version: 66.04
glider: 5
mission: 7
dive: 107
start: 9 16 109 0 59 51
data:
$ID,5
$MISSION,7
$DIVE,107
$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,-102253.52
$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,25
$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
$GPS1,004725,6241.077,-1219.227,38,1.3,38,-11.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-56.6
$GPS2,005902,6240.953,-1219.282,14,1.7,14,-11.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.210,0.126
$KALMAN_X,-102974.0,444.9,-375.1,-90327.7,-2665.9
$KALMAN_Y,-6493.2,374.5,9.4,125256.9,-5788.0
$MHEAD_RNG_PITCHd_Wd,312.5,42133,-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,16,-1.22,-146.6,0.0,0.0,0,69,0.00,0.00,-51.50,0.000,2,0.000,0.000,416,2105,2756
$GC,73,-1.22,-146.6,3.1,-2.9,3,110,11.15,2.47,-19.85,0.000,4,0.152,0.071,2471,719,3428
$GC,172,-1.18,-146.6,16.6,-13.7,6,179,0.00,2.50,0.00,0.000,6,0.000,0.048,2471,2132,3428
$GC,491,-1.07,-146.6,68.9,-14.6,22,495,0.17,2.53,0.00,0.000,4,0.104,0.061,2511,3544,3428
$GC,576,-1.07,-146.6,77.7,-9.9,26,580,0.00,2.47,0.00,0.000,6,0.000,0.044,2511,2142,3428
$GC,903,-1.07,-146.6,109.5,-10.1,42,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2130,3428
$GC,1212,-1.07,-146.6,138.3,-9.2,57,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2129,3429
$GC,1521,-1.07,-146.6,169.1,-10.6,72,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2129,3429
$GC,1830,-1.07,-146.6,201.7,-10.6,87,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2129,3429
$GC,2140,-1.07,-146.6,232.8,-9.9,102,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2129,3429
$GC,2449,-1.07,-146.6,264.1,-10.1,117,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2129,3429
$GC,2758,-1.07,-146.6,297.8,-11.2,132,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2129,3429
$GC,3067,-1.07,-146.6,333.3,-11.4,147,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2129,3429
$GC,3376,-1.07,-146.6,366.6,-10.3,162,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2125,3428
$GC,3686,-1.07,-146.6,397.5,-9.9,177,3690,0.00,2.53,0.00,0.000,4,0.000,0.064,2511,720,3428
$GC,3719,-1.11,-146.6,400.9,-10.0,178,3725,0.00,2.53,0.00,0.000,6,0.000,0.050,2511,2149,3428
$GC,4035,-1.11,-146.6,430.2,-8.7,194,4039,0.00,2.60,0.00,0.000,4,0.000,0.064,2511,718,3428
$GC,4085,-1.16,-146.6,434.8,-9.0,196,4090,0.00,2.50,0.00,0.000,6,0.000,0.051,2511,2139,3428
$GC,4402,-1.16,-146.6,461.5,-8.1,211,4406,0.00,2.58,0.00,0.000,4,0.000,0.062,2511,715,3428
$GC,4429,-1.19,-146.6,464.0,-8.5,212,4435,0.12,2.53,0.00,0.000,6,0.058,0.050,2474,2143,3428
$GC,4746,-1.14,-146.6,494.5,-9.8,227,4754,0.10,2.58,0.00,0.000,4,0.103,0.062,2494,718,3427
$GC,4782,-1.14,-146.6,498.0,-9.5,228,4787,0.00,2.50,0.00,0.000,6,0.000,0.050,2494,2131,3428
$GC,5098,-1.14,-146.6,525.3,-8.3,243,5103,0.00,2.55,0.00,0.000,4,0.000,0.064,2494,724,3427
$GC,5132,-1.14,-146.6,528.3,-9.0,244,5138,0.00,2.47,0.00,0.000,6,0.000,0.051,2494,2121,3427
$GC,5448,-1.14,-146.6,557.2,-9.4,260,5452,0.00,2.53,0.00,0.000,4,0.000,0.063,2494,724,3427
$GC,5475,-1.14,-146.6,559.8,-9.4,261,5479,0.00,2.47,0.00,0.000,6,0.000,0.051,2494,2122,3427
$GC,5792,-1.14,-146.6,586.5,-8.6,276,5796,0.00,2.55,0.00,0.000,4,0.000,0.064,2494,717,3426
$GC,5814,-1.14,-146.6,588.6,-9.1,277,5818,0.00,2.47,0.00,0.000,6,0.000,0.051,2494,2115,3426
$GC,6141,-1.14,-146.6,618.7,-9.2,293,6145,0.00,2.53,0.00,0.000,4,0.000,0.064,2494,720,3426
$GC,6203,-1.14,-146.6,624.8,-9.5,296,6208,0.00,2.45,0.00,0.000,6,0.000,0.051,2494,2108,3426
$GC,6530,-1.14,-146.6,653.7,-8.9,312,6534,0.00,2.53,0.00,0.000,4,0.000,0.067,2494,722,3426
$GC,6580,-1.14,-146.6,658.3,-9.5,314,6584,0.00,2.40,0.00,0.000,6,0.000,0.052,2494,2072,3426
$GC,6896,-1.14,-146.6,691.7,-11.6,329,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2073,3426
$GC,7205,-1.14,-146.6,725.6,-10.6,344,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2073,3426
$GC,7514,-1.14,-146.6,758.8,-10.7,359,7518,0.00,2.67,0.00,0.000,4,0.000,0.074,2494,3537,3425
$GC,7554,-1.14,-146.6,763.0,-10.8,361,7559,0.00,2.65,0.00,0.000,6,0.000,0.061,2494,2071,3425
$STATE,7733,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7733,begin apogee
$GC,7741,-0.33,0.0,781.0,9.3,370,7876,0.82,0.00,130.62,1.328,6,0.081,0.000,2670,1851,2831
$STATE,7877,end apogee,CONTROL_FINISHED_OK
$STATE,7877,begin climb
$GC,7880,1.22,146.6,785.7,0.0,377,8027,1.52,2.72,131.95,1.289,4,0.059,0.067,3006,3257,2233
$GC,8061,1.13,146.6,776.5,9.4,385,8066,0.00,2.60,0.00,0.000,6,0.000,0.064,3005,1860,2233
$GC,8378,1.04,146.6,749.0,9.3,400,8383,0.17,2.62,0.00,0.000,4,0.094,0.077,2970,440,2233
$GC,8406,0.98,146.6,746.3,9.3,401,8410,0.00,2.58,0.00,0.000,6,0.000,0.056,2970,1857,2233
$GC,8723,1.09,215.3,725.6,5.5,416,8790,0.00,2.62,61.35,1.276,4,0.000,0.068,2969,3258,1952
$GC,8855,1.19,253.5,717.9,6.6,422,8896,0.17,2.62,34.80,1.243,6,0.056,0.066,3011,1853,1797
$GC,9218,1.14,253.5,679.2,11.8,440,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1852,1797
$GC,9527,1.08,253.5,645.8,11.4,455,9532,0.17,2.62,0.00,0.000,4,0.089,0.067,2975,3262,1797
$GC,9578,1.15,253.5,640.2,10.6,457,9582,0.00,2.58,0.00,0.000,6,0.000,0.063,2975,1857,1797
$GC,9894,1.15,253.5,607.6,11.4,472,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1856,1796
$GC,10204,1.19,253.5,577.6,8.5,487,10208,0.12,2.58,0.00,0.000,4,0.061,0.064,3007,3254,1796
$GC,10266,1.19,253.5,570.6,11.9,490,10270,0.00,2.50,0.00,0.000,6,0.000,0.060,3007,1866,1796
$GC,10593,1.19,253.5,533.7,10.6,506,10594,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1866,1796
$GC,10902,1.19,253.5,503.9,9.3,521,10907,0.00,2.55,0.00,0.000,4,0.000,0.062,3007,3258,1796
$GC,10965,1.19,253.5,498.0,9.3,524,10969,0.00,2.50,0.00,0.000,6,0.000,0.057,3007,1874,1796
$GC,11292,1.19,253.5,469.9,8.5,540,11296,0.00,2.60,0.00,0.000,4,0.000,0.068,3007,436,1796
$GC,11325,1.13,253.5,466.6,9.6,541,11331,0.00,2.60,0.00,0.000,6,0.000,0.049,3007,1897,1796
$GC,11641,1.13,253.5,437.9,9.5,557,11645,0.00,2.42,0.00,0.000,4,0.000,0.062,3007,3263,1795
$GC,11668,1.13,253.5,435.1,10.1,558,11673,0.00,2.50,0.00,0.000,6,0.000,0.056,3007,1876,1796
$GC,11990,1.13,253.5,403.2,10.1,574,11991,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1876,1796
$GC,12299,1.13,253.5,370.5,10.8,589,12303,0.00,2.53,0.00,0.000,4,0.000,0.061,3007,3262,1796
$GC,12354,1.13,253.5,364.5,10.7,591,12360,0.00,2.45,0.00,0.000,6,0.000,0.053,3008,1894,1797
$GC,12670,1.13,253.5,331.4,10.7,607,12675,0.00,2.62,0.00,0.000,4,0.000,0.067,3007,436,1797
$GC,12699,1.09,253.5,328.0,11.7,608,12704,0.15,2.60,0.00,0.000,6,0.088,0.049,2978,1903,1797
$GC,13015,1.14,253.5,299.0,8.8,623,13016,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1917,1797
$GC,13324,1.19,253.5,272.9,8.2,638,13329,0.12,2.67,0.00,0.000,4,0.058,0.065,3012,434,1798
$GC,13358,1.14,253.5,269.4,10.2,639,13364,0.00,2.58,0.00,0.000,6,0.000,0.048,3012,1892,1798
$GC,13674,1.14,253.5,240.1,9.1,655,13675,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1904,1797
$GC,13983,1.14,253.5,213.3,8.8,670,13984,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1904,1798
$GC,14292,1.14,253.5,185.4,9.0,685,14296,0.00,2.65,0.00,0.000,4,0.000,0.066,3012,441,1798
$GC,14337,1.09,253.5,181.0,9.9,687,14342,0.15,2.55,0.00,0.000,6,0.087,0.048,2982,1885,1798
$GC,14658,1.14,253.5,155.0,8.2,703,14659,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1886,1798
$GC,14968,1.18,253.5,127.2,9.8,718,14969,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1886,1799
$GC,15277,1.24,253.5,97.5,8.6,733,15279,0.15,0.00,0.00,0.000,6,0.051,0.000,3022,1890,1799
$GC,15586,1.25,262.7,67.9,7.7,748,15598,0.00,0.00,9.57,0.754,6,0.000,0.000,3022,1899,1760
$GC,15897,1.25,262.7,41.7,9.5,763,15898,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1900,1760
$GC,16205,1.25,262.7,9.7,8.4,778,16209,0.00,2.62,0.00,0.000,4,0.000,0.064,3023,444,1760
$GC,16232,1.17,262.7,6.7,10.9,779,16237,0.12,2.55,0.00,0.000,6,0.088,0.045,2998,1895,1760
$STATE,16277,end climb,SURFACE_DEPTH_REACHED
$STATE,16277,begin surface coast
$FINISH,1.2,1.026899
$STATE,16299,end surface coast,CONTROL_FINISHED_OK
$STATE,16300,begin surface
$SM_CCo,16323,19.50,0.750,0,0,1608,300.00
$SM_GC,1.30,0.00,0.00,19.50,0.000,0.000,0.750,416,2143,1608,-10.71,0.37,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1810
$TCM_TEMP,17.80
$XPDR_PINGS,47
$ALTIM_BOTTOM_PING,721.2,68.5
$24V_AH,23.8,20.369
$10V_AH,10.1,9.149
$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,26.325,128.375,368.300,19.500,0.000,113.307,83.761,259.905,18.250,0.000,0.000,14.471,1422.254,12755.672,491.969,1622.361,750.684,33.361,1331.641,0.000,1580.308,0.000,46.463,0.000
$DEVICE_MAMPS,151.866,77.467,1327.677,750.126,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,535.659,582.484,459.312,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41113,782
$CAP_FILE_SIZE,124290,0
$CFSIZE,254472192,245858304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,160909,053336,6242.062,-1226.621,42,1.2,42,-11.6