version: 66.04
glider: 5
mission: 7
dive: 126
start: 9 19 109 16 35 9
data:
$ID,5
$MISSION,7
$DIVE,126
$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,-102597.52
$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,33
$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
$GPS1,162854,6314.688,-1318.518,28,1.6,45,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-60.4
$GPS2,163420,6314.667,-1318.475,13,1.6,13,-12.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,JW
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.072,0.231
$KALMAN_X,-96593.4,499.0,-923.6,-148313.8,1998.8
$KALMAN_Y,-14516.0,723.6,-286.5,195683.9,-3007.1
$MHEAD_RNG_PITCHd_Wd,355.0,37764,-15.1,-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,-1.23,-142.3,0.0,0.0,0,79,0.00,0.00,-61.38,0.000,2,0.000,0.000,415,2146,2917
$GC,82,-1.24,-146.6,3.1,-4.4,3,115,11.48,2.58,-15.07,0.000,4,0.165,0.067,2466,714,3429
$GC,257,-1.17,-146.6,28.3,-12.2,11,262,0.12,2.50,0.00,0.000,6,0.111,0.045,2489,2130,3430
$GC,585,-1.13,-146.6,69.4,-13.8,27,589,0.00,2.55,0.00,0.000,4,0.000,0.057,2489,710,3430
$GC,652,-1.13,-146.6,80.0,-15.9,30,656,0.00,2.50,0.00,0.000,6,0.000,0.045,2489,2127,3430
$GC,973,-1.13,-146.6,127.1,-13.2,46,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2127,3431
$GC,1283,-1.13,-146.6,164.7,-10.8,61,1287,0.00,2.55,0.00,0.000,4,0.000,0.059,2489,715,3431
$GC,1355,-1.13,-146.6,172.5,-10.5,64,1359,0.00,2.50,0.00,0.000,6,0.000,0.048,2489,2137,3431
$GC,1676,-1.13,-146.6,206.7,-11.0,80,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2139,3431
$GC,1985,-1.13,-146.6,241.4,-11.2,95,1989,0.00,2.58,0.00,0.000,4,0.000,0.059,2489,707,3431
$GC,2070,-1.13,-146.6,250.8,-11.1,99,2074,0.00,2.50,0.00,0.000,6,0.000,0.048,2489,2122,3431
$GC,2396,-1.13,-146.6,284.0,-10.1,115,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2123,3431
$GC,2705,-1.13,-146.6,314.5,-9.7,130,2710,0.00,2.55,0.00,0.000,4,0.000,0.060,2489,707,3431
$GC,2768,-1.13,-146.6,320.9,-10.0,133,2772,0.00,2.50,0.00,0.000,6,0.000,0.049,2490,2122,3431
$GC,3094,-1.13,-146.6,353.7,-9.8,149,3099,0.00,2.53,0.00,0.000,4,0.000,0.061,2490,715,3431
$GC,3136,-1.13,-146.6,357.8,-10.3,151,3141,0.00,2.47,0.00,0.000,6,0.000,0.050,2490,2113,3431
$GC,3464,-1.13,-146.6,392.7,-11.0,167,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2115,3430
$GC,3773,-1.13,-146.6,427.2,-11.0,182,3777,0.00,2.53,0.00,0.000,4,0.000,0.061,2490,715,3430
$GC,3845,-1.13,-146.6,435.1,-10.8,185,3849,0.00,2.45,0.00,0.000,6,0.000,0.051,2490,2107,3430
$GC,4167,-1.13,-146.6,467.8,-9.8,201,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2107,3430
$GC,4477,-1.13,-146.6,497.7,-9.7,216,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2107,3430
$GC,4786,-1.13,-146.6,528.3,-9.8,231,4790,0.00,2.53,0.00,0.000,4,0.000,0.064,2489,715,3430
$GC,4841,-1.13,-146.6,534.1,-10.1,233,4847,0.00,2.45,0.00,0.000,6,0.000,0.051,2490,2099,3430
$GC,5157,-1.13,-146.6,565.9,-9.9,249,5161,0.00,2.50,0.00,0.000,4,0.000,0.062,2490,714,3429
$GC,5198,-1.13,-146.6,570.3,-10.8,251,5202,0.00,2.45,0.00,0.000,6,0.000,0.051,2490,2098,3429
$GC,5525,-1.13,-146.6,605.3,-10.8,267,5529,0.00,2.50,0.00,0.000,4,0.000,0.063,2490,716,3429
$GC,5557,-1.13,-146.6,609.1,-10.9,268,5564,0.00,2.42,0.00,0.000,6,0.000,0.051,2490,2084,3429
$GC,5874,-1.13,-146.6,642.2,-10.6,284,5875,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2084,3429
$GC,6183,-1.13,-146.6,674.5,-10.1,299,6187,0.00,2.50,0.00,0.000,4,0.000,0.066,2490,708,3429
$GC,6227,-1.13,-146.6,679.0,-9.7,301,6231,0.00,2.42,0.00,0.000,6,0.000,0.051,2490,2075,3428
$GC,6548,-1.13,-146.6,708.5,-9.3,317,6549,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2076,3428
$GC,6857,-1.13,-146.6,736.2,-8.7,332,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2075,3429
$GC,7167,-1.13,-146.6,764.4,-9.6,347,7171,0.00,2.50,0.00,0.000,4,0.000,0.069,2489,710,3428
$GC,7211,-1.16,-146.6,769.0,-10.6,349,7216,0.00,2.45,0.00,0.000,6,0.000,0.054,2489,2086,3428
$GC,7533,-1.16,-146.6,800.8,-10.0,365,7537,0.00,2.50,0.00,0.000,4,0.000,0.070,2490,719,3428
$GC,7573,-1.21,-146.6,804.8,-10.7,367,7577,0.00,2.40,0.00,0.000,6,0.000,0.055,2489,2056,3427
$STATE,7670,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7670,begin apogee
$GC,7678,-0.33,0.0,813.5,8.4,372,7814,0.85,0.00,133.20,1.361,6,0.084,0.000,2670,1836,2831
$STATE,7815,end apogee,CONTROL_FINISHED_OK
$STATE,7815,begin climb
$GC,7818,1.24,146.6,818.0,0.0,379,7959,1.60,0.00,135.52,1.320,6,0.058,0.000,3016,1836,2233
$GC,8265,1.14,146.6,788.4,8.5,401,8270,0.12,2.55,0.00,0.000,4,0.099,0.076,2995,460,2233
$GC,8361,1.02,146.6,780.1,8.4,405,8366,0.12,2.47,0.00,0.000,6,0.101,0.056,2970,1834,2233
$GC,8677,1.16,233.4,764.1,4.7,420,8765,0.12,2.70,79.60,1.306,4,0.059,0.067,3002,3255,1879
$GC,8838,1.16,233.4,752.7,8.5,427,8842,0.00,2.60,0.00,0.000,6,0.000,0.065,3002,1859,1879
$GC,9154,1.13,233.4,728.3,8.1,442,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1860,1879
$GC,9463,1.13,233.4,700.4,9.6,457,9467,0.00,2.60,0.00,0.000,4,0.000,0.066,3002,3261,1878
$GC,9548,1.13,233.4,692.0,10.4,461,9552,0.00,2.58,0.00,0.000,6,0.000,0.061,3002,1849,1879
$GC,9875,1.13,233.4,659.8,9.7,477,9876,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1849,1878
$GC,10184,1.13,233.4,631.7,9.1,492,10188,0.00,2.60,0.00,0.000,4,0.000,0.063,3002,3264,1878
$GC,10261,1.13,233.4,624.4,9.7,495,10268,0.00,2.55,0.00,0.000,6,0.000,0.058,3002,1859,1877
$GC,10578,1.13,233.4,594.5,9.8,511,10579,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1858,1878
$GC,10887,1.13,233.4,566.3,8.9,526,10891,0.00,2.55,0.00,0.000,4,0.000,0.061,3002,3262,1878
$GC,10926,1.13,233.4,562.6,9.3,528,10930,0.00,2.53,0.00,0.000,6,0.000,0.058,3002,1860,1877
$GC,11259,1.13,233.4,531.4,9.6,544,11264,0.00,2.55,0.00,0.000,4,0.000,0.062,3002,3257,1878
$GC,11304,1.13,233.4,526.6,10.5,546,11308,0.00,2.50,0.00,0.000,6,0.000,0.056,3002,1871,1878
$GC,11625,1.13,233.4,492.7,11.0,562,11626,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1871,1878
$GC,11934,1.13,233.4,457.0,11.6,577,11938,0.00,2.53,0.00,0.000,4,0.000,0.061,3002,3258,1878
$GC,12001,1.13,233.4,449.3,11.0,580,12005,0.00,2.47,0.00,0.000,6,0.000,0.054,3002,1881,1878
$GC,12322,1.13,233.4,414.8,10.4,596,12323,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1881,1878
$GC,12631,1.13,233.4,384.6,9.2,611,12635,0.00,2.50,0.00,0.000,4,0.000,0.061,3002,3264,1878
$GC,12671,1.13,233.4,381.0,8.5,613,12675,0.00,2.45,0.00,0.000,6,0.000,0.054,3002,1891,1879
$GC,12997,1.13,233.4,352.4,8.8,629,12999,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1890,1879
$GC,13306,1.13,233.4,323.6,9.8,644,13310,0.00,2.47,0.00,0.000,4,0.000,0.060,3002,3255,1879
$GC,13347,1.13,233.4,319.5,10.1,646,13351,0.00,2.42,0.00,0.000,6,0.000,0.052,3002,1898,1879
$GC,13674,1.13,233.4,286.4,9.7,662,13675,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1898,1879
$GC,13983,1.25,305.9,264.6,5.3,677,14047,0.00,0.00,62.05,0.979,6,0.000,0.000,3002,1897,1584
$GC,14369,1.25,305.9,235.4,10.7,696,14373,0.00,2.47,0.00,0.000,4,0.000,0.060,3002,3255,1584
$GC,14414,1.31,305.9,230.0,12.0,698,14418,0.12,2.42,0.00,0.000,6,0.052,0.051,3037,1903,1584
$GC,14735,1.27,305.9,185.4,13.5,714,14736,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1903,1584
$GC,15044,1.22,305.9,149.2,11.3,729,15049,0.15,2.62,0.00,0.000,4,0.089,0.064,3008,442,1584
$GC,15085,1.22,305.9,145.1,9.6,731,15089,0.00,2.60,0.00,0.000,6,0.000,0.048,3008,1911,1584
$GC,15412,1.22,305.9,107.7,12.1,747,15413,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1927,1584
$GC,15722,1.35,362.7,81.5,5.9,762,15777,0.12,2.45,47.67,0.850,4,0.053,0.056,3044,3261,1351
$GC,15834,1.35,362.7,69.5,12.2,767,15838,0.00,2.42,0.00,0.000,6,0.000,0.050,3044,1911,1351
$GC,16156,1.31,362.7,27.3,13.0,783,16160,0.00,2.65,0.00,0.000,4,0.000,0.062,3044,433,1352
$GC,16200,1.31,362.7,21.0,13.1,785,16204,0.00,2.62,0.00,0.000,6,0.000,0.046,3044,1917,1352
$STATE,16333,end climb,SURFACE_DEPTH_REACHED
$STATE,16333,begin surface coast
$FINISH,0.5,1.025394
$STATE,16355,end surface coast,CONTROL_FINISHED_OK
$STATE,16355,begin surface
$SM_CCo,16438,0.00,0.000,0,0,1353,362.55
$SM_GC,1.28,11.38,0.00,0.00,0.035,0.000,0.000,418,2161,1353,-10.60,0.88,362.55
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1814
$TCM_TEMP,17.60
$XPDR_PINGS,43
$ALTIM_BOTTOM_PING,745.4,77.3
$24V_AH,23.8,23.357
$10V_AH,10.1,10.571
$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,26.200,131.525,458.050,0.000,0.000,39.017,48.760,126.359,17.500,0.000,0.000,13.430,1447.787,12540.704,554.266,1720.532,500.501,33.362,1440.781,0.000,1680.450,0.000,46.190,0.000
$DEVICE_MAMPS,164.905,75.933,1361.425,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,542.856,593.868,436.735,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41073,793
$CAP_FILE_SIZE,118625,0
$CFSIZE,254472192,244760576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,190909,211024,6318.505,-1319.881,40,1.0,40,-12.3