version: 66.04
glider: 5
mission: 7
dive: 91
start: 9 12 109 20 49 38
data:
$ID,5
$MISSION,7
$DIVE,91
$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,-101971.98
$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,25
$R_STBD_OVSHOOT,24
$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
$GPS1,204307,6221.550,-1058.141,40,1.3,40,-10.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-63.3
$GPS2,204849,6221.563,-1058.213,11,1.3,16,-10.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.048,0.241
$KALMAN_X,-77234.4,-270.2,-300.2,-44026.6,-1558.1
$KALMAN_Y,28649.2,928.8,-165.5,53829.1,-4455.5
$MHEAD_RNG_PITCHd_Wd,21.9,6547,-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,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,-41.65,0.000,2,0.000,0.000,420,2152,2453
$GC,65,-1.22,-146.6,2.5,-3.0,2,129,11.18,2.60,-43.92,0.000,4,0.158,0.068,2470,721,3430
$GC,320,-1.14,-146.6,32.3,-14.4,13,325,0.12,2.47,0.00,0.000,6,0.107,0.044,2494,2130,3430
$GC,638,-1.09,-146.6,73.3,-13.5,28,642,0.00,2.53,0.00,0.000,4,0.000,0.064,2494,3537,3431
$GC,711,-1.05,-146.6,83.2,-13.0,31,716,0.10,2.45,0.00,0.000,6,0.097,0.044,2516,2152,3431
$GC,1027,-1.05,-146.6,114.8,-8.6,46,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2141,3431
$GC,1338,-1.05,-146.6,138.6,-7.7,61,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2141,3431
$GC,1645,-1.05,-146.6,167.9,-10.6,76,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2140,3432
$GC,1955,-1.05,-146.6,201.2,-10.7,91,1959,0.00,2.55,0.00,0.000,4,0.000,0.062,2516,714,3432
$GC,2028,-1.09,-146.6,208.9,-10.2,94,2032,0.00,2.55,0.00,0.000,6,0.000,0.048,2516,2160,3432
$GC,2343,-1.09,-146.6,240.9,-9.9,109,2348,0.00,2.60,0.00,0.000,4,0.000,0.062,2516,718,3432
$GC,2389,-1.13,-146.6,245.6,-10.4,111,2393,0.00,2.53,0.00,0.000,6,0.000,0.049,2516,2146,3432
$GC,2710,-1.13,-146.6,277.5,-9.8,127,2714,0.00,2.60,0.00,0.000,4,0.000,0.064,2517,718,3432
$GC,2743,-1.17,-146.6,280.9,-10.1,128,2750,0.12,2.50,0.00,0.000,6,0.057,0.050,2481,2130,3432
$GC,3059,-1.12,-146.6,316.6,-11.3,144,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2130,3432
$GC,3369,-1.08,-146.6,351.0,-10.9,159,3374,0.15,2.58,0.00,0.000,4,0.087,0.065,2512,720,3431
$GC,3432,-1.11,-146.6,357.3,-10.3,162,3436,0.00,2.50,0.00,0.000,6,0.000,0.050,2512,2135,3431
$GC,3759,-1.11,-146.6,386.8,-9.1,178,3763,0.00,2.55,0.00,0.000,4,0.000,0.064,2512,721,3430
$GC,3804,-1.15,-146.6,391.2,-10.4,180,3809,0.00,2.45,0.00,0.000,6,0.000,0.049,2512,2116,3430
$GC,4132,-1.15,-146.6,420.4,-8.8,196,4137,0.00,2.53,0.00,0.000,4,0.000,0.063,2512,715,3430
$GC,4200,-1.19,-146.6,426.5,-9.0,199,4205,0.12,2.47,0.00,0.000,6,0.057,0.050,2475,2112,3430
$GC,4522,-1.14,-146.6,461.8,-11.4,215,4526,0.00,2.53,0.00,0.000,4,0.000,0.064,2475,720,3430
$GC,4561,-1.14,-146.6,466.7,-12.9,217,4565,0.00,2.45,0.00,0.000,6,0.000,0.050,2475,2107,3430
$GC,4888,-1.09,-146.6,507.9,-12.9,233,4893,0.15,2.53,0.00,0.000,4,0.091,0.065,2507,720,3429
$GC,4916,-1.09,-146.6,511.4,-12.1,234,4920,0.00,2.42,0.00,0.000,6,0.000,0.051,2507,2088,3429
$GC,5232,-1.09,-146.6,546.1,-10.6,249,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2089,3429
$GC,5541,-1.09,-146.6,578.8,-10.4,264,5545,0.00,2.50,0.00,0.000,4,0.000,0.065,2507,717,3429
$GC,5568,-1.09,-146.6,581.7,-10.2,265,5572,0.00,2.42,0.00,0.000,6,0.000,0.051,2507,2089,3429
$GC,5890,-1.09,-146.6,612.3,-9.2,281,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2090,3429
$GC,6199,-1.09,-146.6,635.7,-7.9,296,6203,0.00,2.47,0.00,0.000,4,0.000,0.066,2507,720,3429
$GC,6312,-1.13,-146.6,648.9,-12.7,301,6316,0.00,2.42,0.00,0.000,6,0.000,0.051,2506,2087,3429
$GC,6639,-1.13,-146.6,686.4,-11.0,317,6644,0.00,2.50,0.00,0.000,4,0.000,0.069,2507,720,3428
$GC,6680,-1.17,-146.6,690.6,-10.4,319,6684,0.00,2.42,0.00,0.000,6,0.000,0.052,2507,2085,3428
$GC,7007,-1.17,-146.6,716.7,-7.1,335,7011,0.00,2.50,0.00,0.000,4,0.000,0.070,2507,720,3428
$GC,7070,-1.22,-146.6,721.5,-8.6,338,7075,0.12,2.42,0.00,0.000,6,0.059,0.054,2471,2084,3428
$GC,7399,-1.18,-146.6,755.6,-10.6,354,7403,0.00,2.53,0.00,0.000,4,0.000,0.075,2470,720,3427
$GC,7483,-1.18,-146.6,764.4,-9.9,357,7489,0.00,2.40,0.00,0.000,6,0.000,0.056,2470,2058,3427
$GC,7799,-1.14,-146.6,798.2,-9.5,373,7804,0.12,2.75,0.00,0.000,4,0.103,0.083,2495,3538,3426
$GC,7872,-1.14,-146.6,805.1,-8.7,376,7876,0.00,2.70,0.00,0.000,6,0.000,0.070,2495,2075,3426
$STATE,7937,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7937,begin apogee
$GC,7945,-0.33,0.0,811.7,9.9,379,8081,0.82,0.00,131.77,1.364,6,0.081,0.000,2672,1851,2831
$STATE,8082,end apogee,CONTROL_FINISHED_OK
$STATE,8082,begin climb
$GC,8085,1.22,146.6,816.5,0.0,386,8229,1.55,2.72,134.43,1.326,4,0.065,0.074,3008,3259,2233
$GC,8289,1.09,146.6,805.0,14.7,395,8295,0.12,2.67,0.00,0.000,6,0.102,0.077,2985,1856,2232
$GC,8606,1.03,146.6,782.2,8.2,410,8610,0.00,2.65,0.00,0.000,4,0.000,0.073,2985,3264,2232
$GC,8673,0.99,153.3,776.6,7.8,413,8690,0.12,2.65,7.65,1.090,6,0.110,0.069,2964,1847,2206
$GC,8999,0.99,153.3,752.3,8.3,429,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,1847,2204
$GC,9309,1.01,166.5,727.6,7.5,444,9327,0.00,0.00,12.80,1.226,6,0.000,0.000,2963,1847,2152
$GC,9638,1.05,191.0,705.2,7.1,460,9668,0.00,2.75,22.62,1.290,4,0.000,0.071,2963,3262,2052
$GC,9731,1.08,191.0,697.3,8.7,464,9735,0.00,2.65,0.00,0.000,6,0.000,0.067,2963,1844,2052
$GC,10052,1.14,204.3,672.4,7.5,480,10075,0.15,2.70,13.27,1.226,4,0.059,0.081,3000,445,1998
$GC,10126,1.04,204.3,665.7,9.5,483,10131,0.15,2.55,0.00,0.000,6,0.096,0.058,2972,1850,1998
$GC,10448,1.12,255.8,643.7,6.1,499,10496,0.00,0.00,45.72,1.292,6,0.000,0.000,2973,1864,1788
$GC,10798,1.16,255.8,612.4,9.9,516,10803,0.12,2.65,0.00,0.000,4,0.061,0.076,3003,436,1788
$GC,10849,1.09,255.8,606.1,12.8,518,10853,0.00,2.53,0.00,0.000,6,0.000,0.054,3003,1835,1788
$GC,11165,1.09,255.8,569.8,11.6,533,11166,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1850,1788
$GC,11474,1.09,255.8,537.8,9.9,548,11476,0.12,0.00,0.00,0.000,6,0.094,0.000,2979,1850,1788
$GC,11783,1.12,274.0,513.4,7.3,563,11803,0.00,0.00,17.30,1.127,6,0.000,0.000,2979,1850,1714
$GC,12113,1.16,274.0,486.1,8.9,579,12114,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1850,1714
$GC,12422,1.19,274.0,459.5,8.8,594,12424,0.12,0.00,0.00,0.000,6,0.056,0.000,3013,1850,1714
$GC,12732,1.16,274.0,425.8,11.2,609,12733,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1850,1714
$GC,13040,1.16,274.0,390.8,11.6,624,13041,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1850,1715
$GC,13349,1.16,274.0,354.7,11.9,639,13351,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1850,1715
$GC,13659,1.16,274.0,318.8,11.2,654,13660,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1850,1716
$GC,13968,1.16,274.0,286.1,10.2,669,13972,0.00,2.53,0.00,0.000,4,0.000,0.061,3013,3262,1716
$GC,14001,1.16,274.0,282.5,10.4,670,14007,0.00,2.60,0.00,0.000,6,0.000,0.054,3013,1813,1716
$GC,14317,1.16,274.0,250.6,10.1,686,14322,0.00,2.62,0.00,0.000,4,0.000,0.060,3013,3259,1716
$GC,14367,1.16,274.0,245.3,10.4,688,14372,0.00,2.55,0.00,0.000,6,0.000,0.052,3013,1833,1716
$GC,14683,1.16,274.0,214.8,9.4,703,14688,0.00,2.58,0.00,0.000,4,0.000,0.060,3013,3260,1717
$GC,14723,1.16,274.0,210.9,9.0,705,14728,0.00,2.53,0.00,0.000,6,0.000,0.052,3013,1845,1717
$GC,15051,1.16,274.0,179.1,9.8,721,15056,0.00,2.58,0.00,0.000,4,0.000,0.059,3013,3266,1717
$GC,15079,1.16,274.0,176.2,10.3,722,15083,0.00,2.50,0.00,0.000,6,0.000,0.051,3013,1861,1717
$GC,15396,1.16,274.0,141.7,11.9,737,15397,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1861,1717
$GC,15704,1.16,274.0,105.7,11.1,752,15709,0.00,2.53,0.00,0.000,4,0.000,0.058,3013,3261,1717
$GC,15755,1.16,274.0,100.0,10.8,754,15759,0.00,2.47,0.00,0.000,6,0.000,0.050,3013,1860,1718
$GC,16071,1.16,274.0,69.9,9.2,769,16072,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1859,1718
$GC,16380,1.16,274.0,39.2,10.8,784,16381,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1860,1718
$GC,16689,1.16,274.0,8.8,10.4,799,16694,0.00,2.53,0.00,0.000,4,0.000,0.057,3013,3263,1718
$GC,16734,1.16,274.0,5.0,10.6,801,16739,0.00,2.47,0.00,0.000,6,0.000,0.047,3013,1862,1718
$STATE,16764,end climb,SURFACE_DEPTH_REACHED
$STATE,16764,begin surface coast
$FINISH,1.0,1.026844
$STATE,16786,end surface coast,CONTROL_FINISHED_OK
$STATE,16786,begin surface
$SM_CCo,16810,15.73,0.749,0,0,1607,300.00
$SM_GC,2.04,0.00,0.00,15.73,0.000,0.000,0.749,420,2169,1607,-10.70,1.10,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1825
$TCM_TEMP,17.80
$XPDR_PINGS,40
$ALTIM_BOTTOM_PING,746.9,74.1
$24V_AH,23.8,17.831
$10V_AH,10.1,7.938
$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,26.625,138.325,385.575,15.725,0.000,37.763,37.191,145.105,16.750,0.000,0.000,16.297,1489.047,12876.521,543.730,1738.008,520.230,33.360,1431.238,0.000,1694.960,0.000,46.177,0.000
$DEVICE_MAMPS,158.002,82.836,1364.493,749.359,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,551.183,603.978,466.285,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41067,804
$CAP_FILE_SIZE,125659,0
$CFSIZE,254472192,246800384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130909,013144,6224.133,-1100.599,40,2.3,59,-10.7