version: 66.04
glider: 5
mission: 7
dive: 116
start: 9 17 109 17 41 9
data:
$ID,5
$MISSION,7
$DIVE,116
$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,-102395.95
$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,19
$R_STBD_OVSHOOT,28
$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
$GPS1,172907,6250.106,-1304.884,35,1.2,35,-12.0
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-61.7
$GPS2,174019,6250.130,-1304.812,12,1.2,17,-12.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.051,0.240
$KALMAN_X,-102136.5,600.8,75.2,-131857.5,434.4
$KALMAN_Y,-8675.8,377.0,118.2,144330.3,-1711.6
$MHEAD_RNG_PITCHd_Wd,0.0,46836,-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,-41.42,0.000,2,0.000,0.000,419,2135,2490
$GC,63,-1.22,-146.6,2.1,-3.0,2,116,11.18,2.58,-36.42,0.000,4,0.153,0.068,2472,710,3428
$GC,350,-1.17,-146.6,35.8,-13.8,15,355,0.00,2.50,0.00,0.000,6,0.000,0.045,2472,2128,3428
$GC,678,-1.10,-146.6,81.4,-12.7,31,683,0.15,2.55,0.00,0.000,4,0.100,0.065,2503,3537,3428
$GC,723,-1.10,-146.6,86.7,-10.6,33,728,0.00,2.53,0.00,0.000,6,0.000,0.048,2503,2116,3428
$GC,1045,-1.10,-146.6,119.0,-10.1,49,1049,0.00,2.60,0.00,0.000,4,0.000,0.065,2504,3542,3429
$GC,1078,-1.10,-146.6,122.5,-10.4,50,1084,0.00,2.50,0.00,0.000,6,0.000,0.054,2503,2136,3429
$GC,1394,-1.10,-146.6,150.7,-8.8,66,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2122,3429
$GC,1703,-1.10,-146.6,179.4,-9.8,81,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2122,3429
$GC,2013,-1.10,-146.6,210.2,-9.9,96,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2121,3429
$GC,2322,-1.10,-146.6,241.6,-10.2,111,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2121,3429
$GC,2631,-1.10,-146.6,274.5,-11.0,126,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2121,3429
$GC,2940,-1.10,-146.6,308.3,-11.0,141,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2121,3428
$GC,3249,-1.10,-146.6,343.1,-11.2,156,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2121,3428
$GC,3559,-1.10,-146.6,377.6,-11.0,171,3563,0.00,2.60,0.00,0.000,4,0.000,0.071,2503,3539,3428
$GC,3599,-1.10,-146.6,382.3,-11.6,173,3603,0.00,2.53,0.00,0.000,6,0.000,0.057,2503,2132,3428
$GC,3926,-1.10,-146.6,415.9,-10.3,189,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2120,3428
$GC,4236,-1.10,-146.6,445.9,-9.5,204,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2119,3428
$GC,4544,-1.10,-146.6,474.4,-9.1,219,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2120,3428
$GC,4854,-1.10,-146.6,503.7,-9.4,234,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2119,3427
$GC,5163,-1.10,-146.6,532.7,-9.6,249,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2120,3427
$GC,5472,-1.10,-146.6,561.8,-9.3,264,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2119,3426
$GC,5781,-1.10,-146.6,590.8,-9.6,279,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2119,3426
$GC,6091,-1.10,-146.6,618.1,-8.5,294,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2119,3426
$GC,6401,-1.10,-146.6,646.2,-9.6,309,6402,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2119,3426
$GC,6709,-1.10,-146.6,676.4,-9.5,324,6710,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2119,3426
$GC,7018,-1.10,-146.6,703.7,-8.4,339,7023,0.00,2.55,0.00,0.000,4,0.000,0.071,2503,715,3426
$GC,7063,-1.15,-146.6,707.7,-8.4,341,7068,0.00,2.53,0.00,0.000,6,0.000,0.056,2504,2132,3425
$GC,7385,-1.15,-146.6,731.5,-7.2,357,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2133,3425
$STATE,7671,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7671,begin apogee
$GC,7679,-0.33,0.0,755.6,9.0,371,7813,0.77,0.00,128.62,1.329,6,0.078,0.000,2669,1836,2831
$STATE,7814,end apogee,CONTROL_FINISHED_OK
$STATE,7814,begin climb
$GC,7817,1.22,146.6,760.3,0.0,378,7956,1.55,2.67,129.62,1.286,4,0.059,0.069,3009,3258,2233
$GC,8003,1.12,146.6,749.6,10.5,386,8009,0.00,2.58,0.00,0.000,6,0.000,0.065,3008,1873,2233
$GC,8320,1.11,187.8,719.7,6.5,402,8364,0.12,2.78,37.25,1.239,4,0.102,0.079,2986,436,2065
$GC,8468,1.10,230.3,711.5,6.5,408,8513,0.00,2.58,38.20,1.243,6,0.000,0.061,2986,1875,1891
$GC,8833,1.10,230.3,684.3,8.9,426,8837,0.00,2.70,0.00,0.000,4,0.000,0.081,2986,434,1891
$GC,8911,1.06,230.3,675.8,10.3,429,8918,0.00,2.53,0.00,0.000,6,0.000,0.059,2986,1826,1890
$GC,9227,1.06,230.3,644.0,10.0,445,9231,0.00,2.62,0.00,0.000,4,0.000,0.073,2986,3264,1890
$GC,9290,1.09,230.3,637.3,11.0,448,9294,0.00,2.65,0.00,0.000,6,0.000,0.066,2986,1828,1889
$GC,9616,1.09,230.3,607.0,8.7,464,9617,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1828,1889
$GC,9925,1.09,230.3,581.3,8.3,479,9930,0.00,2.62,0.00,0.000,4,0.000,0.067,2986,3260,1889
$GC,10022,1.09,230.3,573.2,8.5,483,10027,0.00,2.60,0.00,0.000,6,0.000,0.067,2986,1837,1888
$GC,10338,1.10,235.2,548.4,7.8,498,10346,0.00,0.00,5.70,0.921,6,0.000,0.000,2986,1837,1871
$GC,10648,1.10,235.2,522.6,8.5,513,10652,0.00,2.60,0.00,0.000,4,0.000,0.064,2986,3258,1871
$GC,10703,1.13,235.2,517.6,8.8,515,10710,0.00,2.58,0.00,0.000,6,0.000,0.064,2986,1843,1871
$GC,11020,1.13,235.2,489.7,8.9,531,11021,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1843,1871
$GC,11329,1.13,235.2,463.2,8.4,546,11334,0.00,2.60,0.00,0.000,4,0.000,0.067,2986,3261,1871
$GC,11392,1.17,235.2,457.8,9.0,549,11397,0.00,2.55,0.00,0.000,6,0.000,0.061,2986,1852,1871
$GC,11719,1.17,235.2,431.0,8.0,565,11724,0.00,2.55,0.00,0.000,4,0.000,0.064,2986,3254,1871
$GC,11765,1.21,235.2,427.2,8.2,567,11770,0.10,2.50,0.00,0.000,6,0.060,0.061,3014,1869,1872
$GC,12086,1.17,235.2,396.6,9.7,583,12088,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1869,1872
$GC,12396,1.13,235.2,367.3,9.4,598,12401,0.12,2.53,0.00,0.000,4,0.093,0.062,2990,3257,1872
$GC,12429,1.17,235.2,364.2,8.2,599,12435,0.00,2.47,0.00,0.000,6,0.000,0.061,2989,1880,1872
$GC,12745,1.17,235.2,337.3,8.6,615,12746,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1880,1872
$GC,13054,1.17,235.2,310.5,8.6,630,13058,0.00,2.50,0.00,0.000,4,0.000,0.064,2990,3254,1872
$GC,13083,1.20,235.2,307.9,8.6,631,13087,0.00,2.45,0.00,0.000,6,0.000,0.056,2989,1886,1872
$GC,13410,1.20,235.2,279.7,8.6,647,13411,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1887,1872
$GC,13719,1.20,235.2,253.3,8.5,662,13723,0.00,2.50,0.00,0.000,4,0.000,0.061,2989,3265,1872
$GC,13769,1.25,235.2,248.7,8.5,664,13774,0.12,2.45,0.00,0.000,6,0.055,0.054,3024,1893,1873
$GC,14085,1.20,235.2,215.2,10.9,679,14087,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1893,1873
$GC,14395,1.15,235.2,182.3,10.4,694,14397,0.15,0.00,0.00,0.000,6,0.090,0.000,2995,1893,1873
$GC,14703,1.15,235.2,155.3,8.3,709,14707,0.00,2.45,0.00,0.000,4,0.000,0.064,2995,3254,1873
$GC,14754,1.18,235.2,150.8,8.9,711,14758,0.00,2.42,0.00,0.000,6,0.000,0.056,2995,1892,1873
$GC,15076,1.21,249.3,124.9,7.5,727,15094,0.00,0.00,13.62,0.829,6,0.000,0.000,2995,1891,1813
$GC,15406,1.25,277.3,100.4,7.0,743,15436,0.00,2.58,23.33,0.850,4,0.000,0.061,2996,3268,1700
$GC,15474,1.35,295.8,95.5,7.3,746,15496,0.20,2.45,16.27,0.825,6,0.048,0.055,3046,1897,1625
$GC,15810,1.30,295.8,65.9,8.7,762,15811,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1898,1625
$GC,16115,1.26,295.8,33.8,11.2,777,16119,0.15,2.47,0.00,0.000,4,0.087,0.058,3017,3261,1625
$GC,16137,1.26,295.8,31.4,10.4,778,16141,0.00,2.42,0.00,0.000,6,0.000,0.050,3017,1898,1625
$STATE,16434,end climb,SURFACE_DEPTH_REACHED
$STATE,16434,begin surface coast
$FINISH,0.8,1.026920
$STATE,16458,end surface coast,CONTROL_FINISHED_OK
$STATE,16458,begin surface
$SM_CCo,16482,2.25,0.239,0,0,1607,300.00
$SM_GC,2.31,0.00,0.00,2.25,0.000,0.000,0.239,424,2153,1607,-10.68,0.65,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1819
$TCM_TEMP,17.60
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,745.2,19.7
$24V_AH,23.8,21.761
$10V_AH,10.1,9.807
$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,25.800,97.775,392.625,2.250,0.000,113.288,104.309,201.510,14.000,0.000,0.000,19.611,1419.680,12891.698,481.427,1653.891,710.510,33.362,1316.712,0.000,1611.116,0.000,52.743,0.000
$DEVICE_MAMPS,153.400,80.535,1329.211,239.304,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,543.881,592.636,476.374,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41199,794
$CAP_FILE_SIZE,114672,0
$CFSIZE,254472192,245350400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,170909,221707,6253.211,-1302.681,34,1.5,34,-12.0