version: 66.04
glider: 5
mission: 7
dive: 106
start: 9 15 109 21 12 29
data:
$ID,5
$MISSION,7
$DIVE,106
$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,-102238.42
$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,32
$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
$GPS1,210602,6241.131,-1214.478,51,1.0,52,-11.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-51.0
$GPS2,211138,6241.104,-1214.341,15,1.3,15,-11.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.093,0.102
$KALMAN_X,-101608.5,38.5,590.4,-87917.3,-3143.9
$KALMAN_Y,-3904.2,250.3,235.7,122830.2,-4011.0
$MHEAD_RNG_PITCHd_Wd,329.1,5228,-27.7,-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,-1.92,-44.4,0.0,0.0,0,59,0.00,0.00,-41.55,0.000,2,0.000,0.000,417,2133,2407
$GC,63,-1.97,-80.3,2.3,-3.7,2,109,10.57,2.60,-30.05,0.000,4,0.166,0.071,2307,712,3158
$GC,183,-1.97,-80.3,23.3,-23.0,7,187,0.00,2.50,0.00,0.000,6,0.000,0.045,2307,2125,3159
$GC,501,-1.92,-80.3,87.2,-18.7,22,505,0.00,2.55,0.00,0.000,4,0.000,0.057,2307,709,3159
$GC,574,-1.87,-80.3,101.7,-19.1,25,579,0.12,2.50,0.00,0.000,6,0.126,0.044,2332,2132,3159
$GC,890,-1.87,-80.3,158.1,-18.5,40,894,0.00,2.55,0.00,0.000,4,0.000,0.058,2332,718,3159
$GC,984,-1.87,-80.3,176.5,-19.5,44,989,0.00,2.45,0.00,0.000,6,0.000,0.046,2331,2116,3160
$GC,1301,-1.87,-80.3,236.7,-19.0,59,1305,0.00,2.53,0.00,0.000,4,0.000,0.059,2331,718,3160
$GC,1341,-1.87,-80.3,244.6,-20.0,61,1348,0.00,2.47,0.00,0.000,6,0.000,0.048,2331,2120,3160
$GC,1676,-1.87,-80.3,307.7,-18.6,77,1680,0.00,2.55,0.00,0.000,4,0.000,0.061,2331,706,3160
$GC,1759,-1.87,-80.3,323.5,-19.1,80,1766,0.00,2.47,0.00,0.000,6,0.000,0.048,2331,2108,3160
$GC,2076,-1.87,-80.3,379.8,-17.9,96,2080,0.00,2.53,0.00,0.000,4,0.000,0.062,2331,715,3160
$GC,2161,-1.87,-80.3,395.4,-18.0,100,2166,0.00,2.42,0.00,0.000,6,0.000,0.048,2331,2088,3160
$GC,2489,-1.87,-80.3,453.9,-17.8,116,2493,0.00,2.50,0.00,0.000,4,0.000,0.062,2331,707,3160
$GC,2539,-1.87,-80.3,463.4,-18.3,118,2543,0.00,2.42,0.00,0.000,6,0.000,0.049,2331,2078,3160
$GC,2855,-1.87,-80.3,519.0,-17.3,133,2859,0.00,2.50,0.00,0.000,4,0.000,0.066,2332,707,3160
$GC,2893,-1.87,-80.3,525.9,-17.7,134,2899,0.00,2.42,0.00,0.000,6,0.000,0.049,2332,2078,3160
$GC,3209,-1.87,-80.3,577.1,-15.5,150,3213,0.00,2.50,0.00,0.000,4,0.000,0.067,2331,710,3159
$GC,3253,-1.87,-80.3,584.5,-16.7,152,3257,0.00,2.42,0.00,0.000,6,0.000,0.050,2331,2078,3159
$GC,3574,-1.87,-80.3,631.6,-14.7,168,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2078,3159
$GC,3883,-1.87,-80.3,677.3,-14.4,183,3887,0.00,2.50,0.00,0.000,4,0.000,0.070,2331,714,3159
$GC,4018,-1.87,-80.3,697.2,-13.3,189,4022,0.00,2.42,0.00,0.000,6,0.000,0.052,2331,2073,3159
$GC,4345,-1.87,-80.3,742.8,-13.6,205,4350,0.00,2.67,0.00,0.000,4,0.000,0.074,2331,3537,3158
$GC,4364,-1.87,-80.3,745.5,-14.4,206,4368,0.00,2.67,0.00,0.000,6,0.000,0.063,2331,2071,3158
$STATE,4461,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4461,begin apogee
$GC,4468,-0.33,0.0,760.0,14.4,211,4545,1.65,0.00,72.30,1.305,6,0.097,0.000,2672,1839,2831
$STATE,4546,end apogee,CONTROL_FINISHED_OK
$STATE,4546,begin climb
$GC,4549,1.97,80.3,763.2,0.0,215,4630,2.33,2.67,72.35,1.278,4,0.057,0.064,3177,3249,2503
$GC,4655,1.89,85.9,758.1,7.3,220,4669,0.12,2.60,6.75,1.006,6,0.119,0.064,3159,1853,2480
$GC,4977,1.89,85.9,727.3,9.6,236,4981,0.00,2.60,0.00,0.000,4,0.000,0.077,3159,439,2479
$GC,5072,1.78,85.9,717.5,9.7,240,5077,0.15,2.50,0.00,0.000,6,0.126,0.054,3132,1836,2479
$GC,5388,1.78,85.9,690.4,8.7,255,5392,0.00,2.58,0.00,0.000,4,0.000,0.067,3132,3254,2479
$GC,5606,1.78,86.8,670.8,7.9,265,5611,0.00,2.58,0.00,0.000,6,0.000,0.063,3132,1847,2478
$GC,5934,1.78,86.8,642.6,8.5,281,5938,0.00,2.58,0.00,0.000,4,0.000,0.074,3132,440,2477
$GC,6024,1.73,86.8,634.3,9.5,285,6028,0.00,2.53,0.00,0.000,6,0.000,0.053,3132,1849,2477
$GC,6345,1.74,88.8,608.9,7.8,301,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1862,2476
$GC,6654,1.76,103.3,588.2,6.3,316,6676,0.00,2.60,15.88,1.160,4,0.000,0.064,3132,3259,2409
$GC,6705,1.78,116.3,584.7,6.4,318,6724,0.00,2.65,13.07,1.127,6,0.000,0.061,3132,1820,2356
$GC,7054,1.83,116.3,553.8,9.7,335,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1820,2355
$GC,7363,1.88,116.3,523.1,10.2,350,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1820,2355
$GC,7672,1.93,116.3,492.2,9.5,365,7677,0.15,2.62,0.00,0.000,4,0.064,0.061,3168,3258,2355
$GC,7761,1.93,116.3,482.8,10.6,369,7766,0.00,2.60,0.00,0.000,6,0.000,0.057,3169,1819,2354
$GC,8083,1.93,116.3,451.1,9.8,385,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1819,2354
$GC,8391,1.93,116.3,421.0,10.0,400,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1819,2354
$GC,8701,1.93,116.3,390.9,9.7,415,8703,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1819,2355
$GC,9010,1.93,116.3,360.8,9.6,430,9015,0.00,2.47,0.00,0.000,4,0.000,0.067,3169,436,2355
$GC,9100,1.85,116.3,351.4,10.3,434,9105,0.12,2.47,0.00,0.000,6,0.117,0.047,3147,1844,2355
$GC,9422,1.88,116.3,322.0,9.3,450,9423,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1857,2355
$GC,9731,1.92,116.3,293.6,9.3,465,9733,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1858,2355
$GC,10040,1.96,116.3,264.5,9.2,480,10042,0.10,0.00,0.00,0.000,6,0.068,0.000,3173,1858,2356
$GC,10350,1.96,116.3,233.6,9.6,495,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1858,2356
$GC,10658,1.96,116.3,204.0,9.5,510,10660,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1858,2356
$GC,10968,1.96,116.3,175.0,9.3,525,10969,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1858,2357
$GC,11277,1.96,116.3,144.3,10.0,540,11279,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1858,2357
$GC,11587,1.96,116.3,113.5,10.6,555,11591,0.00,2.55,0.00,0.000,4,0.000,0.064,3173,441,2358
$GC,11705,1.87,116.3,99.5,10.8,560,11709,0.00,2.45,0.00,0.000,6,0.000,0.046,3173,1844,2357
$GC,12023,1.87,116.3,65.2,11.4,575,12027,0.00,2.47,0.00,0.000,4,0.000,0.057,3173,3252,2358
$GC,12281,1.87,116.3,41.8,10.5,586,12287,0.00,2.47,0.00,0.000,6,0.000,0.049,3173,1848,2358
$GC,12597,1.87,116.3,11.2,8.5,602,12602,0.00,2.53,0.00,0.000,4,0.000,0.055,3174,3258,2358
$STATE,12667,end climb,SURFACE_DEPTH_REACHED
$STATE,12667,begin surface coast
$FINISH,0.7,1.026882
$STATE,12691,end surface coast,CONTROL_FINISHED_OK
$STATE,12691,begin surface
$SM_CCo,12716,100.15,0.775,0,0,1608,300.00
$SM_GC,1.49,0.00,0.00,100.15,0.000,0.000,0.775,416,2092,1608,-10.71,-1.07,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1808
$TCM_TEMP,19.50
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,695.0,73.3
$24V_AH,23.8,20.206
$10V_AH,10.1,9.072
$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,27.225,106.150,180.350,100.150,0.000,37.762,33.080,144.437,11.750,0.000,0.000,15.397,1164.864,9677.148,407.009,1448.142,458.343,33.357,1127.651,0.000,1411.433,0.000,43.030,0.000
$DEVICE_MAMPS,166.439,76.700,1305.434,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.754,454.555,354.332,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31778,606
$CAP_FILE_SIZE,98921,0
$CFSIZE,254472192,245944320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,160909,004725,6241.077,-1219.227,38,1.3,38,-11.5