version: 66.04
glider: 5
mission: 7
dive: 103
start: 9 15 109 6 39 17
data:
$ID,5
$MISSION,7
$DIVE,103
$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,-102188.61
$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,42
$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
$GPS1,062506,6235.376,-1201.381,43,1.1,43,-11.3
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-55.4
$GPS2,063826,6235.402,-1201.065,14,1.1,14,-11.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.149,0.195
$KALMAN_X,-99741.3,530.7,781.4,-78780.3,-5131.9
$KALMAN_Y,-448.4,619.2,954.1,107711.2,-6585.0
$MHEAD_RNG_PITCHd_Wd,334.0,18215,-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,13,begin dive
$GC,16,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.12,0.000,2,0.000,0.000,416,2143,2503
$GC,63,-1.22,-146.6,2.1,-2.3,2,115,11.50,2.58,-35.03,0.000,4,0.164,0.070,2477,713,3429
$GC,251,-1.13,-146.6,27.1,-20.6,10,258,0.00,2.47,0.00,0.000,6,0.000,0.047,2477,2113,3430
$GC,569,-1.06,-146.6,74.2,-13.5,26,574,0.17,2.53,0.00,0.000,4,0.093,0.054,2518,710,3430
$GC,610,-1.10,-146.6,77.7,-6.7,28,615,0.00,2.50,0.00,0.000,6,0.000,0.044,2518,2129,3430
$GC,937,-1.10,-146.6,104.6,-8.6,44,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2129,3430
$GC,1246,-1.10,-146.6,131.9,-9.4,59,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2129,3430
$GC,1555,-1.10,-146.6,161.3,-9.5,74,1559,0.00,2.55,0.00,0.000,4,0.000,0.061,2518,719,3430
$GC,1612,-1.14,-146.6,167.0,-10.3,76,1618,0.00,2.47,0.00,0.000,6,0.000,0.048,2518,2120,3431
$GC,1928,-1.14,-146.6,197.6,-9.6,92,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2120,3430
$GC,2237,-1.14,-146.6,226.5,-9.2,107,2241,0.00,2.55,0.00,0.000,4,0.000,0.061,2518,708,3430
$GC,2287,-1.19,-146.6,231.1,-10.0,109,2292,0.15,2.50,0.00,0.000,6,0.051,0.049,2475,2121,3430
$GC,2603,-1.12,-146.6,265.9,-11.0,124,2605,0.12,0.00,0.00,0.000,6,0.094,0.000,2501,2121,3430
$GC,2913,-1.12,-146.6,296.7,-9.8,139,2918,0.00,2.55,0.00,0.000,4,0.000,0.062,2501,716,3430
$GC,2947,-1.12,-146.6,300.2,-9.7,140,2953,0.00,2.47,0.00,0.000,6,0.000,0.049,2501,2111,3430
$GC,3263,-1.12,-146.6,331.2,-10.0,156,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2110,3430
$GC,3572,-1.12,-146.6,361.1,-9.4,171,3577,0.00,2.53,0.00,0.000,4,0.000,0.062,2501,717,3430
$GC,3606,-1.12,-146.6,364.5,-9.2,172,3612,0.00,2.47,0.00,0.000,6,0.000,0.050,2501,2113,3430
$GC,3922,-1.12,-146.6,394.4,-9.6,188,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2116,3429
$GC,4231,-1.12,-146.6,425.4,-10.3,203,4235,0.00,2.53,0.00,0.000,4,0.000,0.063,2501,718,3429
$GC,4258,-1.12,-146.6,428.4,-10.1,204,4262,0.00,2.45,0.00,0.000,6,0.000,0.051,2501,2102,3429
$GC,4574,-1.12,-146.6,460.7,-10.4,219,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2103,3429
$GC,4884,-1.12,-146.6,494.1,-10.9,234,4888,0.00,2.50,0.00,0.000,4,0.000,0.066,2501,720,3428
$GC,4917,-1.12,-146.6,498.0,-11.4,235,4921,0.00,2.45,0.00,0.000,6,0.000,0.051,2501,2102,3428
$GC,5239,-1.12,-146.6,531.7,-10.4,251,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2103,3428
$GC,5548,-1.12,-146.6,560.7,-8.9,266,5553,0.00,2.62,0.00,0.000,4,0.000,0.073,2501,3541,3428
$GC,5599,-1.12,-146.6,565.5,-9.2,268,5603,0.00,2.62,0.00,0.000,6,0.000,0.058,2501,2081,3428
$GC,5916,-1.12,-146.6,596.1,-10.3,283,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2070,3427
$GC,6224,-1.12,-146.6,629.1,-10.9,298,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2070,3427
$GC,6533,-1.12,-146.6,662.8,-10.6,313,6537,0.00,2.70,0.00,0.000,4,0.000,0.071,2501,3540,3426
$GC,6573,-1.12,-146.6,667.0,-11.1,315,6577,0.00,2.60,0.00,0.000,6,0.000,0.058,2501,2094,3426
$GC,6900,-1.12,-146.6,701.0,-9.9,331,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2094,3426
$GC,7209,-1.12,-146.6,728.0,-7.9,346,7213,0.00,2.67,0.00,0.000,4,0.000,0.074,2501,3539,3426
$GC,7249,-1.12,-146.6,731.3,-8.3,348,7253,0.00,2.62,0.00,0.000,6,0.000,0.061,2501,2085,3426
$GC,7576,-1.12,-146.6,755.8,-7.3,364,7580,0.00,2.70,0.00,0.000,4,0.000,0.074,2501,3534,3425
$GC,7608,-1.12,-146.6,758.5,-8.2,365,7615,0.00,2.60,0.00,0.000,6,0.000,0.063,2501,2100,3425
$GC,7925,-1.12,-146.6,783.4,-8.4,381,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2088,3424
$STATE,8169,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8169,begin apogee
$GC,8177,-0.33,0.0,804.7,8.8,393,8312,0.80,0.00,130.10,1.371,6,0.077,0.000,2673,1840,2831
$STATE,8313,end apogee,CONTROL_FINISHED_OK
$STATE,8313,begin climb
$GC,8316,1.22,146.6,809.5,0.0,400,8455,1.58,2.70,131.43,1.331,4,0.064,0.077,3010,447,2233
$GC,8480,1.08,163.6,803.1,7.4,408,8503,0.17,2.58,16.88,1.216,6,0.097,0.057,2978,1868,2164
$GC,8811,1.08,163.6,776.7,8.1,424,8815,0.00,2.65,0.00,0.000,4,0.000,0.078,2978,449,2163
$GC,8897,1.02,169.0,769.8,7.8,428,8910,0.00,2.50,6.53,1.030,6,0.000,0.058,2978,1836,2141
$GC,9228,1.07,203.9,746.7,6.7,444,9261,0.00,0.00,31.95,1.287,6,0.000,0.000,2978,1836,1999
$GC,9557,1.11,227.1,722.6,7.2,460,9580,0.00,0.00,21.30,1.263,6,0.000,0.000,2978,1836,1905
$GC,9887,1.15,255.9,699.8,7.0,476,9916,0.00,0.00,26.90,1.276,6,0.000,0.000,2978,1836,1787
$GC,10216,1.22,273.8,676.1,7.4,492,10236,0.15,0.00,17.23,1.227,6,0.056,0.000,3016,1836,1714
$GC,10545,1.18,273.8,643.8,10.3,508,10549,0.00,2.58,0.00,0.000,4,0.000,0.075,3015,447,1714
$GC,10579,1.10,273.8,639.8,11.2,509,10584,0.17,2.47,0.00,0.000,6,0.093,0.055,2981,1815,1714
$GC,10896,1.14,273.8,610.2,9.8,524,10900,0.00,2.55,0.00,0.000,4,0.000,0.071,2981,437,1713
$GC,10936,1.14,273.8,606.0,11.2,526,10940,0.00,2.50,0.00,0.000,6,0.000,0.054,2981,1823,1713
$GC,11264,1.18,273.8,575.0,8.9,542,11268,0.00,2.60,0.00,0.000,4,0.000,0.065,2981,3259,1713
$GC,11297,1.25,273.8,572.0,8.6,543,11304,0.12,2.60,0.00,0.000,6,0.045,0.061,3021,1832,1713
$GC,11614,1.20,273.8,537.2,11.4,559,11615,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1832,1713
$GC,11922,1.16,273.8,500.7,12.0,574,11927,0.12,2.53,0.00,0.000,4,0.096,0.070,2998,429,1713
$GC,11963,1.16,273.8,496.1,11.7,576,11968,0.00,2.50,0.00,0.000,6,0.000,0.051,2998,1831,1713
$GC,12290,1.16,273.8,462.1,10.0,592,12291,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1845,1713
$GC,12600,1.16,273.8,430.7,10.2,607,12604,0.00,2.55,0.00,0.000,4,0.000,0.067,2998,439,1714
$GC,12633,1.16,273.8,427.0,10.6,608,12639,0.00,2.47,0.00,0.000,6,0.000,0.051,2997,1830,1714
$GC,12949,1.16,273.8,396.2,9.4,624,12950,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1844,1714
$GC,13258,1.16,273.8,367.7,9.0,639,13262,0.00,2.55,0.00,0.000,4,0.000,0.067,2997,439,1714
$GC,13291,1.16,273.8,364.5,9.4,640,13295,0.00,2.45,0.00,0.000,6,0.000,0.048,2998,1826,1715
$GC,13607,1.16,273.8,337.6,8.2,655,13608,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1840,1715
$GC,13916,1.16,273.8,312.5,8.0,670,13920,0.00,2.55,0.00,0.000,4,0.000,0.067,2998,430,1715
$GC,13949,1.16,273.8,309.6,8.9,671,13955,0.00,2.45,0.00,0.000,6,0.000,0.048,2998,1815,1715
$GC,14265,1.16,273.8,283.5,8.1,687,14266,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1829,1716
$GC,14574,1.16,273.8,257.8,8.2,702,14578,0.00,2.53,0.00,0.000,4,0.000,0.066,2998,436,1716
$GC,14618,1.16,273.8,253.6,9.2,704,14622,0.00,2.42,0.00,0.000,6,0.000,0.048,2997,1809,1716
$GC,14939,1.16,273.8,226.2,8.6,720,14940,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1824,1716
$GC,15248,1.16,273.8,198.3,9.0,735,15252,0.00,2.53,0.00,0.000,4,0.000,0.066,2998,431,1716
$GC,15292,1.16,273.8,193.9,9.8,737,15296,0.00,2.42,0.00,0.000,6,0.000,0.048,2997,1805,1716
$GC,15613,1.16,273.8,166.0,8.4,753,15614,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1821,1717
$GC,15924,1.19,273.8,139.8,8.6,768,15928,0.00,2.50,0.00,0.000,4,0.000,0.065,2998,439,1717
$GC,15979,1.19,273.8,134.2,9.9,770,15986,0.00,2.40,0.00,0.000,6,0.000,0.048,2998,1804,1717
$GC,16297,1.24,281.5,108.0,7.7,786,16307,0.00,0.00,8.52,0.771,6,0.000,0.000,2998,1819,1682
$GC,16607,1.27,281.5,83.0,8.5,801,16612,0.12,2.50,0.00,0.000,4,0.052,0.064,3033,439,1682
$GC,16685,1.21,281.5,73.8,10.4,804,16692,0.12,2.38,0.00,0.000,6,0.088,0.047,3008,1786,1682
$GC,17003,1.25,281.5,45.1,9.2,820,17008,0.00,2.60,0.00,0.000,4,0.000,0.057,3008,3255,1682
$GC,17068,1.32,281.5,39.1,8.8,823,17074,0.10,2.58,0.00,0.000,6,0.058,0.049,3038,1804,1682
$GC,17398,1.32,281.5,4.1,11.2,839,17399,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1792,1683
$STATE,17413,end climb,SURFACE_DEPTH_REACHED
$STATE,17413,begin surface coast
$FINISH,0.9,1.026961
$STATE,17435,end surface coast,CONTROL_FINISHED_OK
$STATE,17435,begin surface
$SM_CCo,17459,10.15,0.718,0,0,1607,300.00
$SM_GC,2.26,0.00,0.00,10.15,0.000,0.000,0.718,417,2149,1607,-10.70,0.54,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1826
$TCM_TEMP,17.60
$XPDR_PINGS,37
$ALTIM_BOTTOM_PING,770.0,43.5
$24V_AH,23.8,19.773
$10V_AH,10.1,8.856
$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,26.700,132.925,390.825,10.150,0.000,113.286,92.879,337.389,16.500,0.000,0.000,14.080,1524.486,13641.045,552.334,1692.994,859.700,33.358,1407.194,0.000,1655.247,0.000,52.454,0.000
$DEVICE_MAMPS,164.138,78.234,1371.396,717.912,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,576.402,634.857,491.878,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41194,841
$CAP_FILE_SIZE,131484,0
$CFSIZE,254472192,246087680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150909,113206,6236.893,-1206.427,54,1.0,59,-11.3