version: 66.04
glider: 5
mission: 7
dive: 118
start: 9 18 109 3 17 3
data:
$ID,5
$MISSION,7
$DIVE,118
$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,-102444.65
$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,32
$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
$GPS1,031037,6253.856,-1308.203,42,1.4,42,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-63.8
$GPS2,031614,6253.839,-1308.245,13,1.3,13,-12.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.225,0.100
$KALMAN_X,-97780.2,-769.7,-872.5,-136898.5,5189.6
$KALMAN_Y,-10738.1,-730.6,-629.3,155136.2,65.5
$MHEAD_RNG_PITCHd_Wd,305.8,39593,-14.7,-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,-41.67,0.000,2,0.000,0.000,421,2144,2492
$GC,65,-1.22,-146.6,2.2,-2.9,2,119,11.43,2.58,-35.95,0.000,4,0.163,0.070,2472,712,3428
$GC,284,-1.16,-146.6,26.4,-12.3,12,288,0.00,2.50,0.00,0.000,6,0.000,0.048,2472,2128,3428
$GC,613,-1.08,-146.6,68.9,-12.9,28,614,0.17,0.00,0.00,0.000,6,0.091,0.000,2511,2128,3429
$GC,920,-1.08,-146.6,99.9,-9.5,43,924,0.00,2.55,0.00,0.000,4,0.000,0.067,2510,718,3430
$GC,976,-1.11,-146.6,105.4,-9.5,45,982,0.00,2.50,0.00,0.000,6,0.000,0.048,2511,2139,3430
$GC,1292,-1.11,-146.6,137.8,-10.8,61,1296,0.00,2.58,0.00,0.000,4,0.000,0.061,2511,707,3430
$GC,1337,-1.14,-146.6,142.7,-11.1,63,1341,0.00,2.50,0.00,0.000,6,0.000,0.049,2510,2122,3430
$GC,1658,-1.14,-146.6,175.8,-10.4,79,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2122,3430
$GC,1967,-1.14,-146.6,208.3,-10.5,94,1971,0.00,2.53,0.00,0.000,4,0.000,0.061,2511,720,3430
$GC,1995,-1.14,-146.6,211.3,-10.5,95,1999,0.00,2.47,0.00,0.000,6,0.000,0.054,2510,2116,3430
$GC,2310,-1.14,-146.6,243.2,-10.0,110,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2117,3430
$GC,2620,-1.14,-146.6,274.3,-10.3,125,2624,0.00,2.53,0.00,0.000,4,0.000,0.064,2511,720,3430
$GC,2665,-1.18,-146.6,279.1,-10.6,127,2669,0.00,2.47,0.00,0.000,6,0.000,0.052,2510,2118,3430
$GC,2986,-1.18,-146.6,311.8,-10.1,143,2990,0.00,2.53,0.00,0.000,4,0.000,0.066,2511,720,3430
$GC,3026,-1.22,-146.6,316.0,-11.2,145,3031,0.12,2.47,0.00,0.000,6,0.056,0.051,2473,2120,3430
$GC,3356,-1.16,-146.6,354.0,-11.7,161,3360,0.00,2.55,0.00,0.000,4,0.000,0.065,2473,713,3429
$GC,3389,-1.12,-146.6,358.4,-11.9,162,3396,0.12,2.47,0.00,0.000,6,0.096,0.053,2499,2108,3429
$GC,3705,-1.12,-146.6,390.9,-10.3,178,3710,0.00,2.53,0.00,0.000,4,0.000,0.064,2498,714,3429
$GC,3739,-1.12,-146.6,394.6,-10.5,179,3746,0.00,2.45,0.00,0.000,6,0.000,0.054,2499,2098,3428
$GC,4055,-1.12,-146.6,425.4,-9.6,195,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2098,3429
$GC,4364,-1.12,-146.6,455.2,-9.5,210,4369,0.00,2.50,0.00,0.000,4,0.000,0.066,2498,718,3429
$GC,4415,-1.12,-146.6,460.3,-9.6,212,4419,0.00,2.42,0.00,0.000,6,0.000,0.054,2499,2087,3428
$GC,4730,-1.12,-146.6,489.9,-9.2,227,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2087,3428
$GC,5040,-1.12,-146.6,517.6,-9.0,242,5044,0.00,2.50,0.00,0.000,4,0.000,0.067,2498,708,3428
$GC,5102,-1.12,-146.6,523.2,-9.0,245,5106,0.00,2.42,0.00,0.000,6,0.000,0.054,2499,2078,3428
$GC,5429,-1.12,-146.6,550.0,-8.0,261,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2079,3428
$GC,5738,-1.12,-146.6,576.7,-8.9,276,5742,0.00,2.47,0.00,0.000,4,0.000,0.067,2499,718,3427
$GC,5771,-1.12,-146.6,579.9,-8.9,277,5777,0.00,2.40,0.00,0.000,6,0.000,0.054,2499,2072,3428
$GC,6087,-1.12,-146.6,609.4,-9.6,293,6091,0.00,2.45,0.00,0.000,4,0.000,0.067,2498,718,3427
$GC,6120,-1.12,-146.6,612.6,-9.2,294,6124,0.00,2.40,0.00,0.000,6,0.000,0.054,2499,2070,3427
$GC,6436,-1.12,-146.6,641.1,-9.2,309,6440,0.00,2.65,0.00,0.000,4,0.000,0.072,2498,3535,3427
$GC,6475,-1.12,-146.6,644.8,-10.0,311,6480,0.00,2.65,0.00,0.000,6,0.000,0.058,2499,2058,3427
$GC,6808,-1.12,-146.6,675.0,-8.9,327,6812,0.00,2.72,0.00,0.000,4,0.000,0.074,2499,3532,3427
$GC,6875,-1.12,-146.6,681.5,-9.5,330,6879,0.00,2.65,0.00,0.000,6,0.000,0.063,2498,2059,3426
$GC,7197,-1.12,-146.6,712.4,-9.6,346,7201,0.00,2.75,0.00,0.000,4,0.000,0.077,2499,3541,3426
$GC,7229,-1.12,-146.6,715.9,-10.8,347,7235,0.00,2.62,0.00,0.000,6,0.000,0.061,2498,2086,3426
$GC,7548,-1.12,-146.6,746.6,-9.6,363,7552,0.00,2.70,0.00,0.000,4,0.000,0.077,2498,3538,3426
$GC,7565,-1.12,-146.6,748.6,-9.6,364,7569,0.00,2.62,0.00,0.000,6,0.000,0.062,2499,2084,3426
$GC,7892,-1.12,-146.6,779.9,-9.9,380,7896,0.00,2.70,0.00,0.000,4,0.000,0.077,2498,3535,3426
$GC,7936,-1.12,-146.6,784.7,-11.2,382,7940,0.00,2.58,0.00,0.000,6,0.000,0.066,2499,2105,3426
$STATE,8089,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8089,begin apogee
$GC,8097,-0.33,0.0,799.5,9.1,390,8232,0.80,0.00,130.55,1.358,6,0.078,0.000,2670,1853,2831
$STATE,8233,end apogee,CONTROL_FINISHED_OK
$STATE,8233,begin climb
$GC,8236,1.22,146.6,804.9,0.0,397,8377,1.52,2.67,130.98,1.317,4,0.058,0.069,3006,3257,2233
$GC,8470,1.13,149.8,792.1,7.9,407,8479,0.00,2.62,4.53,0.851,6,0.000,0.066,3006,1844,2220
$GC,8802,1.05,165.1,770.6,7.5,423,8824,0.17,2.67,14.75,1.203,4,0.094,0.079,2974,432,2158
$GC,8849,1.01,174.0,767.1,7.7,425,8864,0.00,2.60,9.50,1.127,6,0.000,0.061,2974,1867,2121
$GC,9176,1.17,273.9,747.7,4.4,440,9271,0.12,2.60,87.62,1.308,4,0.061,0.069,3005,3242,1714
$GC,9401,1.17,273.9,731.7,8.4,450,9405,0.00,2.53,0.00,0.000,6,0.000,0.068,3005,1882,1714
$GC,9717,1.14,273.9,704.4,8.7,465,9718,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1882,1714
$GC,10026,1.14,273.9,676.7,9.4,480,10030,0.00,2.53,0.00,0.000,4,0.000,0.069,3005,3240,1714
$GC,10082,1.14,273.9,671.2,9.4,482,10086,0.00,2.47,0.00,0.000,6,0.000,0.067,3005,1896,1714
$GC,10398,1.14,273.9,640.1,9.9,497,10399,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1896,1714
$GC,10707,1.14,273.9,606.6,11.2,512,10711,0.00,2.47,0.00,0.000,4,0.000,0.069,3005,3244,1713
$GC,10758,1.14,273.9,600.7,11.6,514,10762,0.00,2.42,0.00,0.000,6,0.000,0.061,3005,1914,1713
$GC,11079,1.14,273.9,564.0,11.6,530,11083,0.00,2.67,0.00,0.000,4,0.000,0.074,3005,439,1713
$GC,11119,1.10,273.9,559.1,12.5,532,11124,0.12,2.62,0.00,0.000,6,0.091,0.056,2981,1909,1714
$GC,11446,1.13,273.9,525.9,9.7,548,11447,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1923,1714
$GC,11755,1.17,273.9,496.4,9.4,563,11760,0.00,2.72,0.00,0.000,4,0.000,0.074,2981,433,1713
$GC,11788,1.17,273.9,492.9,10.3,564,11794,0.00,2.62,0.00,0.000,6,0.000,0.054,2980,1906,1714
$GC,12104,1.20,273.9,464.0,9.1,580,12106,0.12,0.00,0.00,0.000,6,0.056,0.000,3016,1916,1713
$GC,12414,1.17,273.9,431.4,10.2,595,12418,0.00,2.70,0.00,0.000,4,0.000,0.073,3016,433,1714
$GC,12447,1.10,273.9,427.8,11.2,596,12454,0.17,2.60,0.00,0.000,6,0.087,0.054,2981,1897,1714
$GC,12764,1.15,277.3,402.3,7.9,612,12770,0.00,0.00,4.93,0.790,6,0.000,0.000,2981,1911,1700
$GC,13073,1.19,277.3,377.3,8.1,627,13075,0.10,0.00,0.00,0.000,6,0.059,0.000,3010,1912,1700
$GC,13381,1.19,277.3,346.8,10.2,642,13386,0.00,2.67,0.00,0.000,4,0.000,0.068,3010,435,1700
$GC,13409,1.15,277.3,343.8,10.4,643,13413,0.00,2.60,0.00,0.000,6,0.000,0.051,3011,1900,1700
$GC,13725,1.15,277.3,311.2,10.1,658,13726,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1913,1700
$GC,14034,1.15,277.3,279.1,10.3,673,14035,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1914,1700
$GC,14343,1.15,277.3,248.5,9.8,688,14348,0.00,2.67,0.00,0.000,4,0.000,0.068,3011,439,1700
$GC,14377,1.11,277.3,244.7,10.5,689,14384,0.12,2.58,0.00,0.000,6,0.088,0.053,2986,1896,1700
$GC,14694,1.16,277.3,217.3,8.8,705,14695,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1910,1700
$GC,15003,1.20,277.3,189.9,8.8,720,15004,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1910,1701
$GC,15312,1.26,277.3,163.0,8.8,735,15314,0.15,0.00,0.00,0.000,6,0.051,0.000,3027,1910,1701
$GC,15622,1.22,277.3,129.5,10.9,750,15623,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1910,1701
$GC,15931,1.18,277.3,94.6,11.5,765,15936,0.12,2.67,0.00,0.000,4,0.088,0.066,3003,430,1701
$GC,15987,1.18,277.3,88.4,10.0,767,15994,0.00,2.58,0.00,0.000,6,0.000,0.051,3003,1893,1701
$GC,16303,1.18,277.3,58.0,9.9,783,16307,0.00,2.42,0.00,0.000,4,0.000,0.064,3003,3261,1701
$GC,16344,1.25,277.3,54.2,8.8,785,16348,0.00,2.42,0.00,0.000,6,0.000,0.053,3003,1878,1701
$GC,16678,1.29,277.3,24.8,8.8,801,16682,0.12,2.50,0.00,0.000,4,0.052,0.063,3037,3262,1701
$GC,16711,1.29,277.3,21.2,11.1,802,16717,0.00,2.40,0.00,0.000,6,0.000,0.049,3038,1899,1701
$STATE,16901,end climb,SURFACE_DEPTH_REACHED
$STATE,16902,begin surface coast
$FINISH,0.5,1.013387
$STATE,16922,end surface coast,CONTROL_FINISHED_OK
$STATE,16922,begin surface
$SM_CCo,16946,12.23,0.729,0,0,1607,300.00
$SM_GC,1.87,0.00,0.00,12.23,0.000,0.000,0.729,417,2145,1607,-10.70,0.57,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1823
$TCM_TEMP,17.60
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,746.6,62.7
$24V_AH,23.8,22.080
$10V_AH,10.1,9.965
$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,26.800,154.350,382.850,12.225,0.000,37.759,26.662,150.803,17.250,0.000,0.000,13.659,1499.162,12990.119,515.057,1762.715,527.508,33.361,1434.562,0.000,1720.951,0.000,46.166,0.000
$DEVICE_MAMPS,163.371,149.565,1357.590,729.417,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,556.681,606.766,471.131,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41158,813
$CAP_FILE_SIZE,128956,0
$CFSIZE,254472192,245219328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,180909,080106,6254.915,-1313.887,39,1.1,44,-12.1