version: 66.04
glider: 5
mission: 7
dive: 117
start: 9 17 109 22 31 3
data:
$ID,5
$MISSION,7
$DIVE,117
$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,-102430.36
$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,51
$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
$GPS1,221707,6253.211,-1302.681,34,1.5,34,-12.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-63.7
$GPS2,223013,6253.237,-1302.553,16,1.5,33,-12.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.156,0.190
$KALMAN_X,-98341.8,-12.5,412.0,-133400.7,2592.7
$KALMAN_Y,-7932.5,-441.1,166.1,150103.9,-42.8
$MHEAD_RNG_PITCHd_Wd,332.6,41620,-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,15,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.75,0.000,2,0.000,0.000,424,2149,2507
$GC,63,-1.22,-146.6,2.2,-2.8,2,116,11.40,2.60,-36.03,0.000,4,0.162,0.070,2472,711,3429
$GC,336,-1.17,-146.6,35.5,-12.3,14,340,0.00,2.47,0.00,0.000,6,0.000,0.051,2472,2109,3430
$GC,654,-1.10,-146.6,75.3,-11.8,29,656,0.15,0.00,0.00,0.000,6,0.096,0.000,2504,2109,3430
$GC,961,-1.10,-146.6,108.7,-10.6,44,966,0.00,2.53,0.00,0.000,4,0.000,0.059,2504,706,3430
$GC,1006,-1.10,-146.6,113.7,-11.7,46,1010,0.00,2.50,0.00,0.000,6,0.000,0.053,2504,2120,3431
$GC,1328,-1.10,-146.6,148.5,-10.9,62,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2119,3431
$GC,1636,-1.10,-146.6,181.9,-10.7,77,1640,0.00,2.55,0.00,0.000,4,0.000,0.064,2504,708,3430
$GC,1675,-1.10,-146.6,186.0,-10.7,79,1680,0.00,2.50,0.00,0.000,6,0.000,0.054,2504,2117,3431
$GC,2003,-1.10,-146.6,218.1,-9.6,95,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2117,3431
$GC,2312,-1.10,-146.6,248.7,-9.8,110,2316,0.00,2.53,0.00,0.000,4,0.000,0.063,2504,720,3431
$GC,2352,-1.13,-146.6,252.7,-10.4,112,2356,0.00,2.47,0.00,0.000,6,0.000,0.052,2504,2117,3431
$GC,2679,-1.13,-146.6,284.4,-9.7,128,2683,0.00,2.55,0.00,0.000,4,0.000,0.065,2504,706,3430
$GC,2706,-1.13,-146.6,287.2,-10.1,129,2711,0.00,2.50,0.00,0.000,6,0.000,0.052,2504,2117,3431
$GC,3022,-1.13,-146.6,318.0,-9.8,144,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2117,3430
$GC,3332,-1.13,-146.6,348.1,-9.8,159,3336,0.00,2.55,0.00,0.000,4,0.000,0.064,2504,707,3430
$GC,3376,-1.16,-146.6,352.6,-10.3,161,3380,0.00,2.47,0.00,0.000,6,0.000,0.053,2504,2104,3430
$GC,3697,-1.16,-146.6,382.6,-9.2,177,3702,0.00,2.53,0.00,0.000,4,0.000,0.066,2504,714,3429
$GC,3719,-1.16,-146.6,384.8,-9.3,178,3723,0.00,2.45,0.00,0.000,6,0.000,0.054,2504,2093,3429
$GC,4047,-1.16,-146.6,413.7,-8.7,194,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2093,3429
$GC,4356,-1.16,-146.6,439.9,-8.4,209,4360,0.00,2.50,0.00,0.000,4,0.000,0.067,2503,710,3429
$GC,4395,-1.20,-146.6,443.3,-8.8,210,4402,0.00,2.45,0.00,0.000,6,0.000,0.053,2503,2091,3429
$GC,4712,-1.20,-146.6,469.8,-8.4,226,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2091,3428
$GC,5021,-1.20,-146.6,497.6,-9.4,241,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2090,3428
$GC,5330,-1.20,-146.6,525.5,-8.7,256,5334,0.00,2.50,0.00,0.000,4,0.000,0.067,2503,713,3428
$GC,5357,-1.20,-146.6,528.0,-9.0,257,5361,0.00,2.45,0.00,0.000,6,0.000,0.052,2504,2094,3428
$GC,5673,-1.20,-146.6,556.1,-8.6,272,5677,0.00,2.50,0.00,0.000,4,0.000,0.068,2504,715,3427
$GC,5701,-1.20,-146.6,558.6,-9.2,273,5705,0.00,2.42,0.00,0.000,6,0.000,0.054,2504,2082,3427
$GC,6017,-1.20,-146.6,583.6,-7.5,288,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2083,3427
$GC,6326,-1.20,-146.6,606.9,-7.6,303,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2082,3427
$GC,6635,-1.20,-146.6,630.4,-7.9,318,6636,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2082,3427
$GC,6944,-1.20,-146.6,656.4,-8.7,333,6948,0.00,2.50,0.00,0.000,4,0.000,0.071,2503,717,3427
$GC,6995,-1.25,-146.6,661.3,-10.0,335,7000,0.15,2.42,0.00,0.000,6,0.058,0.054,2463,2078,3427
$GC,7314,-1.19,-146.6,698.0,-11.9,350,7315,0.10,0.00,0.00,0.000,6,0.108,0.000,2482,2078,3426
$GC,7620,-1.19,-146.6,730.5,-10.9,365,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2078,3426
$STATE,7762,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7762,begin apogee
$GC,7770,-0.33,0.0,746.1,11.0,372,7905,0.88,0.00,129.48,1.325,6,0.077,0.000,2672,1827,2831
$STATE,7905,end apogee,CONTROL_FINISHED_OK
$STATE,7905,begin climb
$GC,7908,1.22,146.6,751.0,0.0,379,8046,1.52,2.70,129.30,1.288,4,0.058,0.071,3008,3252,2233
$GC,8169,1.11,146.6,736.5,8.1,391,8173,0.00,2.58,0.00,0.000,6,0.000,0.068,3007,1868,2233
$GC,8496,1.07,170.8,712.7,7.1,407,8526,0.15,2.72,22.60,1.216,4,0.100,0.079,2980,444,2134
$GC,8655,1.02,181.5,701.6,7.6,414,8672,0.00,2.53,10.77,1.129,6,0.000,0.061,2980,1849,2090
$GC,8982,1.04,189.8,678.2,7.7,430,8996,0.00,2.62,8.73,1.097,4,0.000,0.071,2980,3231,2057
$GC,9065,1.04,189.8,671.2,8.6,433,9071,0.00,2.58,0.00,0.000,6,0.000,0.067,2980,1844,2057
$GC,9381,1.04,189.8,642.5,10.0,449,9385,0.00,2.58,0.00,0.000,4,0.000,0.078,2980,435,2057
$GC,9448,0.98,189.8,635.2,10.5,452,9452,0.00,2.50,0.00,0.000,6,0.000,0.059,2980,1822,2056
$GC,9769,0.98,189.8,605.8,8.7,468,9773,0.00,2.60,0.00,0.000,4,0.000,0.069,2980,3255,2056
$GC,9831,0.98,189.8,600.3,8.7,471,9836,0.00,2.62,0.00,0.000,6,0.000,0.064,2980,1826,2056
$GC,10159,1.00,202.9,574.5,7.5,487,10177,0.00,0.00,12.95,1.134,6,0.000,0.000,2980,1825,2002
$GC,10488,1.02,210.8,549.7,7.7,503,10502,0.00,2.67,8.32,1.042,4,0.000,0.066,2980,3250,1971
$GC,10565,1.05,210.8,543.1,9.5,506,10569,0.00,2.60,0.00,0.000,6,0.000,0.063,2980,1829,1971
$GC,10881,1.05,210.8,515.8,9.0,521,10886,0.00,2.62,0.00,0.000,4,0.000,0.064,2980,3261,1971
$GC,10937,1.08,210.8,510.5,9.0,523,10943,0.00,2.58,0.00,0.000,6,0.000,0.061,2980,1846,1970
$GC,11253,1.08,210.8,481.9,8.9,539,11255,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1847,1971
$GC,11562,1.08,210.8,455.3,8.4,554,11567,0.00,2.58,0.00,0.000,4,0.000,0.064,2980,3255,1971
$GC,11607,1.12,210.8,451.4,8.6,556,11612,0.00,2.53,0.00,0.000,6,0.000,0.058,2980,1858,1971
$GC,11929,1.13,216.9,425.9,7.8,572,11943,0.00,2.62,6.82,0.913,4,0.000,0.063,2980,3260,1946
$GC,11973,1.17,216.9,422.4,8.4,574,11978,0.00,2.53,0.00,0.000,6,0.000,0.058,2980,1869,1946
$GC,12301,1.19,227.0,397.2,7.6,590,12313,0.10,0.00,10.18,0.976,6,0.059,0.000,3009,1869,1905
$GC,12610,1.15,227.0,369.4,9.2,605,12614,0.00,2.55,0.00,0.000,4,0.000,0.065,3010,3259,1905
$GC,12655,1.15,227.0,364.9,9.6,607,12660,0.00,2.50,0.00,0.000,6,0.000,0.060,3009,1873,1905
$GC,12983,1.12,227.0,335.1,9.2,623,12984,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1872,1905
$GC,13292,1.09,227.0,306.4,9.3,638,13297,0.15,2.53,0.00,0.000,4,0.090,0.063,2979,3261,1905
$GC,13326,1.16,234.1,303.4,7.7,639,13341,0.00,2.47,8.07,0.884,6,0.000,0.055,2979,1879,1876
$GC,13667,1.21,244.8,277.7,7.6,656,13683,0.12,0.00,10.52,0.910,6,0.055,0.000,3014,1879,1832
$GC,13993,1.18,244.8,245.5,10.3,672,13997,0.00,2.50,0.00,0.000,4,0.000,0.062,3014,3259,1832
$GC,14049,1.18,244.8,239.4,10.6,674,14053,0.00,2.47,0.00,0.000,6,0.000,0.056,3014,1879,1832
$GC,14365,1.18,244.8,207.0,10.3,689,14366,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1879,1832
$GC,14674,1.18,244.8,176.4,9.6,704,14678,0.00,2.50,0.00,0.000,4,0.000,0.060,3014,3257,1832
$GC,14714,1.18,244.8,172.6,9.6,706,14718,0.00,2.42,0.00,0.000,6,0.000,0.052,3014,1897,1832
$GC,15042,1.18,244.8,144.1,8.6,722,15043,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1897,1832
$GC,15350,1.18,244.8,117.4,8.7,737,15355,0.00,2.47,0.00,0.000,4,0.000,0.062,3014,3264,1832
$GC,15395,1.18,244.8,113.3,8.5,739,15399,0.00,2.42,0.00,0.000,6,0.000,0.052,3014,1899,1833
$GC,15717,1.18,244.8,85.8,8.8,755,15718,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1899,1833
$GC,16027,1.18,244.8,57.2,9.7,770,16031,0.00,2.45,0.00,0.000,4,0.000,0.062,3014,3255,1833
$GC,16071,1.18,244.8,52.5,10.0,772,16075,0.00,2.38,0.00,0.000,6,0.000,0.053,3014,1918,1833
$GC,16393,1.18,244.8,22.5,9.7,788,16397,0.00,2.65,0.00,0.000,4,0.000,0.067,3014,436,1833
$GC,16448,1.14,244.8,17.0,9.4,790,16455,0.00,2.60,0.00,0.000,6,0.000,0.049,3014,1927,1833
$STATE,16617,end climb,SURFACE_DEPTH_REACHED
$STATE,16618,begin surface coast
$FINISH,0.6,1.005314
$STATE,16639,end surface coast,CONTROL_FINISHED_OK
$STATE,16639,begin surface
$SM_CCo,16663,28.45,0.774,0,0,1608,300.00
$SM_GC,1.54,0.00,0.00,28.45,0.000,0.000,0.774,420,2141,1608,-10.70,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1819
$TCM_TEMP,17.70
$XPDR_PINGS,35
$ALTIM_BOTTOM_PING,695.4,59.6
$24V_AH,23.8,21.921
$10V_AH,10.1,9.888
$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,25.900,137.375,357.750,28.450,0.000,113.285,90.032,302.578,15.000,0.000,0.000,33.788,1477.914,12903.162,507.722,1762.531,827.919,33.362,1399.018,0.000,1703.455,0.000,45.101,0.000
$DEVICE_MAMPS,161.837,79.001,1324.609,773.903,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,548.512,602.418,472.976,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41099,800
$CAP_FILE_SIZE,128829,0
$CFSIZE,254472192,245276672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,180909,031037,6253.856,-1308.203,42,1.4,42,-12.0