version: 66.04
glider: 5
mission: 7
dive: 125
start: 9 19 109 12 53 7
data:
$ID,5
$MISSION,7
$DIVE,125
$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,-102583.46
$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,23
$R_STBD_OVSHOOT,30
$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
$GPS1,124624,6314.039,-1314.470,39,1.9,39,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-60.2
$GPS2,125219,6314.035,-1314.521,36,2.0,36,-12.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,JW
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.088,0.131
$KALMAN_X,-95327.4,-456.3,383.0,-146477.2,2137.3
$KALMAN_Y,-12122.8,387.6,-87.1,192234.4,152.3
$MHEAD_RNG_PITCHd_Wd,338.3,38829,-24.4,-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,18,-1.72,-56.8,0.0,0.0,0,61,0.00,0.00,-41.42,0.000,2,0.000,0.000,417,2127,2474
$GC,65,-1.79,-102.7,2.2,-3.7,2,116,10.45,2.58,-34.72,0.000,4,0.156,0.067,2344,714,3250
$GC,215,-1.73,-102.7,21.6,-19.4,8,222,0.12,2.50,0.00,0.000,6,0.116,0.045,2366,2134,3251
$GC,532,-1.73,-102.7,80.7,-18.8,24,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2134,3251
$GC,840,-1.73,-102.7,134.5,-16.4,39,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2135,3252
$GC,1149,-1.73,-102.7,180.3,-13.7,54,1153,0.00,2.55,0.00,0.000,4,0.000,0.058,2366,718,3252
$GC,1233,-1.73,-102.7,192.6,-15.0,58,1238,0.00,2.47,0.00,0.000,6,0.000,0.046,2366,2124,3252
$GC,1560,-1.73,-102.7,241.0,-15.3,74,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2124,3252
$GC,1869,-1.73,-102.7,288.8,-15.2,89,1874,0.00,2.53,0.00,0.000,4,0.000,0.059,2366,715,3252
$GC,1912,-1.73,-102.7,295.4,-16.7,91,1916,0.00,2.47,0.00,0.000,6,0.000,0.048,2366,2116,3252
$GC,2239,-1.73,-102.7,349.9,-17.2,107,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2116,3252
$GC,2548,-1.73,-102.7,405.8,-18.5,122,2552,0.00,2.53,0.00,0.000,4,0.000,0.061,2366,717,3252
$GC,2614,-1.73,-102.7,419.0,-19.6,125,2619,0.00,2.47,0.00,0.000,6,0.000,0.049,2366,2116,3252
$GC,2937,-1.73,-102.7,479.7,-18.9,141,2941,0.00,2.53,0.00,0.000,4,0.000,0.061,2366,717,3251
$GC,2987,-1.73,-102.7,489.7,-19.0,143,2991,0.00,2.45,0.00,0.000,6,0.000,0.049,2366,2101,3251
$GC,3303,-1.73,-102.7,545.0,-16.9,158,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2102,3251
$GC,3612,-1.73,-102.7,591.3,-13.9,173,3616,0.00,2.53,0.00,0.000,4,0.000,0.064,2366,713,3251
$GC,3719,-1.73,-102.7,607.1,-14.7,178,3723,0.00,2.47,0.00,0.000,6,0.000,0.050,2366,2111,3250
$GC,4046,-1.73,-102.7,652.8,-13.7,194,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2112,3250
$GC,4354,-1.73,-102.7,693.8,-13.2,209,4359,0.00,2.60,0.00,0.000,4,0.000,0.071,2366,3540,3250
$GC,4411,-1.73,-102.7,701.7,-14.1,211,4418,0.00,2.62,0.00,0.000,6,0.000,0.059,2366,2086,3250
$GC,4727,-1.73,-102.7,741.0,-11.9,227,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2075,3250
$STATE,4889,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4889,begin apogee
$GC,4897,-0.33,0.0,765.0,15.0,235,4993,1.45,0.00,92.62,1.324,6,0.089,0.000,2670,1838,2831
$STATE,4994,end apogee,CONTROL_FINISHED_OK
$STATE,4994,begin climb
$GC,4998,1.79,102.7,770.2,0.0,240,5103,2.08,2.70,93.03,1.293,4,0.056,0.064,3134,3255,2412
$GC,5159,1.72,102.7,762.1,11.6,247,5163,0.00,2.58,0.00,0.000,6,0.000,0.059,3134,1854,2411
$GC,5475,1.62,102.7,732.7,10.0,262,5480,0.17,2.60,0.00,0.000,4,0.107,0.073,3100,438,2411
$GC,5733,1.56,102.7,709.9,9.1,273,5739,0.00,2.42,0.00,0.000,6,0.000,0.053,3100,1791,2411
$GC,6050,1.56,102.7,680.4,9.2,289,6053,0.00,2.53,0.00,0.000,4,0.000,0.073,3100,435,2410
$GC,6308,1.50,102.7,655.6,8.8,300,6313,0.15,2.38,0.00,0.000,6,0.113,0.052,3072,1773,2409
$GC,6625,1.58,122.7,635.8,6.1,315,6650,0.00,2.58,18.70,1.200,4,0.000,0.071,3072,439,2330
$GC,6887,1.58,122.7,613.2,9.5,326,6893,0.00,2.42,0.00,0.000,6,0.000,0.051,3072,1803,2329
$GC,7203,1.66,122.7,584.7,9.3,342,7208,0.15,2.53,0.00,0.000,4,0.060,0.068,3110,436,2329
$GC,7270,1.59,122.7,577.1,11.0,345,7275,0.00,2.40,0.00,0.000,6,0.000,0.051,3110,1785,2329
$GC,7592,1.59,122.7,544.1,10.0,361,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1799,2329
$GC,7901,1.59,122.7,515.1,8.7,376,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1800,2329
$GC,8211,1.60,129.1,489.6,7.4,391,8225,0.00,2.55,6.95,0.951,4,0.000,0.064,3110,436,2303
$GC,8289,1.55,130.8,483.3,7.8,394,8294,0.15,2.38,0.00,0.000,6,0.104,0.048,3082,1779,2303
$GC,8606,1.64,146.9,462.0,6.5,409,8628,0.00,2.75,16.83,1.075,4,0.000,0.060,3082,3250,2231
$GC,8698,1.73,151.8,455.4,7.5,413,8709,0.17,2.67,5.82,0.876,6,0.056,0.056,3127,1778,2212
$GC,9026,1.73,151.8,423.5,10.5,429,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1778,2212
$GC,9335,1.73,151.8,389.6,11.1,444,9339,0.00,2.40,0.00,0.000,4,0.000,0.065,3127,438,2212
$GC,9402,1.66,151.8,381.3,12.5,447,9407,0.12,2.35,0.00,0.000,6,0.106,0.047,3106,1783,2212
$GC,9723,1.69,151.8,347.1,11.0,463,9724,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1797,2212
$GC,10033,1.74,151.8,313.4,11.0,478,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1797,2212
$GC,10342,1.79,151.8,281.0,10.3,493,10344,0.12,0.00,0.00,0.000,6,0.059,0.000,3137,1798,2212
$GC,10651,1.79,151.8,247.2,10.9,508,10652,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1799,2213
$GC,10960,1.79,151.8,209.3,13.4,523,10964,0.00,2.45,0.00,0.000,4,0.000,0.064,3137,434,2213
$GC,11022,1.70,151.8,199.6,16.1,525,11029,0.12,2.35,0.00,0.000,6,0.108,0.046,3115,1776,2213
$GC,11339,1.73,151.8,151.9,15.6,541,11340,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1790,2213
$GC,11648,1.73,151.8,112.6,10.7,556,11652,0.00,2.42,0.00,0.000,4,0.000,0.064,3116,439,2213
$GC,11698,1.70,151.8,107.3,10.0,558,11702,0.00,2.33,0.00,0.000,6,0.000,0.046,3116,1770,2213
$GC,12015,1.75,157.7,82.5,7.5,573,12029,0.00,2.70,6.82,0.727,4,0.000,0.055,3116,3257,2188
$GC,12076,1.81,173.9,78.3,6.5,575,12096,0.10,2.65,14.77,0.817,6,0.062,0.049,3144,1768,2121
$GC,12413,1.81,173.9,44.4,11.5,592,12418,0.00,2.38,0.00,0.000,4,0.000,0.063,3144,434,2121
$GC,12560,1.75,173.9,24.6,12.1,598,12566,0.00,2.30,0.00,0.000,6,0.000,0.044,3144,1756,2121
$STATE,12749,end climb,SURFACE_DEPTH_REACHED
$STATE,12749,begin surface coast
$FINISH,0.6,1.026933
$STATE,12771,end surface coast,CONTROL_FINISHED_OK
$STATE,12771,begin surface
$SM_CCo,12795,65.75,0.795,0,0,1608,300.00
$SM_GC,1.47,0.00,0.00,65.75,0.000,0.000,0.795,416,2147,1608,-10.71,0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1810
$TCM_TEMP,17.50
$XPDR_PINGS,35
$ALTIM_BOTTOM_PING,695.3,78.7
$24V_AH,23.8,23.184
$10V_AH,10.1,10.496
$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,27.225,96.150,255.550,65.750,0.000,37.761,28.162,145.471,15.000,0.000,0.000,36.094,1167.509,9665.595,427.842,1496.191,457.607,33.368,1168.657,0.000,1436.398,0.000,43.020,0.000
$DEVICE_MAMPS,156.468,72.865,1323.842,794.612,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.037,454.945,362.804,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31757,609
$CAP_FILE_SIZE,99716,0
$CFSIZE,254472192,244838400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,190909,162854,6314.688,-1318.518,28,1.6,45,-12.3