version: 66.04
glider: 5
mission: 7
dive: 111
start: 9 16 109 19 35 34
data:
$ID,5
$MISSION,7
$DIVE,111
$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,-102314.91
$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,22
$R_STBD_OVSHOOT,37
$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
$GPS1,192837,6249.222,-1237.352,30,1.0,30,-11.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,2
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-61.4
$GPS2,193443,6249.307,-1237.325,15,1.1,15,-11.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.172,0.175
$KALMAN_X,-105385.1,-27.7,887.6,-104602.0,-4065.3
$KALMAN_Y,-8243.1,255.2,749.8,141834.3,-3882.0
$MHEAD_RNG_PITCHd_Wd,327.2,23437,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.55,0.000,2,0.000,0.000,425,2151,2503
$GC,63,-1.22,-146.6,2.4,-4.0,2,114,11.02,2.58,-34.65,0.000,4,0.156,0.067,2469,717,3429
$GC,177,-1.12,-146.6,13.2,-12.5,7,182,0.15,2.47,0.00,0.000,6,0.101,0.045,2500,2118,3429
$GC,499,-1.12,-146.6,52.4,-12.5,23,503,0.00,2.53,0.00,0.000,4,0.000,0.055,2500,712,3430
$GC,562,-1.12,-146.6,60.5,-13.1,26,566,0.00,2.50,0.00,0.000,6,0.000,0.045,2500,2130,3430
$GC,891,-1.12,-146.6,101.6,-12.3,42,895,0.00,2.55,0.00,0.000,4,0.000,0.058,2501,715,3431
$GC,985,-1.12,-146.6,114.3,-13.0,46,990,0.00,2.47,0.00,0.000,6,0.000,0.045,2500,2119,3431
$GC,1302,-1.12,-146.6,151.6,-10.8,61,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2120,3431
$GC,1611,-1.12,-146.6,183.6,-10.3,76,1615,0.00,2.53,0.00,0.000,4,0.000,0.058,2501,718,3431
$GC,1644,-1.12,-146.6,187.3,-10.9,77,1650,0.00,2.45,0.00,0.000,6,0.000,0.048,2500,2107,3431
$GC,1960,-1.12,-146.6,221.1,-11.0,93,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2107,3431
$GC,2268,-1.12,-146.6,254.9,-10.8,108,2273,0.00,2.53,0.00,0.000,4,0.000,0.062,2500,716,3431
$GC,2309,-1.12,-146.6,259.3,-11.1,110,2313,0.00,2.45,0.00,0.000,6,0.000,0.049,2501,2099,3431
$GC,2636,-1.12,-146.6,293.0,-10.3,126,2640,0.00,2.50,0.00,0.000,4,0.000,0.061,2501,717,3431
$GC,2669,-1.12,-146.6,296.7,-10.9,127,2675,0.00,2.45,0.00,0.000,6,0.000,0.048,2501,2100,3431
$GC,2985,-1.12,-146.6,328.3,-9.7,143,2989,0.00,2.53,0.00,0.000,4,0.000,0.063,2501,705,3431
$GC,3007,-1.12,-146.6,330.7,-10.3,144,3011,0.00,2.45,0.00,0.000,6,0.000,0.049,2500,2096,3431
$GC,3333,-1.12,-146.6,363.2,-10.1,160,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2096,3431
$GC,3643,-1.12,-146.6,393.0,-9.6,175,3646,0.00,2.47,0.00,0.000,4,0.000,0.062,2500,718,3430
$GC,3677,-1.12,-146.6,396.4,-10.3,176,3681,0.00,2.42,0.00,0.000,6,0.000,0.050,2501,2089,3430
$GC,3993,-1.12,-146.6,425.0,-8.6,191,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2089,3430
$GC,4302,-1.12,-146.6,450.5,-8.7,206,4306,0.00,2.47,0.00,0.000,4,0.000,0.062,2500,716,3430
$GC,4349,-1.16,-146.6,454.7,-9.3,208,4353,0.00,2.42,0.00,0.000,6,0.000,0.050,2501,2082,3430
$GC,4681,-1.16,-146.6,485.7,-10.0,224,4686,0.00,2.50,0.00,0.000,4,0.000,0.064,2501,706,3429
$GC,4709,-1.16,-146.6,488.8,-10.8,225,4713,0.00,2.42,0.00,0.000,6,0.000,0.051,2500,2073,3429
$GC,5028,-1.16,-146.6,520.1,-9.5,240,5032,0.00,2.47,0.00,0.000,4,0.000,0.063,2501,711,3429
$GC,5068,-1.16,-146.6,524.3,-9.8,242,5072,0.00,2.42,0.00,0.000,6,0.000,0.050,2500,2073,3429
$GC,5395,-1.16,-146.6,551.9,-7.8,258,5399,0.00,2.47,0.00,0.000,4,0.000,0.064,2501,712,3429
$GC,5458,-1.16,-146.6,556.8,-7.8,261,5462,0.00,2.38,0.00,0.000,6,0.000,0.050,2501,2052,3429
$GC,5785,-1.16,-146.6,584.6,-9.1,277,5789,0.00,2.45,0.00,0.000,4,0.000,0.067,2501,714,3429
$GC,5825,-1.16,-146.6,588.3,-9.0,279,5829,0.00,2.40,0.00,0.000,6,0.000,0.051,2501,2058,3429
$GC,6151,-1.16,-146.6,618.3,-9.3,295,6156,0.00,2.47,0.00,0.000,4,0.000,0.068,2501,709,3429
$GC,6220,-1.16,-146.6,624.9,-9.8,298,6224,0.00,2.40,0.00,0.000,6,0.000,0.053,2501,2054,3428
$GC,6541,-1.16,-146.6,655.3,-9.5,314,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2055,3428
$GC,6850,-1.16,-146.6,685.3,-10.2,329,6854,0.00,2.47,0.00,0.000,4,0.000,0.074,2501,720,3428
$GC,6923,-1.19,-146.6,692.0,-9.4,332,6928,0.00,2.38,0.00,0.000,6,0.000,0.057,2500,2044,3428
$STATE,7030,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7030,begin apogee
$GC,7038,-0.33,0.0,702.1,9.0,337,7173,0.80,0.00,130.65,1.288,6,0.077,0.000,2673,1832,2831
$STATE,7174,end apogee,CONTROL_FINISHED_OK
$STATE,7174,begin climb
$GC,7177,1.22,146.6,707.3,0.0,344,7314,1.55,0.00,132.05,1.247,6,0.058,0.000,3010,1832,2233
$GC,7627,1.12,146.6,676.6,8.8,366,7631,0.00,2.65,0.00,0.000,4,0.000,0.067,3010,3252,2233
$GC,7682,1.03,146.6,671.2,8.6,368,7689,0.20,2.58,0.00,0.000,6,0.098,0.064,2974,1861,2233
$GC,7999,1.13,207.7,650.3,5.8,384,8062,0.00,2.65,55.28,1.225,4,0.000,0.068,2974,3255,1984
$GC,8118,1.17,231.9,642.1,7.1,389,8151,0.12,2.58,22.73,1.174,6,0.060,0.065,3004,1871,1885
$GC,8463,1.19,264.3,615.5,6.8,406,8498,0.00,2.60,30.05,1.192,4,0.000,0.067,3004,3252,1753
$GC,8568,1.26,308.5,608.4,6.4,410,8613,0.00,2.53,40.10,1.197,6,0.000,0.064,3004,1891,1573
$GC,8943,1.26,308.5,578.8,9.3,428,8948,0.00,2.53,0.00,0.000,4,0.000,0.067,3004,3258,1573
$GC,9029,1.29,308.5,570.3,9.7,432,9034,0.10,2.47,0.00,0.000,6,0.063,0.063,3031,1914,1572
$GC,9356,1.23,308.5,531.0,12.5,448,9360,0.00,2.47,0.00,0.000,4,0.000,0.067,3031,3258,1573
$GC,9396,1.23,308.5,525.7,12.9,449,9402,0.00,2.42,0.00,0.000,6,0.000,0.061,3031,1936,1573
$GC,9712,1.17,308.5,484.7,13.1,465,9717,0.17,2.42,0.00,0.000,4,0.091,0.064,2997,3251,1572
$GC,9774,1.23,308.5,477.7,11.2,468,9778,0.00,2.33,0.00,0.000,6,0.000,0.060,2997,1959,1573
$GC,10108,1.23,308.5,443.5,10.1,484,10112,0.00,2.38,0.00,0.000,4,0.000,0.063,2997,3252,1572
$GC,10148,1.29,308.5,439.3,10.0,486,10153,0.15,2.33,0.00,0.000,6,0.054,0.058,3035,1964,1572
$GC,10476,1.22,308.5,398.5,12.6,502,10480,0.12,2.38,0.00,0.000,4,0.094,0.062,3012,3258,1573
$GC,10531,1.22,308.5,391.8,11.1,504,10537,0.00,2.30,0.00,0.000,6,0.000,0.057,3012,1987,1573
$GC,10847,1.22,308.5,356.7,11.1,520,10851,0.00,2.30,0.00,0.000,4,0.000,0.062,3012,3259,1573
$GC,10908,1.22,308.5,349.8,11.6,522,10914,0.00,2.25,0.00,0.000,6,0.000,0.055,3012,2013,1573
$GC,11224,1.22,308.5,315.9,10.7,538,11228,0.00,2.28,0.00,0.000,4,0.000,0.061,3011,3258,1573
$GC,11269,1.22,308.5,310.9,10.9,540,11273,0.00,2.22,0.00,0.000,6,0.000,0.054,3011,2021,1573
$GC,11591,1.22,308.5,277.0,10.5,556,11595,0.00,2.25,0.00,0.000,4,0.000,0.061,3011,3254,1573
$GC,11624,1.25,308.5,273.3,10.1,557,11630,0.00,2.20,0.00,0.000,6,0.000,0.054,3011,2028,1574
$GC,11940,1.25,308.5,240.3,10.4,573,11944,0.00,2.25,0.00,0.000,4,0.000,0.061,3012,3262,1574
$GC,11974,1.29,308.5,236.6,10.0,574,11978,0.00,2.20,0.00,0.000,6,0.000,0.052,3011,2036,1574
$GC,12290,1.29,308.5,205.8,9.6,589,12295,0.00,2.88,0.00,0.000,4,0.000,0.067,3012,438,1573
$GC,12330,1.29,308.5,201.7,10.1,591,12334,0.00,2.85,0.00,0.000,6,0.000,0.048,3011,2052,1574
$GC,12657,1.29,308.5,169.8,9.8,607,12661,0.00,2.97,0.00,0.000,4,0.000,0.069,3011,433,1573
$GC,12701,1.29,308.5,165.0,10.7,609,12705,0.00,2.85,0.00,0.000,6,0.000,0.049,3011,2045,1574
$GC,13024,1.29,308.5,132.0,11.1,625,13028,0.00,2.95,0.00,0.000,4,0.000,0.068,3011,435,1574
$GC,13064,1.29,308.5,127.0,11.8,627,13068,0.00,2.80,0.00,0.000,6,0.000,0.049,3011,2020,1574
$GC,13391,1.29,308.5,93.7,9.9,643,13394,0.00,2.20,0.00,0.000,4,0.000,0.058,3012,3262,1574
$GC,13425,1.33,308.5,90.0,10.2,644,13429,0.10,2.25,0.00,0.000,6,0.059,0.051,3040,1999,1574
$GC,13741,1.33,308.5,53.8,10.2,659,13746,0.00,2.80,0.00,0.000,4,0.000,0.066,3040,437,1574
$GC,13798,1.28,308.5,47.2,11.0,661,13804,0.00,2.72,0.00,0.000,6,0.000,0.047,3040,1993,1574
$GC,14116,1.24,308.5,14.5,11.5,677,14121,0.12,2.22,0.00,0.000,4,0.090,0.056,3015,3257,1574
$GC,14194,1.28,308.5,5.8,12.6,680,14201,0.00,2.22,0.00,0.000,6,0.000,0.048,3015,1991,1574
$STATE,14219,end climb,SURFACE_DEPTH_REACHED
$STATE,14219,begin surface coast
$FINISH,0.8,1.026875
$STATE,14241,end surface coast,CONTROL_FINISHED_OK
$STATE,14241,begin surface
$SM_CCo,14325,0.00,0.000,0,0,1574,308.34
$SM_GC,1.48,11.20,0.00,0.00,0.038,0.000,0.000,426,2166,1574,-10.59,0.99,308.34
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1815
$TCM_TEMP,17.70
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,670.8,40.1
$24V_AH,23.8,21.006
$10V_AH,10.1,9.444
$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,25.825,163.975,410.850,0.000,0.000,37.760,30.935,161.796,16.750,0.000,0.000,15.749,1303.129,10718.866,545.331,1589.629,533.192,33.361,1381.041,0.000,1542.922,0.000,44.225,0.000
$DEVICE_MAMPS,156.468,74.399,1287.793,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,466.866,506.570,409.687,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34941,683
$CAP_FILE_SIZE,118013,0
$CFSIZE,254472192,245641216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,160909,233537,6250.864,-1242.287,41,1.3,41,-11.8