version: 66.04
glider: 5
mission: 7
dive: 119
start: 9 18 109 8 13 57
data:
$ID,5
$MISSION,7
$DIVE,119
$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,-102456.85
$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,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
$GPS1,080106,6254.915,-1313.887,39,1.1,44,-12.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-62.8
$GPS2,081308,6254.943,-1313.932,11,1.2,11,-12.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.095,0.235
$KALMAN_X,-98460.2,-1024.8,192.0,-142031.8,2276.0
$KALMAN_Y,-13004.6,-125.0,547.7,157648.3,-3318.1
$MHEAD_RNG_PITCHd_Wd,350.2,37156,-14.2,-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,-1.18,-146.6,0.0,0.0,0,59,0.00,0.00,-41.70,0.000,2,0.000,0.000,417,2148,2499
$GC,63,-1.18,-146.6,2.3,-4.2,2,121,11.27,2.47,-40.30,0.000,4,0.157,0.077,2479,3514,3430
$GC,202,-1.06,-146.6,14.2,-13.6,7,207,0.15,2.47,0.00,0.000,6,0.100,0.048,2512,2118,3430
$GC,519,-1.02,-146.6,51.4,-11.8,22,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2105,3430
$GC,828,-1.02,-146.6,86.2,-10.0,37,832,0.00,2.53,0.00,0.000,4,0.000,0.067,2512,3506,3431
$GC,895,-1.02,-146.6,93.7,-11.1,40,899,0.00,2.42,0.00,0.000,6,0.000,0.053,2512,2138,3431
$GC,1217,-1.02,-146.6,127.5,-10.3,56,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2125,3431
$GC,1526,-1.02,-146.6,159.4,-10.5,71,1530,0.00,2.53,0.00,0.000,4,0.000,0.063,2512,713,3431
$GC,1558,-1.02,-146.6,163.0,-10.3,72,1565,0.00,2.50,0.00,0.000,6,0.000,0.051,2512,2128,3431
$GC,1875,-1.02,-146.6,195.5,-10.3,88,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2128,3431
$GC,2183,-1.02,-146.6,226.6,-9.9,103,2188,0.00,2.55,0.00,0.000,4,0.000,0.070,2512,721,3432
$GC,2246,-1.02,-146.6,233.0,-10.8,106,2251,0.00,2.53,0.00,0.000,6,0.000,0.052,2512,2147,3431
$GC,2574,-1.02,-146.6,264.9,-9.8,122,2578,0.00,2.60,0.00,0.000,4,0.000,0.066,2512,717,3431
$GC,2646,-1.02,-146.6,272.2,-10.0,125,2651,0.00,2.53,0.00,0.000,6,0.000,0.054,2512,2141,3431
$GC,2962,-1.02,-146.6,303.4,-9.9,140,2966,0.00,2.58,0.00,0.000,4,0.000,0.065,2512,718,3431
$GC,2995,-1.02,-146.6,307.0,-11.0,141,3001,0.00,2.50,0.00,0.000,6,0.000,0.052,2512,2130,3431
$GC,3311,-1.02,-146.6,340.0,-10.7,157,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2130,3431
$GC,3620,-1.02,-146.6,374.3,-11.2,172,3625,0.00,2.55,0.00,0.000,4,0.000,0.065,2512,720,3430
$GC,3683,-1.02,-146.6,381.4,-10.7,175,3687,0.00,2.47,0.00,0.000,6,0.000,0.058,2512,2117,3430
$GC,4016,-1.02,-146.6,416.7,-10.4,191,4020,0.00,2.53,0.00,0.000,4,0.000,0.065,2511,722,3430
$GC,4043,-1.02,-146.6,419.7,-10.1,192,4051,0.00,2.47,0.00,0.000,6,0.000,0.054,2512,2119,3430
$GC,4373,-1.02,-146.6,451.8,-9.4,208,4377,0.00,2.53,0.00,0.000,4,0.000,0.064,2512,721,3429
$GC,4429,-1.02,-146.6,457.2,-9.7,210,4436,0.00,2.45,0.00,0.000,6,0.000,0.056,2512,2105,3429
$GC,4745,-1.02,-146.6,486.6,-9.3,226,4750,0.00,2.53,0.00,0.000,4,0.000,0.067,2512,718,3429
$GC,4773,-1.02,-146.6,489.3,-9.5,227,4778,0.00,2.45,0.00,0.000,6,0.000,0.054,2512,2097,3429
$GC,5089,-1.02,-146.6,519.2,-9.7,242,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2097,3429
$GC,5399,-1.02,-146.6,548.7,-9.5,257,5403,0.00,2.50,0.00,0.000,4,0.000,0.064,2511,717,3429
$GC,5450,-1.05,-146.6,553.7,-9.9,259,5454,0.00,2.45,0.00,0.000,6,0.000,0.056,2512,2099,3429
$GC,5765,-1.05,-146.6,582.8,-9.0,274,5769,0.00,2.50,0.00,0.000,4,0.000,0.067,2511,713,3429
$GC,5799,-1.05,-146.6,586.0,-9.3,275,5803,0.00,2.42,0.00,0.000,6,0.000,0.055,2512,2080,3429
$GC,6115,-1.05,-146.6,615.0,-9.2,290,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2080,3429
$GC,6424,-1.05,-146.6,643.6,-9.4,305,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2080,3428
$GC,6734,-1.05,-146.6,670.7,-8.2,320,6739,0.00,2.65,0.00,0.000,4,0.000,0.075,2512,3540,3428
$GC,6762,-1.05,-146.6,673.4,-9.1,321,6766,0.00,2.62,0.00,0.000,6,0.000,0.061,2512,2079,3427
$GC,7079,-1.05,-146.6,698.9,-8.0,336,7080,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2079,3428
$GC,7388,-1.05,-146.6,724.3,-8.6,351,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2079,3427
$GC,7697,-1.05,-146.6,756.2,-11.5,366,7701,0.00,2.70,0.00,0.000,4,0.000,0.077,2512,3533,3427
$GC,7724,-1.05,-146.6,759.4,-11.9,367,7728,0.00,2.62,0.00,0.000,6,0.000,0.062,2512,2080,3427
$GC,8040,-1.09,-146.6,793.2,-9.1,382,8045,0.00,2.45,0.00,0.000,4,0.000,0.074,2512,718,3426
$STATE,8111,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8111,begin apogee
$GC,8120,-0.33,0.0,800.3,10.1,385,8254,0.70,0.00,131.18,1.346,6,0.080,0.000,2665,1866,2831
$STATE,8255,end apogee,CONTROL_FINISHED_OK
$STATE,8255,begin climb
$GC,8258,1.18,146.6,804.5,0.0,392,8394,1.55,0.00,131.45,1.314,6,0.061,0.000,3001,1867,2233
$GC,8706,1.12,159.8,776.9,7.6,414,8728,0.00,2.75,13.20,1.170,4,0.000,0.080,3001,444,2179
$GC,8867,1.09,224.7,767.2,5.8,421,8933,0.00,2.55,58.00,1.285,6,0.000,0.060,3001,1863,1914
$GC,9261,1.03,224.7,735.7,10.1,440,9266,0.15,2.65,0.00,0.000,4,0.093,0.077,2972,442,1913
$GC,9301,1.03,224.7,731.6,10.0,442,9305,0.00,2.53,0.00,0.000,6,0.000,0.057,2971,1838,1913
$GC,9628,1.03,224.7,702.5,9.3,458,9629,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1853,1913
$GC,9936,1.03,224.7,675.1,8.4,473,9941,0.00,2.60,0.00,0.000,4,0.000,0.079,2971,445,1912
$GC,9981,1.03,224.7,671.0,9.1,475,9985,0.00,2.53,0.00,0.000,6,0.000,0.058,2971,1848,1912
$GC,10303,1.04,233.1,646.2,7.7,491,10318,0.00,2.62,8.62,1.083,4,0.000,0.071,2971,3253,1880
$GC,10353,1.08,233.1,641.9,8.4,493,10358,0.00,2.62,0.00,0.000,6,0.000,0.061,2971,1829,1880
$GC,10674,1.08,233.1,614.4,9.0,509,10679,0.00,2.62,0.00,0.000,4,0.000,0.067,2972,3255,1880
$GC,10725,1.13,233.1,609.6,9.7,511,10729,0.00,2.58,0.00,0.000,6,0.000,0.062,2972,1843,1880
$GC,11041,1.13,233.1,579.3,10.0,526,11043,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1843,1880
$GC,11351,1.13,233.1,548.9,9.7,541,11355,0.00,2.60,0.00,0.000,4,0.000,0.065,2971,3262,1879
$GC,11384,1.18,233.1,545.4,9.6,542,11391,0.15,2.58,0.00,0.000,6,0.054,0.060,3011,1843,1880
$GC,11700,1.11,233.1,510.1,11.0,558,11702,0.12,0.00,0.00,0.000,6,0.093,0.000,2987,1843,1880
$GC,12009,1.11,233.1,481.3,8.9,573,12014,0.00,2.60,0.00,0.000,4,0.000,0.064,2986,3264,1880
$GC,12065,1.11,233.1,475.9,9.1,575,12072,0.00,2.55,0.00,0.000,6,0.000,0.061,2987,1853,1880
$GC,12382,1.12,236.0,450.1,7.9,591,12388,0.00,0.00,4.47,0.771,6,0.000,0.000,2987,1853,1868
$GC,12691,1.12,236.0,425.5,8.0,606,12695,0.00,2.58,0.00,0.000,4,0.000,0.065,2987,3262,1868
$GC,12729,1.12,236.0,422.2,8.4,607,12736,0.00,2.53,0.00,0.000,6,0.000,0.058,2987,1863,1868
$GC,13045,1.12,236.8,397.0,8.0,623,13046,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1863,1868
$GC,13355,1.12,236.8,371.9,8.1,638,13356,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1863,1868
$GC,13664,1.12,236.8,345.9,8.5,653,13668,0.00,2.55,0.00,0.000,4,0.000,0.065,2987,3262,1868
$GC,13719,1.12,236.8,341.1,8.4,655,13726,0.00,2.50,0.00,0.000,6,0.000,0.056,2987,1866,1868
$GC,14036,1.12,236.8,315.4,8.3,671,14037,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1866,1869
$GC,14345,1.12,236.8,290.5,8.2,686,14346,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1866,1869
$GC,14654,1.12,236.8,264.9,8.3,701,14658,0.00,2.53,0.00,0.000,4,0.000,0.065,2987,3257,1869
$GC,14698,1.12,236.8,260.9,8.9,703,14703,0.00,2.47,0.00,0.000,6,0.000,0.054,2987,1868,1869
$GC,15020,1.12,236.8,233.3,8.5,719,15021,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1869,1869
$GC,15329,1.12,236.8,206.7,8.3,734,15330,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1869,1869
$GC,15639,1.12,236.8,181.0,8.5,749,15643,0.00,2.53,0.00,0.000,4,0.000,0.063,2987,3264,1869
$GC,15694,1.12,236.8,175.9,8.9,751,15700,0.00,2.47,0.00,0.000,6,0.000,0.054,2987,1871,1869
$GC,16010,1.12,236.8,148.4,8.6,767,16011,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1871,1869
$GC,16320,1.12,236.8,122.2,8.7,782,16324,0.00,2.50,0.00,0.000,4,0.000,0.062,2987,3255,1870
$GC,16360,1.16,236.8,118.5,9.6,784,16364,0.00,2.45,0.00,0.000,6,0.000,0.059,2986,1878,1870
$GC,16693,1.16,241.6,88.9,7.8,800,16702,0.00,0.00,6.78,0.719,6,0.000,0.000,2987,1878,1845
$GC,17004,1.24,287.1,67.9,6.5,815,17044,0.12,0.00,37.33,0.834,6,0.054,0.000,3022,1877,1660
$GC,17353,1.24,287.1,39.7,8.3,832,17354,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1877,1660
$GC,17661,1.21,287.1,10.8,10.3,847,17662,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1877,1660
$STATE,17761,end climb,SURFACE_DEPTH_REACHED
$STATE,17761,begin surface coast
$FINISH,0.5,1.026408
$STATE,17782,end surface coast,CONTROL_FINISHED_OK
$STATE,17782,begin surface
$SM_CCo,17806,6.60,0.659,0,0,1608,300.00
$SM_GC,2.45,0.00,0.00,6.60,0.000,0.000,0.659,419,2164,1608,-10.70,0.96,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1821
$TCM_TEMP,17.70
$XPDR_PINGS,40
$ALTIM_BOTTOM_PING,746.8,63.5
$24V_AH,23.8,22.245
$10V_AH,10.1,10.049
$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,25.500,137.125,391.025,6.600,0.000,114.342,92.009,261.075,16.750,0.000,0.000,11.574,1538.861,13892.516,536.852,1773.588,791.756,33.365,1436.409,0.000,1734.313,0.000,48.294,0.000
$DEVICE_MAMPS,157.235,79.768,1346.085,658.853,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,583.992,639.037,503.669,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44292,853
$CAP_FILE_SIZE,130017,0
$CFSIZE,254472192,245153792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,131207,6258.287,-1314.834,37,1.3,37,-12.1