version: 66.04
glider: 5
mission: 7
dive: 115
start: 9 17 109 12 49 21
data:
$ID,5
$MISSION,7
$DIVE,115
$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,-102375.7
$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,22
$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
$GPS1,124306,6251.628,-1259.755,42,1.3,42,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-58.7
$GPS2,124832,6251.619,-1259.760,13,1.6,13,-11.9
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.229,-0.089
$KALMAN_X,-103139.8,510.9,-62.5,-126200.5,1270.6
$KALMAN_Y,-8337.1,722.3,-30.6,146538.3,-657.2
$MHEAD_RNG_PITCHd_Wd,260.7,5349,-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,-41.75,0.000,2,0.000,0.000,419,2144,2499
$GC,65,-1.22,-146.6,2.2,-3.7,2,121,11.45,2.58,-38.12,0.000,4,0.166,0.069,2470,720,3429
$GC,162,-1.14,-146.6,10.0,-13.0,6,167,0.12,2.50,0.00,0.000,6,0.105,0.044,2494,2140,3429
$GC,479,-1.10,-146.6,49.5,-13.3,21,483,0.00,2.58,0.00,0.000,4,0.000,0.058,2494,710,3430
$GC,506,-1.07,-146.6,53.6,-14.2,22,511,0.00,2.50,0.00,0.000,6,0.000,0.046,2494,2124,3430
$GC,823,-1.07,-146.6,95.0,-12.6,37,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2124,3431
$GC,1132,-1.07,-146.6,132.8,-12.0,52,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2124,3431
$GC,1440,-1.07,-146.6,166.5,-10.5,67,1445,0.00,2.55,0.00,0.000,4,0.000,0.061,2494,717,3431
$GC,1485,-1.07,-146.6,171.2,-10.3,69,1490,0.00,2.47,0.00,0.000,6,0.000,0.048,2494,2117,3431
$GC,1812,-1.07,-146.6,205.0,-10.3,85,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2117,3431
$GC,2122,-1.07,-146.6,237.2,-10.8,100,2125,0.00,2.53,0.00,0.000,4,0.000,0.061,2494,720,3431
$GC,2172,-1.07,-146.6,242.9,-10.9,102,2177,0.00,2.45,0.00,0.000,6,0.000,0.049,2494,2106,3431
$GC,2493,-1.07,-146.6,276.2,-9.9,118,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2107,3431
$GC,2803,-1.07,-146.6,307.4,-9.8,133,2807,0.00,2.53,0.00,0.000,4,0.000,0.064,2495,717,3431
$GC,2830,-1.07,-146.6,310.3,-10.0,134,2834,0.00,2.45,0.00,0.000,6,0.000,0.051,2495,2098,3431
$GC,3145,-1.07,-146.6,341.5,-10.1,149,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2099,3431
$GC,3455,-1.07,-146.6,372.5,-10.1,164,3459,0.00,2.50,0.00,0.000,4,0.000,0.063,2495,718,3431
$GC,3495,-1.07,-146.6,376.6,-10.1,166,3499,0.00,2.45,0.00,0.000,6,0.000,0.050,2495,2099,3431
$GC,3822,-1.07,-146.6,409.9,-10.2,182,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2099,3431
$GC,4131,-1.07,-146.6,440.3,-9.4,197,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2099,3430
$GC,4440,-1.07,-146.6,469.3,-9.3,212,4444,0.00,2.47,0.00,0.000,4,0.000,0.063,2494,720,3429
$GC,4495,-1.07,-146.6,474.6,-9.9,214,4500,0.00,2.42,0.00,0.000,6,0.000,0.051,2495,2092,3430
$GC,4811,-1.07,-146.6,502.2,-8.7,229,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2092,3429
$GC,5120,-1.07,-146.6,528.6,-8.6,244,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2092,3429
$GC,5430,-1.07,-146.6,556.7,-9.6,259,5434,0.00,2.50,0.00,0.000,4,0.000,0.064,2495,715,3429
$GC,5452,-1.07,-146.6,558.9,-9.7,260,5456,0.00,2.45,0.00,0.000,6,0.000,0.051,2494,2094,3429
$GC,5774,-1.07,-146.6,591.0,-10.3,276,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2095,3429
$GC,6083,-1.07,-146.6,623.2,-10.6,291,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2095,3429
$GC,6392,-1.07,-146.6,656.3,-10.9,306,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2095,3429
$GC,6701,-1.07,-146.6,690.7,-11.1,321,6706,0.00,2.62,0.00,0.000,4,0.000,0.073,2495,3532,3428
$GC,6774,-1.07,-146.6,699.3,-11.1,324,6779,0.00,2.62,0.00,0.000,6,0.000,0.059,2495,2077,3428
$GC,7090,-1.07,-146.6,730.0,-8.9,339,7095,0.00,2.70,0.00,0.000,4,0.000,0.074,2495,3530,3427
$GC,7191,-1.07,-146.6,740.0,-10.1,343,7197,0.00,2.60,0.00,0.000,6,0.000,0.061,2495,2096,3427
$STATE,7360,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7360,begin apogee
$GC,7368,-0.33,0.0,755.3,9.4,352,7503,0.82,0.00,129.18,1.335,6,0.079,0.000,2671,1841,2831
$STATE,7503,end apogee,CONTROL_FINISHED_OK
$STATE,7504,begin climb
$GC,7507,1.22,146.6,759.0,0.0,359,7644,1.52,2.70,129.07,1.293,4,0.058,0.069,3006,3250,2233
$GC,7704,1.14,146.6,745.0,10.4,368,7708,0.00,2.60,0.00,0.000,6,0.000,0.066,3006,1855,2233
$GC,8025,1.06,158.1,718.0,7.6,384,8047,0.15,2.70,11.45,1.136,4,0.095,0.067,2978,3258,2186
$GC,8125,1.06,158.1,709.9,8.1,388,8130,0.00,2.58,0.00,0.000,6,0.000,0.065,2978,1871,2186
$GC,8442,1.08,168.0,685.7,7.6,403,8457,0.00,2.62,10.23,1.131,4,0.000,0.067,2978,3257,2145
$GC,8530,1.08,168.0,678.2,8.3,406,8535,0.00,2.53,0.00,0.000,6,0.000,0.065,2978,1896,2145
$GC,8852,1.08,171.7,652.5,7.9,422,8859,0.00,0.00,4.93,0.914,6,0.000,0.000,2978,1896,2130
$GC,9161,1.08,171.7,626.4,8.5,437,9165,0.00,2.53,0.00,0.000,4,0.000,0.067,2978,3258,2129
$GC,9216,1.08,171.7,621.3,9.5,439,9221,0.00,2.50,0.00,0.000,6,0.000,0.062,2978,1896,2129
$GC,9533,1.09,176.4,594.7,7.8,454,9543,0.00,2.53,5.57,0.952,4,0.000,0.064,2978,3252,2111
$GC,9565,1.09,176.4,591.6,8.7,455,9572,0.00,2.50,0.00,0.000,6,0.000,0.061,2978,1893,2111
$GC,9882,1.12,192.9,567.6,7.4,471,9904,0.00,2.58,15.52,1.155,4,0.000,0.063,2978,3260,2043
$GC,9944,1.12,192.9,562.7,8.3,473,9950,0.00,2.47,0.00,0.000,6,0.000,0.059,2978,1913,2043
$GC,10260,1.13,200.0,538.7,7.7,489,10274,0.00,2.75,7.70,1.019,4,0.000,0.071,2978,445,2015
$GC,10292,1.13,200.0,536.0,8.3,490,10296,0.00,2.65,0.00,0.000,6,0.000,0.050,2978,1918,2015
$GC,10608,1.13,200.0,510.7,8.2,505,10612,0.00,2.75,0.00,0.000,4,0.000,0.071,2978,439,2015
$GC,10635,1.13,200.0,508.1,8.7,506,10640,0.00,2.62,0.00,0.000,6,0.000,0.050,2978,1910,2015
$GC,10952,1.13,200.0,481.8,8.3,521,10953,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1910,2015
$GC,11261,1.13,200.0,454.9,8.8,536,11265,0.00,2.72,0.00,0.000,4,0.000,0.071,2978,432,2015
$GC,11306,1.13,200.0,450.5,10.6,538,11311,0.00,2.60,0.00,0.000,6,0.000,0.050,2978,1896,2015
$GC,11628,1.13,200.0,423.3,8.3,554,11629,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1897,2015
$GC,11938,1.14,204.8,398.7,7.8,569,11946,0.00,0.00,6.07,0.866,6,0.000,0.000,2978,1900,1996
$GC,12247,1.15,214.5,374.7,7.6,584,12262,0.00,2.75,10.00,0.960,4,0.000,0.069,2978,432,1956
$GC,12290,1.15,214.5,370.9,8.6,585,12294,0.00,2.62,0.00,0.000,6,0.000,0.048,2978,1901,1956
$GC,12613,1.19,214.5,344.8,8.2,601,12614,0.10,0.00,0.00,0.000,6,0.059,0.000,3008,1914,1955
$GC,12921,1.16,214.5,315.6,9.6,616,12925,0.00,2.70,0.00,0.000,4,0.000,0.068,3007,436,1956
$GC,12954,1.08,214.5,311.9,10.3,617,12961,0.15,2.58,0.00,0.000,6,0.091,0.049,2978,1889,1956
$GC,13271,1.12,214.5,285.2,8.2,633,13272,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1902,1956
$GC,13580,1.17,216.6,260.2,7.9,648,13582,0.10,0.00,0.00,0.000,6,0.058,0.000,3007,1902,1956
$GC,13889,1.17,216.6,232.3,9.0,663,13893,0.00,2.67,0.00,0.000,4,0.000,0.067,3007,433,1956
$GC,13929,1.10,216.6,228.6,10.6,665,13934,0.12,2.58,0.00,0.000,6,0.092,0.049,2982,1884,1956
$GC,14257,1.16,234.3,204.3,7.4,681,14276,0.00,0.00,17.75,0.909,6,0.000,0.000,2982,1898,1875
$GC,14585,1.20,234.3,177.5,8.5,697,14587,0.10,0.00,0.00,0.000,6,0.061,0.000,3012,1899,1875
$GC,14894,1.20,234.3,148.3,9.1,712,14895,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1899,1875
$GC,15205,1.20,234.3,119.2,9.2,727,15206,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1899,1875
$GC,15513,1.20,234.3,92.2,8.4,742,15517,0.00,2.65,0.00,0.000,4,0.000,0.066,3012,437,1875
$GC,15553,1.15,234.3,88.8,8.5,744,15558,0.00,2.58,0.00,0.000,6,0.000,0.084,3012,1877,1875
$GC,15881,1.15,238.1,61.2,7.9,760,15889,0.00,0.00,4.85,0.642,6,0.000,0.000,3012,1881,1860
$GC,16213,1.18,254.6,37.6,7.4,776,16233,0.00,0.00,14.57,0.792,6,0.000,0.000,3011,1892,1792
$GC,16544,1.19,261.4,11.4,7.8,792,16553,0.00,0.00,7.15,0.696,6,0.000,0.000,3012,1893,1765
$STATE,16643,end climb,SURFACE_DEPTH_REACHED
$STATE,16643,begin surface coast
$FINISH,0.6,1.026847
$STATE,16666,end surface coast,CONTROL_FINISHED_OK
$STATE,16666,begin surface
$SM_CCo,16690,20.15,0.768,0,0,1606,300.00
$SM_GC,1.14,0.00,0.00,20.15,0.000,0.000,0.768,419,2130,1606,-10.70,-0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1817
$TCM_TEMP,17.70
$XPDR_PINGS,39
$ALTIM_BOTTOM_PING,695.4,69.6
$24V_AH,23.8,21.603
$10V_AH,10.1,9.730
$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,25.850,119.325,374.050,20.150,0.000,37.764,35.868,134.359,16.000,0.000,0.000,13.490,1446.520,12944.857,508.370,1641.338,496.891,33.364,1347.712,0.000,1608.631,0.000,42.993,0.000
$DEVICE_MAMPS,166.439,84.370,1334.580,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,547.225,595.657,476.465,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41145,798
$CAP_FILE_SIZE,117371,0
$CFSIZE,254472192,245403648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,170909,172907,6250.106,-1304.884,35,1.2,35,-12.0