version: 66.04
glider: 5
mission: 7
dive: 108
start: 9 16 109 5 40 38
data:
$ID,5
$MISSION,7
$DIVE,108
$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,-102266.2
$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,33
$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
$GPS1,053336,6242.062,-1226.621,42,1.2,42,-11.6
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-60.3
$GPS2,053949,6242.096,-1226.682,12,1.4,12,-11.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.196,0.147
$KALMAN_X,-105072.5,468.2,528.6,-95672.4,-5498.5
$KALMAN_Y,-7873.9,493.6,731.6,127899.0,-6459.8
$MHEAD_RNG_PITCHd_Wd,318.4,35554,-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,-41.67,0.000,2,0.000,0.000,416,2147,2534
$GC,63,-1.22,-146.6,2.6,-4.0,2,109,11.12,0.00,-31.95,0.000,6,0.153,0.000,2469,2144,3430
$GC,416,-1.11,-146.6,49.7,-14.4,19,418,0.17,0.00,0.00,0.000,6,0.099,0.000,2506,2143,3430
$GC,723,-1.11,-146.6,81.1,-8.9,34,728,0.00,2.58,0.00,0.000,4,0.000,0.055,2506,708,3430
$GC,854,-1.11,-146.6,93.8,-10.0,40,858,0.00,2.50,0.00,0.000,6,0.000,0.044,2506,2132,3431
$GC,1181,-1.11,-146.6,127.8,-10.9,56,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2133,3431
$GC,1490,-1.11,-146.6,162.5,-11.5,71,1494,0.00,2.55,0.00,0.000,4,0.000,0.058,2506,716,3431
$GC,1568,-1.11,-146.6,171.9,-11.7,74,1574,0.00,2.50,0.00,0.000,6,0.000,0.048,2506,2131,3432
$GC,1884,-1.11,-146.6,208.7,-11.5,90,1888,0.00,2.58,0.00,0.000,4,0.000,0.062,2506,709,3431
$GC,1946,-1.11,-146.6,216.0,-11.3,93,1951,0.00,2.50,0.00,0.000,6,0.000,0.049,2506,2118,3431
$GC,2273,-1.11,-146.6,252.5,-11.1,109,2278,0.00,2.53,0.00,0.000,4,0.000,0.061,2506,717,3431
$GC,2301,-1.11,-146.6,255.8,-11.3,110,2305,0.00,2.47,0.00,0.000,6,0.000,0.050,2506,2113,3431
$GC,2623,-1.11,-146.6,290.1,-10.3,126,2627,0.00,2.53,0.00,0.000,4,0.000,0.061,2506,717,3432
$GC,2662,-1.11,-146.6,294.4,-10.4,128,2670,0.00,2.45,0.00,0.000,6,0.000,0.050,2506,2095,3431
$GC,2997,-1.11,-146.6,328.5,-10.1,144,3002,0.00,2.50,0.00,0.000,4,0.000,0.061,2505,713,3431
$GC,3031,-1.11,-146.6,332.2,-10.7,145,3037,0.00,2.45,0.00,0.000,6,0.000,0.050,2506,2094,3431
$GC,3348,-1.11,-146.6,362.7,-9.3,161,3352,0.00,2.50,0.00,0.000,4,0.000,0.061,2506,711,3431
$GC,3392,-1.14,-146.6,367.1,-10.1,163,3396,0.00,2.42,0.00,0.000,6,0.000,0.050,2506,2080,3430
$GC,3716,-1.14,-146.6,396.4,-8.9,179,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2080,3430
$GC,4022,-1.14,-146.6,424.9,-9.6,194,4026,0.00,2.47,0.00,0.000,4,0.000,0.063,2505,717,3430
$GC,4050,-1.14,-146.6,427.6,-9.9,195,4054,0.00,2.40,0.00,0.000,6,0.000,0.050,2505,2070,3430
$GC,4366,-1.14,-146.6,459.2,-10.1,210,4370,0.00,2.45,0.00,0.000,4,0.000,0.062,2506,718,3430
$GC,4393,-1.14,-146.6,462.1,-9.9,211,4397,0.00,2.40,0.00,0.000,6,0.000,0.050,2506,2071,3430
$GC,4710,-1.14,-146.6,493.2,-9.9,226,4714,0.00,2.45,0.00,0.000,4,0.000,0.063,2506,719,3429
$GC,4754,-1.17,-146.6,497.6,-9.7,228,4758,0.00,2.38,0.00,0.000,6,0.000,0.050,2506,2060,3429
$GC,5075,-1.17,-146.6,527.9,-9.1,244,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2060,3429
$GC,5384,-1.17,-146.6,556.0,-8.8,259,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2060,3429
$GC,5694,-1.17,-146.6,582.4,-8.4,274,5698,0.00,2.45,0.00,0.000,4,0.000,0.064,2506,711,3429
$GC,5761,-1.20,-146.6,588.2,-8.2,277,5765,0.00,2.38,0.00,0.000,6,0.000,0.051,2506,2050,3428
$GC,6083,-1.20,-146.6,613.8,-8.0,293,6087,0.00,2.45,0.00,0.000,4,0.000,0.065,2505,707,3428
$GC,6122,-1.24,-146.6,617.1,-7.8,294,6129,0.12,2.38,0.00,0.000,6,0.060,0.051,2470,2044,3428
$GC,6439,-1.18,-146.6,644.8,-9.0,310,6447,0.00,2.70,0.00,0.000,4,0.000,0.070,2469,3534,3428
$GC,6477,-1.12,-146.6,648.3,-9.6,311,6482,0.15,2.70,0.00,0.000,6,0.092,0.058,2500,2036,3428
$GC,6793,-1.12,-146.6,675.0,-9.1,326,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2036,3428
$GC,7102,-1.12,-146.6,704.6,-9.7,341,7107,0.00,2.78,0.00,0.000,4,0.000,0.073,2500,3534,3427
$GC,7153,-1.12,-146.6,709.8,-10.2,343,7158,0.00,2.70,0.00,0.000,6,0.000,0.059,2500,2038,3427
$GC,7469,-1.12,-146.6,740.3,-9.7,358,7473,0.00,2.38,0.00,0.000,4,0.000,0.071,2500,718,3426
$GC,7525,-1.16,-146.6,745.8,-10.9,360,7531,0.00,2.35,0.00,0.000,6,0.000,0.054,2500,2035,3426
$GC,7841,-1.16,-146.6,774.4,-9.1,376,7846,0.00,2.75,0.00,0.000,4,0.000,0.076,2500,3537,3426
$GC,7891,-1.16,-146.6,779.0,-9.5,378,7896,0.00,2.75,0.00,0.000,6,0.000,0.064,2500,2028,3426
$STATE,7936,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7936,begin apogee
$GC,7944,-0.33,0.0,783.2,9.0,380,8079,0.80,0.00,130.70,1.346,6,0.077,0.000,2673,1840,2831
$STATE,8080,end apogee,CONTROL_FINISHED_OK
$STATE,8080,begin climb
$GC,8083,1.22,146.6,787.8,0.0,387,8225,1.58,2.67,132.98,1.304,4,0.061,0.075,3012,445,2233
$GC,8272,1.04,146.6,779.4,8.5,396,8277,0.20,2.58,0.00,0.000,6,0.093,0.055,2976,1856,2233
$GC,8594,1.08,169.5,755.8,7.2,412,8622,0.00,2.62,21.55,1.226,4,0.000,0.069,2975,3259,2140
$GC,8708,1.08,169.5,746.7,8.2,417,8712,0.00,2.60,0.00,0.000,6,0.000,0.067,2976,1863,2140
$GC,9029,1.09,176.3,721.9,7.8,433,9043,0.00,2.70,7.38,1.068,4,0.000,0.077,2976,444,2112
$GC,9124,1.03,176.3,714.0,9.0,437,9128,0.00,2.55,0.00,0.000,6,0.000,0.057,2975,1847,2112
$GC,9445,1.09,210.7,690.6,6.7,453,9486,0.00,2.65,31.58,1.270,4,0.000,0.068,2975,3262,1970
$GC,9511,1.14,226.6,685.7,7.4,456,9533,0.00,2.65,14.88,1.194,6,0.000,0.067,2976,1848,1907
$GC,9842,1.15,228.8,658.8,7.9,472,9848,0.00,0.00,3.75,0.765,6,0.000,0.000,2975,1848,1898
$GC,10152,1.15,228.9,634.6,8.0,487,10156,0.00,2.62,0.00,0.000,4,0.000,0.066,2975,3262,1898
$GC,10196,1.19,228.9,630.8,8.7,489,10201,0.12,2.60,0.00,0.000,6,0.059,0.064,3008,1850,1898
$GC,10518,1.14,228.9,597.6,11.0,505,10519,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1850,1898
$GC,10827,1.10,228.9,566.0,10.0,520,10832,0.12,2.58,0.00,0.000,4,0.093,0.071,2984,433,1897
$GC,10867,1.10,228.9,561.9,10.1,522,10871,0.00,2.60,0.00,0.000,6,0.000,0.052,2984,1888,1897
$GC,11193,1.10,228.9,533.5,8.7,538,11195,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1901,1897
$GC,11502,1.10,228.9,508.0,8.1,553,11507,0.00,2.70,0.00,0.000,4,0.000,0.070,2984,428,1897
$GC,11542,1.10,228.9,504.5,9.3,555,11547,0.00,2.58,0.00,0.000,6,0.000,0.050,2984,1877,1897
$GC,11871,1.11,239.3,479.1,7.6,571,11888,0.00,0.00,10.98,1.034,6,0.000,0.000,2984,1891,1855
$GC,12198,1.14,254.4,454.5,7.5,587,12220,0.00,2.72,14.43,1.050,4,0.000,0.067,2984,435,1793
$GC,12248,1.14,257.8,450.5,7.9,589,12258,0.00,2.58,4.75,0.794,6,0.000,0.049,2984,1874,1779
$GC,12570,1.15,260.3,425.6,7.9,604,12579,0.00,2.50,4.00,0.709,4,0.000,0.062,2984,3254,1770
$GC,12609,1.23,274.2,422.3,7.5,605,12629,0.12,2.55,13.55,1.019,6,0.054,0.057,3019,1850,1712
$GC,12949,1.19,274.2,387.3,10.9,622,12950,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1850,1712
$GC,13255,1.16,274.2,353.5,10.8,637,13260,0.12,2.58,0.00,0.000,4,0.089,0.060,2995,3259,1712
$GC,13306,1.21,274.2,348.3,9.8,639,13310,0.00,2.53,0.00,0.000,6,0.000,0.054,2995,1858,1712
$GC,13622,1.21,274.2,318.3,9.6,654,13626,0.00,2.55,0.00,0.000,4,0.000,0.060,2995,3258,1712
$GC,13655,1.26,274.2,315.0,9.0,655,13662,0.12,2.50,0.00,0.000,6,0.055,0.054,3029,1869,1712
$GC,13972,1.21,274.2,279.7,11.2,671,13973,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1869,1713
$GC,14281,1.16,274.2,243.8,11.9,686,14286,0.17,2.50,0.00,0.000,4,0.086,0.059,2991,3252,1712
$GC,14321,1.23,274.2,239.6,9.7,688,14325,0.00,2.42,0.00,0.000,6,0.000,0.052,2991,1883,1713
$GC,14655,1.26,274.2,209.3,8.6,704,14657,0.12,0.00,0.00,0.000,6,0.055,0.000,3025,1883,1713
$GC,14963,1.22,274.2,177.6,10.1,719,14968,0.00,2.47,0.00,0.000,4,0.000,0.058,3025,3252,1713
$GC,14997,1.22,274.2,173.9,9.7,720,15003,0.00,2.42,0.00,0.000,6,0.000,0.051,3025,1886,1714
$GC,15314,1.18,274.2,142.1,10.4,736,15316,0.12,0.00,0.00,0.000,6,0.089,0.000,3001,1886,1714
$GC,15622,1.18,274.2,113.4,9.0,751,15627,0.00,2.47,0.00,0.000,4,0.000,0.058,3001,3257,1714
$GC,15656,1.23,274.2,110.1,9.1,752,15662,0.00,2.42,0.00,0.000,6,0.000,0.050,3001,1891,1714
$GC,15974,1.23,274.2,79.3,9.8,768,15975,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1891,1714
$GC,16282,1.29,285.1,54.7,7.6,783,16299,0.12,2.62,10.80,0.767,4,0.054,0.064,3036,442,1667
$GC,16378,1.23,285.1,43.5,12.7,786,16383,0.12,2.58,0.00,0.000,6,0.091,0.046,3012,1900,1667
$GC,16694,1.23,285.1,14.1,9.0,801,16696,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1916,1667
$STATE,16815,end climb,SURFACE_DEPTH_REACHED
$STATE,16815,begin surface coast
$FINISH,0.8,1.026864
$STATE,16837,end surface coast,CONTROL_FINISHED_OK
$STATE,16837,begin surface
$SM_CCo,16860,7.88,0.681,0,0,1607,300.00
$SM_GC,2.54,0.00,0.00,7.88,0.000,0.000,0.681,418,2145,1607,-10.70,0.37,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1828
$TCM_TEMP,17.70
$XPDR_PINGS,46
$ALTIM_BOTTOM_PING,720.2,72.3
$24V_AH,23.8,20.529
$10V_AH,10.1,9.227
$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,26.550,158.150,401.300,7.875,0.000,37.762,36.084,178.754,18.000,0.000,0.000,12.050,1512.659,12863.992,545.694,1756.241,562.943,33.362,1463.811,0.000,1716.499,0.000,44.605,0.000
$DEVICE_MAMPS,153.400,77.467,1346.085,681.096,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,553.394,601.415,471.381,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41094,808
$CAP_FILE_SIZE,132325,0
$CFSIZE,254472192,245788672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160909,102307,6243.751,-1231.068,40,1.4,40,-11.6