version: 66.04
glider: 5
mission: 7
dive: 113
start: 9 17 109 4 1 20
data:
$ID,5
$MISSION,7
$DIVE,113
$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,-102347.18
$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,43
$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
$GPS1,035506,6250.606,-1251.319,39,1.1,44,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-57.1
$GPS2,040031,6250.631,-1251.365,10,1.1,15,-11.9
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.211,0.125
$KALMAN_X,-106660.5,404.1,-148.3,-115063.7,-2888.7
$KALMAN_Y,-10329.5,193.8,311.7,146901.6,-3871.4
$MHEAD_RNG_PITCHd_Wd,312.4,11589,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.22,-146.6,0.0,0.0,0,61,0.00,0.00,-41.72,0.000,2,0.000,0.000,421,2163,2488
$GC,65,-1.22,-146.6,2.4,-4.3,2,118,11.23,2.62,-36.05,0.000,4,0.160,0.067,2470,710,3429
$GC,316,-1.15,-146.6,32.4,-12.9,13,321,0.12,2.47,0.00,0.000,6,0.104,0.044,2495,2115,3429
$GC,632,-1.15,-146.6,70.3,-12.8,28,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2117,3429
$GC,941,-1.15,-146.6,107.6,-11.8,43,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2116,3431
$GC,1252,-1.15,-146.6,141.0,-10.7,58,1256,0.00,2.53,0.00,0.000,4,0.000,0.060,2495,717,3430
$GC,1314,-1.15,-146.6,147.9,-10.9,61,1318,0.00,2.50,0.00,0.000,6,0.000,0.048,2495,2136,3430
$GC,1641,-1.15,-146.6,182.8,-10.4,77,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2137,3430
$GC,1950,-1.15,-146.6,215.1,-10.4,92,1954,0.00,2.58,0.00,0.000,4,0.000,0.061,2496,710,3430
$GC,1977,-1.15,-146.6,218.0,-10.7,93,1981,0.00,2.53,0.00,0.000,6,0.000,0.048,2495,2139,3430
$GC,2293,-1.15,-146.6,251.6,-10.9,108,2297,0.00,2.58,0.00,0.000,4,0.000,0.061,2495,715,3430
$GC,2348,-1.15,-146.6,258.0,-11.3,110,2355,0.00,2.50,0.00,0.000,6,0.000,0.049,2496,2128,3430
$GC,2665,-1.15,-146.6,292.3,-10.8,126,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2129,3430
$GC,2974,-1.15,-146.6,326.3,-11.0,141,2978,0.00,2.58,0.00,0.000,4,0.000,0.064,2496,710,3430
$GC,3014,-1.15,-146.6,330.8,-11.4,143,3018,0.00,2.50,0.00,0.000,6,0.000,0.050,2495,2121,3430
$GC,3341,-1.15,-146.6,367.5,-11.6,159,3345,0.00,2.55,0.00,0.000,4,0.000,0.063,2495,715,3430
$GC,3381,-1.15,-146.6,372.2,-12.1,161,3385,0.00,2.47,0.00,0.000,6,0.000,0.049,2496,2115,3430
$GC,3707,-1.15,-146.6,410.3,-11.6,177,3712,0.00,2.53,0.00,0.000,4,0.000,0.063,2495,720,3430
$GC,3741,-1.15,-146.6,414.4,-11.6,178,3747,0.00,2.45,0.00,0.000,6,0.000,0.050,2496,2105,3430
$GC,4057,-1.15,-146.6,448.3,-10.3,194,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2105,3429
$GC,4366,-1.15,-146.6,477.9,-9.2,209,4370,0.00,2.53,0.00,0.000,4,0.000,0.066,2496,718,3429
$GC,4421,-1.15,-146.6,483.2,-9.8,211,4427,0.00,2.45,0.00,0.000,6,0.000,0.051,2496,2100,3429
$GC,4737,-1.15,-146.6,511.6,-9.0,227,4741,0.00,2.60,0.00,0.000,4,0.000,0.069,2496,3534,3429
$GC,4764,-1.15,-146.6,514.2,-9.0,228,4769,0.00,2.60,0.00,0.000,6,0.000,0.058,2496,2081,3429
$GC,5080,-1.15,-146.6,544.2,-9.9,243,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2066,3428
$GC,5389,-1.15,-146.6,574.4,-9.7,258,5394,0.00,2.67,0.00,0.000,4,0.000,0.070,2495,3539,3428
$GC,5417,-1.15,-146.6,577.3,-10.2,259,5421,0.00,2.60,0.00,0.000,6,0.000,0.058,2495,2094,3428
$GC,5733,-1.15,-146.6,605.9,-8.8,274,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2087,3429
$GC,6042,-1.15,-146.6,631.6,-8.4,289,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2087,3428
$GC,6351,-1.15,-146.6,659.7,-9.8,304,6356,0.00,2.67,0.00,0.000,4,0.000,0.072,2495,3538,3428
$GC,6402,-1.15,-146.6,665.2,-11.1,306,6406,0.00,2.62,0.00,0.000,6,0.000,0.060,2496,2079,3427
$GC,6718,-1.15,-146.6,700.6,-11.2,321,6723,0.00,2.45,0.00,0.000,4,0.000,0.071,2496,718,3427
$GC,6759,-1.18,-146.6,705.1,-10.7,323,6763,0.00,2.42,0.00,0.000,6,0.000,0.054,2496,2078,3427
$STATE,6960,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6960,begin apogee
$GC,6967,-0.33,0.0,725.4,9.7,333,7103,0.82,0.00,132.65,1.295,6,0.080,0.000,2673,1844,2831
$STATE,7104,end apogee,CONTROL_FINISHED_OK
$STATE,7104,begin climb
$GC,7107,1.22,146.6,730.4,0.0,340,7246,1.58,0.00,134.48,1.259,6,0.059,0.000,3013,1844,2233
$GC,7558,1.11,146.6,700.7,8.1,362,7563,0.15,2.60,0.00,0.000,4,0.099,0.077,2985,440,2232
$GC,7695,1.01,146.6,689.3,8.1,368,7700,0.00,2.53,0.00,0.000,6,0.000,0.056,2985,1834,2232
$GC,8018,1.00,163.2,665.1,7.4,384,8037,0.12,0.00,15.75,1.178,6,0.100,0.000,2961,1848,2165
$GC,8346,1.04,184.0,641.7,7.2,400,8371,0.00,2.67,19.27,1.210,4,0.000,0.068,2962,3248,2080
$GC,8414,1.08,184.0,636.3,8.6,403,8418,0.00,2.65,0.00,0.000,6,0.000,0.065,2962,1819,2079
$GC,8741,1.18,223.6,613.0,6.6,419,8784,0.20,2.60,34.53,1.239,4,0.053,0.075,3013,441,1919
$GC,8808,1.08,223.6,606.9,10.0,422,8813,0.17,2.50,0.00,0.000,6,0.092,0.055,2980,1814,1918
$GC,9135,1.12,244.3,583.1,7.2,438,9160,0.00,2.67,19.27,1.181,4,0.000,0.064,2980,3254,1835
$GC,9206,1.17,252.9,577.6,7.7,441,9223,0.00,2.65,9.25,1.070,6,0.000,0.062,2980,1812,1799
$GC,9532,1.17,252.9,551.6,8.2,457,9537,0.00,2.67,0.00,0.000,4,0.000,0.064,2980,3261,1799
$GC,9573,1.23,253.0,548.3,8.0,459,9578,0.15,2.62,0.00,0.000,6,0.055,0.061,3019,1820,1798
$GC,9900,1.17,253.0,515.4,10.4,475,9901,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1821,1799
$GC,10209,1.12,253.0,482.9,10.9,490,10215,0.17,2.62,0.00,0.000,4,0.087,0.061,2985,3254,1799
$GC,10272,1.17,253.0,476.8,9.5,493,10277,0.00,2.58,0.00,0.000,6,0.000,0.058,2985,1835,1799
$GC,10599,1.17,253.0,446.7,9.2,509,10604,0.00,2.60,0.00,0.000,4,0.000,0.062,2984,3256,1799
$GC,10633,1.22,253.0,443.3,10.0,510,10640,0.12,2.55,0.00,0.000,6,0.057,0.058,3018,1849,1799
$GC,10950,1.17,253.0,408.9,10.9,526,10951,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1849,1799
$GC,11259,1.13,253.0,376.3,10.5,541,11264,0.15,2.58,0.00,0.000,4,0.088,0.061,2988,3259,1799
$GC,11310,1.17,253.0,371.3,9.1,543,11314,0.00,2.53,0.00,0.000,6,0.000,0.055,2988,1858,1799
$GC,11626,1.17,253.0,344.7,8.3,558,11627,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1859,1799
$GC,11935,1.18,257.9,320.0,7.8,573,11948,0.00,2.55,6.35,0.835,4,0.000,0.060,2988,3254,1778
$GC,12003,1.23,257.9,314.6,8.1,576,12007,0.10,2.47,0.00,0.000,6,0.060,0.054,3017,1872,1779
$GC,12330,1.19,257.9,284.1,9.3,592,12331,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1872,1779
$GC,12639,1.16,257.9,254.1,10.1,607,12643,0.00,2.50,0.00,0.000,4,0.000,0.060,3017,3259,1779
$GC,12691,1.16,257.9,248.7,10.5,609,12695,0.00,2.47,0.00,0.000,6,0.000,0.052,3017,1874,1779
$GC,13013,1.13,257.9,215.7,10.8,625,13015,0.15,0.00,0.00,0.000,6,0.086,0.000,2986,1874,1779
$GC,13322,1.16,257.9,188.5,8.5,640,13326,0.00,2.50,0.00,0.000,4,0.000,0.059,2986,3255,1779
$GC,13372,1.22,257.9,184.1,8.1,642,13377,0.12,2.45,0.00,0.000,6,0.055,0.051,3021,1879,1779
$GC,13689,1.19,257.9,153.1,9.7,657,13690,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1879,1779
$GC,13998,1.15,257.9,120.6,10.6,672,14003,0.12,2.50,0.00,0.000,4,0.090,0.058,2997,3262,1780
$GC,14043,1.20,257.9,116.0,9.4,674,14047,0.00,2.45,0.00,0.000,6,0.000,0.049,2997,1881,1779
$GC,14364,1.20,257.9,87.3,8.7,690,14368,0.00,2.47,0.00,0.000,4,0.000,0.058,2997,3255,1780
$GC,14398,1.25,257.9,84.2,8.5,691,14404,0.00,2.40,0.00,0.000,6,0.000,0.049,2997,1900,1779
$GC,14716,1.29,257.9,56.4,8.8,707,14721,0.15,2.62,0.00,0.000,4,0.051,0.065,3037,433,1780
$GC,14767,1.21,257.9,50.9,11.0,709,14772,0.15,2.58,0.00,0.000,6,0.088,0.046,3007,1900,1780
$GC,15085,1.21,257.9,21.9,8.5,724,15086,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1916,1780
$STATE,15308,end climb,SURFACE_DEPTH_REACHED
$STATE,15308,begin surface coast
$FINISH,0.8,1.026889
$STATE,15329,end surface coast,CONTROL_FINISHED_OK
$STATE,15329,begin surface
$SM_CCo,15353,22.23,0.769,0,0,1608,300.00
$SM_GC,1.11,0.00,0.00,22.23,0.000,0.000,0.769,419,2150,1608,-10.70,0.57,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1826
$TCM_TEMP,17.60
$XPDR_PINGS,39
$ALTIM_BOTTOM_PING,696.1,38.2
$24V_AH,23.8,21.316
$10V_AH,10.1,9.586
$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,26.900,133.375,371.550,22.225,0.000,37.761,26.373,139.302,16.250,0.000,0.000,15.407,1376.967,11721.502,526.113,1587.802,488.479,33.359,1336.289,0.000,1549.584,0.000,45.803,0.000
$DEVICE_MAMPS,159.536,76.700,1294.696,769.301,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,504.029,548.687,443.857,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37979,736
$CAP_FILE_SIZE,117501,0
$CFSIZE,254472192,245522432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,170909,081855,6252.646,-1256.135,40,1.8,40,-11.9