version: 66.04
glider: 5
mission: 7
dive: 114
start: 9 17 109 8 25 3
data:
$ID,5
$MISSION,7
$DIVE,114
$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,-102361.59
$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,42
$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
$GPS1,081855,6252.646,-1256.135,40,1.8,40,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-58.9
$GPS2,082414,6252.689,-1256.069,13,1.6,13,-11.9
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.201,-0.106
$KALMAN_X,-105838.4,185.1,728.7,-120712.8,-2880.9
$KALMAN_Y,-9378.9,288.5,457.7,149501.0,-2335.7
$MHEAD_RNG_PITCHd_Wd,254.1,9046,-16.3,-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,-1.28,-123.4,0.0,0.0,0,61,0.00,0.00,-41.65,0.000,2,0.000,0.000,419,2146,2499
$GC,65,-1.32,-146.6,2.2,-4.1,2,125,11.23,2.55,-42.90,0.000,4,0.158,0.077,2453,3514,3429
$GC,138,-1.21,-146.6,5.2,-10.3,5,145,0.12,2.47,0.00,0.000,6,0.103,0.048,2479,2120,3429
$GC,454,-1.17,-146.6,44.9,-12.9,21,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2107,3429
$GC,765,-1.17,-146.6,84.9,-11.8,36,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2107,3430
$GC,1073,-1.17,-146.6,118.6,-10.5,51,1077,0.00,2.58,0.00,0.000,4,0.000,0.064,2479,3521,3431
$GC,1124,-1.17,-146.6,124.5,-11.4,53,1128,0.00,2.47,0.00,0.000,6,0.000,0.048,2479,2128,3431
$GC,1440,-1.17,-146.6,159.2,-10.8,68,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2117,3431
$GC,1749,-1.17,-146.6,194.2,-11.6,83,1754,0.00,2.55,0.00,0.000,4,0.000,0.066,2479,3514,3431
$GC,1772,-1.17,-146.6,197.1,-12.6,84,1776,0.00,2.45,0.00,0.000,6,0.000,0.051,2479,2140,3431
$GC,2098,-1.17,-146.6,236.3,-12.0,100,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2129,3431
$GC,2408,-1.17,-146.6,271.7,-11.0,115,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2126,3431
$GC,2717,-1.17,-146.6,305.8,-10.8,130,2721,0.00,2.55,0.00,0.000,4,0.000,0.068,2479,3521,3431
$GC,2738,-1.17,-146.6,308.3,-10.9,131,2743,0.00,2.47,0.00,0.000,6,0.000,0.054,2479,2141,3431
$GC,3060,-1.17,-146.6,341.8,-10.4,147,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2129,3431
$GC,3369,-1.17,-146.6,375.2,-10.8,162,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2119,3430
$GC,3678,-1.17,-146.6,408.9,-11.1,177,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2119,3430
$GC,3988,-1.17,-146.6,443.2,-11.4,192,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2119,3430
$GC,4297,-1.17,-146.6,479.2,-11.4,207,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2119,3430
$GC,4606,-1.17,-146.6,513.9,-11.1,222,4610,0.00,2.53,0.00,0.000,4,0.000,0.071,2479,3516,3429
$GC,4646,-1.17,-146.6,518.4,-11.4,224,4650,0.00,2.45,0.00,0.000,6,0.000,0.056,2479,2149,3429
$GC,4979,-1.17,-146.6,555.3,-11.2,240,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2137,3429
$GC,5288,-1.17,-146.6,588.9,-10.3,255,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2137,3429
$GC,5597,-1.17,-146.6,618.3,-9.3,270,5602,0.00,2.55,0.00,0.000,4,0.000,0.071,2479,3526,3429
$GC,5625,-1.17,-146.6,621.3,-10.5,271,5629,0.00,2.47,0.00,0.000,6,0.000,0.058,2479,2151,3428
$GC,5942,-1.17,-146.6,652.3,-9.9,286,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2139,3429
$GC,6251,-1.17,-146.6,684.9,-9.9,301,6255,0.00,2.58,0.00,0.000,4,0.000,0.070,2479,719,3428
$GC,6278,-1.17,-146.6,688.0,-11.2,302,6282,0.00,2.53,0.00,0.000,6,0.000,0.054,2479,2139,3428
$GC,6594,-1.17,-146.6,717.0,-8.6,317,6598,0.00,2.58,0.00,0.000,4,0.000,0.076,2479,3541,3428
$GC,6649,-1.17,-146.6,722.5,-10.0,319,6656,0.00,2.50,0.00,0.000,6,0.000,0.064,2479,2168,3427
$STATE,6715,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6715,begin apogee
$GC,6723,-0.33,0.0,729.2,10.1,323,6858,0.90,0.00,128.90,1.318,6,0.081,0.000,2672,1838,2831
$STATE,6858,end apogee,CONTROL_FINISHED_OK
$STATE,6858,begin climb
$GC,6862,1.32,146.6,734.2,0.0,330,7001,1.67,2.70,128.65,1.280,4,0.058,0.067,3034,3258,2233
$GC,7020,1.20,146.6,727.1,9.6,337,7027,0.15,2.62,0.00,0.000,6,0.100,0.065,3008,1857,2233
$GC,7337,1.17,155.1,700.2,7.6,353,7351,0.00,2.65,9.25,1.082,4,0.000,0.068,3008,3262,2198
$GC,7409,1.18,164.4,695.0,7.6,356,7426,0.00,2.58,9.73,1.096,6,0.000,0.068,3008,1878,2160
$GC,7735,1.15,164.4,668.3,8.2,372,7740,0.00,2.58,0.00,0.000,4,0.000,0.068,3008,3258,2159
$GC,7786,1.15,168.0,664.0,7.8,374,7798,0.00,2.50,4.53,0.858,6,0.000,0.065,3008,1907,2146
$GC,8107,1.15,168.0,636.8,8.6,390,8112,0.00,2.70,0.00,0.000,4,0.000,0.077,3008,436,2145
$GC,8148,1.07,168.0,633.0,9.8,392,8153,0.15,2.67,0.00,0.000,6,0.104,0.056,2979,1916,2145
$GC,8476,1.12,173.0,607.4,7.8,408,8487,0.00,2.45,6.07,0.987,4,0.000,0.068,2979,3259,2124
$GC,8566,1.17,173.0,599.9,8.7,412,8570,0.00,2.45,0.00,0.000,6,0.000,0.062,2979,1926,2124
$GC,8888,1.22,176.9,574.8,7.8,428,8898,0.12,2.75,4.97,0.897,4,0.061,0.074,3013,437,2109
$GC,8951,1.12,176.9,568.9,10.0,431,8957,0.12,2.67,0.00,0.000,6,0.100,0.054,2991,1925,2109
$GC,9279,1.15,176.9,541.4,8.5,447,9280,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1931,2109
$GC,9588,1.18,190.6,517.4,7.4,462,9607,0.00,0.00,13.07,1.103,6,0.000,0.000,2991,1933,2054
$GC,9917,1.22,196.4,492.1,7.8,478,9931,0.00,2.85,6.72,0.956,4,0.000,0.068,2991,435,2029
$GC,9972,1.22,196.4,487.2,9.4,480,9977,0.00,2.70,0.00,0.000,6,0.000,0.051,2990,1942,2029
$GC,10289,1.26,198.5,462.1,7.9,495,10295,0.15,0.00,3.83,0.713,6,0.054,0.000,3029,1948,2021
$GC,10598,1.23,198.5,433.1,9.7,510,10602,0.00,2.78,0.00,0.000,4,0.000,0.069,3029,439,2021
$GC,10654,1.13,198.5,427.1,11.2,512,10660,0.20,2.65,0.00,0.000,6,0.090,0.050,2991,1930,2021
$GC,10970,1.18,203.4,401.9,7.8,528,10978,0.00,0.00,6.07,0.871,6,0.000,0.000,2990,1946,2001
$GC,11280,1.25,212.7,378.0,7.6,543,11295,0.12,2.80,9.50,0.955,4,0.055,0.068,3024,439,1962
$GC,11342,1.17,212.7,372.0,10.9,545,11347,0.12,2.65,0.00,0.000,6,0.095,0.049,3001,1924,1963
$GC,11670,1.20,212.7,344.9,8.1,561,11675,0.00,2.72,0.00,0.000,4,0.000,0.067,3001,441,1963
$GC,11703,1.20,212.7,342.0,8.3,562,11709,0.00,2.60,0.00,0.000,6,0.000,0.048,3001,1907,1963
$GC,12019,1.25,217.6,317.1,7.8,578,12027,0.00,0.00,5.90,0.821,6,0.000,0.000,3001,1921,1943
$GC,12329,1.31,237.2,294.4,7.2,593,12354,0.15,2.83,17.33,0.972,4,0.053,0.066,3040,436,1864
$GC,12388,1.23,237.2,288.6,11.1,595,12395,0.15,2.62,0.00,0.000,6,0.091,0.048,3011,1901,1864
$GC,12705,1.23,238.2,263.1,8.0,611,12706,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1916,1864
$GC,13014,1.23,238.2,237.2,8.3,626,13018,0.00,2.70,0.00,0.000,4,0.000,0.067,3011,434,1864
$GC,13041,1.23,238.2,234.7,9.5,627,13045,0.00,2.60,0.00,0.000,6,0.000,0.048,3011,1899,1864
$GC,13357,1.23,238.2,208.3,8.3,642,13358,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1900,1864
$GC,13666,1.23,238.2,180.5,9.2,657,13667,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1900,1864
$GC,13975,1.23,238.2,150.5,10.1,672,13980,0.00,2.67,0.00,0.000,4,0.000,0.067,3011,433,1864
$GC,14008,1.23,238.2,146.8,10.3,673,14015,0.00,2.58,0.00,0.000,6,0.000,0.048,3011,1896,1864
$GC,14325,1.23,238.2,113.3,10.9,689,14329,0.00,2.40,0.00,0.000,4,0.000,0.058,3011,3257,1864
$GC,14353,1.28,238.2,110.0,11.5,690,14357,0.00,2.42,0.00,0.000,6,0.000,0.051,3011,1893,1864
$GC,14670,1.31,238.2,77.1,10.8,705,14674,0.00,2.45,0.00,0.000,4,0.000,0.058,3011,3254,1864
$GC,14688,1.36,238.2,75.4,9.8,706,14693,0.12,2.40,0.00,0.000,6,0.055,0.050,3046,1900,1864
$GC,15016,1.33,238.2,38.9,12.3,722,15017,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1900,1865
$STATE,15321,end climb,SURFACE_DEPTH_REACHED
$STATE,15321,begin surface coast
$FINISH,1.1,1.026908
$STATE,15343,end surface coast,CONTROL_FINISHED_OK
$STATE,15343,begin surface
$SM_CCo,15367,33.20,0.785,0,0,1607,300.00
$SM_GC,1.50,0.00,0.00,33.20,0.000,0.000,0.785,419,2138,1607,-10.70,0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1832
$TCM_TEMP,17.60
$XPDR_PINGS,39
$ALTIM_BOTTOM_PING,695.0,43.7
$24V_AH,23.8,21.458
$10V_AH,10.1,9.655
$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,26.850,120.025,354.525,33.200,0.000,37.761,26.059,136.831,16.000,0.000,0.000,13.775,1347.413,11884.865,527.692,1483.235,476.801,33.357,1295.882,0.000,1451.476,0.000,42.935,0.000
$DEVICE_MAMPS,158.002,77.467,1318.473,784.641,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,505.262,554.646,431.813,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38067,738
$CAP_FILE_SIZE,113426,0
$CFSIZE,254472192,245469184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,170909,124306,6251.628,-1259.755,42,1.3,42,-11.9