-1.15,-146.6,479.9,-11.1,220,4577,0.12,0.00,0.00,0.000,6,0.096,0.000,2496,2103,3428
$GC,4883,-1.15,-146.6,510.5,-9.8,235,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2103,3428
$GC,5192,-1.15,-146.6,540.3,-9.7,250,5197,0.00,2.53,0.00,0.000,4,0.000,0.067,2496,718,3427
$GC,5233,-1.15,-146.6,544.3,-10.3,252,5240,0.00,2.45,0.00,0.000,6,0.000,0.052,2496,2093,3427
$GC,5568,-1.15,-146.6,579.0,-10.9,268,5572,0.00,2.50,0.00,0.000,4,0.000,0.065,2496,718,3427
$GC,5595,-1.15,-146.6,582.3,-11.4,269,5599,0.00,2.45,0.00,0.000,6,0.000,0.051,2496,2099,3427
$GC,5911,-1.15,-146.6,619.2,-11.7,284,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2099,3427
$GC,6220,-1.15,-146.6,656.6,-12.4,299,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2099,3427
$GC,6529,-1.15,-146.6,694.8,-11.8,314,6537,0.00,2.55,0.00,0.000,4,0.000,0.070,2496,711,3427
$GC,6583,-1.18,-146.6,701.0,-12.3,316,6587,0.00,2.45,0.00,0.000,6,0.000,0.054,2496,2083,3426
$GC,6904,-1.18,-146.6,737.1,-11.3,332,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2084,3426
$GC,7213,-1.18,-146.6,773.7,-12.1,347,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2084,3425
$STATE,7375,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7375,begin apogee
$GC,7383,-0.33,0.0,789.4,8.9,355,7518,0.82,0.00,131.15,1.351,6,0.079,0.000,2674,1848,2831
$STATE,7519,end apogee,CONTROL_FINISHED_OK
$STATE,7519,begin climb
$GC,7522,1.22,146.6,795.2,0.0,362,7663,1.58,2.70,132.68,1.312,4,0.060,0.081,3013,437,2233
$GC,7686,1.11,175.8,789.1,6.9,370,7719,0.15,2.60,27.00,1.249,6,0.104,0.058,2987,1867,2114
$GC,8032,1.11,175.8,761.2,8.7,386,8037,0.00,2.67,0.00,0.000,4,0.000,0.080,2987,445,2114
$GC,8083,1.03,175.8,755.6,10.2,388,8088,0.00,2.55,0.00,0.000,6,0.000,0.058,2987,1847,2113
$GC,8400,1.00,175.8,725.8,9.7,403,8405,0.15,2.60,0.00,0.000,4,0.098,0.073,2959,3258,2113
$GC,8433,1.04,175.8,722.5,8.7,404,8439,0.00,2.62,0.00,0.000,6,0.000,0.069,2959,1850,2113
$GC,8749,1.04,175.8,693.3,9.1,420,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1850,2112
$GC,9059,1.08,175.8,665.2,9.0,435,9060,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1850,2111
$GC,9368,1.11,175.8,637.9,8.4,450,9373,0.12,2.60,0.00,0.000,4,0.058,0.067,2991,3258,2110
$GC,9441,1.11,175.8,631.3,9.9,453,9445,0.00,2.58,0.00,0.000,6,0.000,0.064,2991,1859,2110
$GC,9757,1.14,195.9,606.2,7.3,468,9781,0.00,2.70,17.98,1.203,4,0.000,0.075,2991,443,2032
$GC,9840,1.07,198.8,600.0,7.9,471,9849,0.00,2.58,4.32,0.841,6,0.000,0.054,2991,1868,2020
$GC,10179,1.16,252.6,578.8,6.0,488,10228,0.00,0.00,46.90,1.226,6,0.000,0.000,2991,1882,1801
$GC,10530,1.22,289.1,555.2,6.7,505,10572,0.00,2.80,32.45,1.183,4,0.000,0.074,2991,439,1652
$GC,10601,1.24,301.3,550.0,7.6,508,10619,0.10,2.58,12.10,1.081,6,0.059,0.052,3019,1874,1602
$GC,10927,1.24,301.3,519.2,10.2,524,10931,0.00,2.47,0.00,0.000,4,0.000,0.065,3020,3242,1603
$GC,10954,1.24,301.3,516.3,10.8,525,10958,0.00,2.53,0.00,0.000,6,0.000,0.060,3019,1862,1603
$GC,11276,1.21,301.3,481.8,11.0,541,11277,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1862,1603
$GC,11584,1.21,301.3,447.5,11.2,556,11585,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1862,1604
$GC,11894,1.21,301.3,410.7,12.3,571,11898,0.00,2.53,0.00,0.000,4,0.000,0.062,3020,3242,1604
$GC,11938,1.21,301.3,405.1,12.1,573,11942,0.00,2.50,0.00,0.000,6,0.000,0.056,3019,1860,1604
$GC,12259,1.21,301.3,367.2,11.4,589,12260,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1859,1604
$GC,12568,1.21,301.3,331.1,11.7,604,12573,0.00,2.53,0.00,0.000,4,0.000,0.061,3020,3254,1605
$GC,12609,1.21,301.3,326.3,11.5,606,12613,0.00,2.50,0.00,0.000,6,0.000,0.054,3020,1862,1605
$GC,12935,1.21,301.3,288.0,11.7,622,12936,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1862,1605
$GC,13245,1.21,301.3,253.6,10.9,637,13249,0.00,2.53,0.00,0.000,4,0.000,0.060,3019,3252,1605
$GC,13284,1.21,301.3,249.3,10.6,639,13288,0.00,2.47,0.00,0.000,6,0.000,0.052,3020,1869,1605
$GC,13611,1.21,301.3,214.1,11.0,655,13612,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1869,1606
$GC,13920,1.21,301.3,180.9,10.7,670,13924,0.00,2.50,0.00,0.000,4,0.000,0.059,3019,3251,1606
$GC,13970,1.21,301.3,175.3,10.5,672,13974,0.00,2.45,0.00,0.000,6,0.000,0.052,3020,1876,1606
$GC,14291,1.21,301.3,139.3,11.2,688,14292,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1876,1606
$GC,14600,1.21,301.3,105.5,10.8,703,14605,0.00,2.47,0.00,0.000,4,0.000,0.058,3020,3246,1607
$GC,14628,1.21,301.3,102.3,11.4,704,14632,0.00,2.42,0.00,0.000,6,0.000,0.050,3020,1882,1606
$GC,14944,1.21,301.3,71.4,9.3,719,14949,0.00,2.47,0.00,0.000,4,0.000,0.058,3020,3252,1606
$GC,14986,1.25,301.3,67.8,9.0,721,14990,0.00,2.40,0.00,0.000,6,0.000,0.050,3020,1897,1606
$GC,15319,1.25,301.3,40.3,8.5,737,15320,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1897,1607
$GC,15628,1.25,301.3,10.6,9.7,752,15632,0.00,2.60,0.00,0.000,4,0.000,0.064,3020,439,1607
$GC,15673,1.21,301.3,5.1,12.0,754,15678,0.00,2.55,0.00,0.000,6,0.000,0.045,3020,1894,1607
$STATE,15703,end climb,SURFACE_DEPTH_REACHED
$STATE,15703,begin surface coast
$FINISH,0.8,1.001491
$STATE,15725,end surface coast,CONTROL_FINISHED_OK
$STATE,15725,begin surface
$SM_CCo,15808,0.00,0.000,0,0,1607,300.25
$SM_GC,1.88,11.15,0.00,0.00,0.032,0.000,0.000,418,2157,1607,-10.60,0.79,300.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1825
$TCM_TEMP,17.70
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,746.6,52.7
$24V_AH,23.8,19.443
$10V_AH,10.1,8.695
$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,26.200,122.425,404.575,0.000,0.000,113.286,82.915,208.735,17.750,0.000,0.000,18.568,1373.940,12299.357,520.010,1572.884,693.556,33.362,1331.085,0.000,1533.185,0.000,47.077,0.000
$DEVICE_MAMPS,163.371,81.302,1350.687,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,518.571,572.606,450.687,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38044,757
$CAP_FILE_SIZE,117567,0
$CFSIZE,254472192,246226944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,150909,012224,6233.040,-1156.729,41,1.4,58,-11.2