version: 66.04
glider: 5
mission: 7
dive: 92
start: 9 13 109 1 38 48
data:
$ID,5
$MISSION,7
$DIVE,92
$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,-102006.22
$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,45
$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
$GPS1,013144,6224.133,-1100.599,40,2.3,59,-10.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-58.7
$GPS2,013758,6224.150,-1100.484,13,3.0,32,-10.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.215,0.119
$KALMAN_X,-80827.0,-298.3,-13.6,-42691.8,-3856.6
$KALMAN_Y,27283.2,546.3,704.3,59484.9,-6289.4
$MHEAD_RNG_PITCHd_Wd,309.7,35486,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.70,0.000,2,0.000,0.000,419,2160,2527
$GC,63,-1.22,-146.6,2.5,-4.1,2,115,11.18,2.60,-35.55,0.000,4,0.157,0.067,2469,719,3427
$GC,138,-1.11,-146.6,7.6,-11.9,5,145,0.17,2.45,0.00,0.000,6,0.100,0.044,2505,2115,3428
$GC,457,-1.06,-146.6,44.9,-11.1,21,461,0.00,2.53,0.00,0.000,4,0.000,0.056,2505,712,3428
$GC,484,-1.06,-146.6,48.7,-12.3,22,489,0.00,2.50,0.00,0.000,6,0.000,0.044,2505,2129,3428
$GC,801,-1.06,-146.6,85.7,-11.1,37,805,0.00,2.55,0.00,0.000,4,0.000,0.057,2505,714,3428
$GC,868,-1.06,-146.6,92.9,-10.2,40,872,0.00,2.45,0.00,0.000,6,0.000,0.044,2505,2109,3429
$GC,1189,-1.06,-146.6,122.3,-9.0,56,1193,0.00,2.50,0.00,0.000,4,0.000,0.058,2506,718,3430
$GC,1239,-1.06,-146.6,127.2,-9.7,58,1243,0.00,2.40,0.00,0.000,6,0.000,0.044,2506,2085,3430
$GC,1555,-1.06,-146.6,158.9,-10.6,73,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2086,3430
$GC,1864,-1.06,-146.6,191.7,-10.4,88,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2086,3430
$GC,2173,-1.06,-146.6,223.5,-10.0,103,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2085,3430
$GC,2483,-1.06,-146.6,253.2,-9.8,118,2487,0.00,2.47,0.00,0.000,4,0.000,0.061,2506,717,3430
$GC,2510,-1.06,-146.6,256.1,-10.1,119,2514,0.00,2.40,0.00,0.000,6,0.000,0.048,2505,2074,3429
$GC,2831,-1.06,-146.6,288.2,-10.1,135,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2074,3430
$GC,3141,-1.06,-146.6,321.7,-10.8,150,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2074,3429
$GC,3450,-1.06,-146.6,354.9,-10.7,165,3454,0.00,2.47,0.00,0.000,4,0.000,0.063,2505,712,3429
$GC,3477,-1.06,-146.6,358.0,-11.5,166,3481,0.00,2.42,0.00,0.000,6,0.000,0.048,2506,2081,3428
$GC,3793,-1.06,-146.6,391.0,-10.4,181,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2081,3428
$GC,4105,-1.06,-146.6,420.4,-8.8,196,4109,0.00,2.47,0.00,0.000,4,0.000,0.064,2505,719,3428
$GC,4144,-1.06,-146.6,424.2,-9.5,198,4149,0.00,2.40,0.00,0.000,6,0.000,0.050,2505,2074,3428
$GC,4471,-1.06,-146.6,453.9,-9.5,214,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2075,3428
$GC,4781,-1.06,-146.6,485.0,-10.1,229,4785,0.00,2.47,0.00,0.000,4,0.000,0.064,2506,714,3428
$GC,4808,-1.06,-146.6,487.8,-10.1,230,4812,0.00,2.40,0.00,0.000,6,0.000,0.051,2506,2066,3428
$GC,5130,-1.06,-146.6,519.7,-10.0,246,5131,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2066,3428
$GC,5439,-1.06,-146.6,551.0,-10.2,261,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2066,3428
$GC,5748,-1.06,-146.6,582.7,-10.8,276,5752,0.00,2.45,0.00,0.000,4,0.000,0.064,2505,719,3428
$GC,5798,-1.06,-146.6,588.5,-11.2,278,5802,0.00,2.38,0.00,0.000,6,0.000,0.051,2505,2060,3427
$GC,6114,-1.06,-146.6,620.7,-9.9,293,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2060,3427
$GC,6423,-1.06,-146.6,647.7,-8.6,308,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2060,3427
$GC,6732,-1.06,-146.6,677.3,-9.9,323,6736,0.00,2.45,0.00,0.000,4,0.000,0.067,2505,715,3427
$GC,6823,-1.11,-146.6,686.8,-10.6,327,6827,0.00,2.35,0.00,0.000,6,0.000,0.052,2506,2034,3427
$GC,7155,-1.11,-146.6,718.8,-9.8,343,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2035,3427
$GC,7465,-1.11,-146.6,748.7,-10.1,358,7470,0.00,2.75,0.00,0.000,4,0.000,0.079,2505,3530,3426
$GC,7509,-1.11,-146.6,753.3,-10.1,360,7514,0.00,2.70,0.00,0.000,6,0.000,0.066,2505,2053,3426
$GC,7831,-1.14,-146.6,781.0,-8.4,376,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2040,3425
$STATE,7992,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7992,begin apogee
$GC,8000,-0.33,0.0,796.4,9.1,384,8135,0.77,0.00,130.07,1.370,6,0.083,0.000,2670,1841,2831
$STATE,8136,end apogee,CONTROL_FINISHED_OK
$STATE,8136,begin climb
$GC,8139,1.22,146.6,801.8,0.0,391,8279,1.58,2.75,131.62,1.326,4,0.063,0.070,3009,3255,2233
$GC,8305,1.17,191.6,794.6,6.4,399,8353,0.00,2.65,41.60,1.278,6,0.000,0.071,3010,1853,2049
$GC,8677,1.09,191.6,756.3,10.6,417,8682,0.15,2.65,0.00,0.000,4,0.103,0.084,2982,436,2047
$GC,8728,1.03,191.6,750.6,11.2,419,8732,0.00,2.55,0.00,0.000,6,0.000,0.061,2982,1832,2047
$GC,9044,1.03,191.6,723.8,8.6,434,9048,0.00,2.62,0.00,0.000,4,0.000,0.074,2982,3257,2046
$GC,9116,1.03,191.6,716.7,9.9,437,9121,0.00,2.65,0.00,0.000,6,0.000,0.071,2982,1839,2046
$GC,9432,1.07,222.6,690.9,6.9,452,9467,0.00,2.72,27.55,1.276,4,0.000,0.082,2982,436,1923
$GC,9530,1.03,222.6,682.5,10.0,456,9534,0.00,2.58,0.00,0.000,6,0.000,0.060,2981,1845,1923
$GC,9846,1.03,222.6,654.0,9.2,471,9850,0.00,2.60,0.00,0.000,4,0.000,0.072,2982,3261,1922
$GC,9908,1.03,222.6,648.2,9.3,474,9913,0.00,2.65,0.00,0.000,6,0.000,0.067,2981,1832,1922
$GC,10235,1.03,222.6,620.5,8.5,490,10240,0.00,2.65,0.00,0.000,4,0.000,0.067,2982,3259,1921
$GC,10321,1.05,233.8,613.6,7.6,494,10341,0.00,2.58,11.43,1.159,6,0.000,0.063,2982,1857,1877
$GC,10651,1.05,233.8,586.7,8.2,510,10652,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1857,1877
$GC,10960,1.06,238.4,561.6,7.8,525,10971,0.00,2.60,5.85,0.958,4,0.000,0.064,2982,3255,1857
$GC,11057,1.11,246.4,554.0,7.7,529,11071,0.00,2.50,8.43,1.054,6,0.000,0.058,2982,1883,1825
$GC,11400,1.11,249.6,527.3,7.9,546,11406,0.00,0.00,4.78,0.851,6,0.000,0.000,2982,1883,1813
$GC,11709,1.11,249.6,500.2,9.2,561,11713,0.00,2.53,0.00,0.000,4,0.000,0.062,2982,3258,1813
$GC,11761,1.16,249.6,495.4,9.6,563,11765,0.00,2.47,0.00,0.000,6,0.000,0.057,2982,1891,1813
$GC,12082,1.16,249.6,468.4,8.1,579,12083,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1891,1813
$GC,12391,1.16,249.6,442.2,8.5,594,12392,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1891,1813
$GC,12701,1.16,250.9,416.7,8.0,609,12705,0.00,2.50,0.00,0.000,4,0.000,0.062,2982,3266,1813
$GC,12735,1.22,251.0,413.8,8.0,610,12740,0.12,2.45,0.00,0.000,6,0.054,0.054,3018,1905,1814
$GC,13051,1.18,251.0,384.8,9.2,625,13056,0.00,2.62,0.00,0.000,4,0.000,0.069,3017,442,1813
$GC,13091,1.10,251.0,380.8,10.0,627,13096,0.17,2.62,0.00,0.000,6,0.086,0.049,2982,1919,1814
$GC,13419,1.16,262.1,355.6,7.6,643,13437,0.00,0.00,12.55,0.971,6,0.000,0.000,2982,1935,1762
$GC,13748,1.20,262.1,329.2,8.3,659,13753,0.10,2.72,0.00,0.000,4,0.060,0.067,3012,434,1762
$GC,13798,1.15,262.1,323.9,10.3,661,13803,0.00,2.62,0.00,0.000,6,0.000,0.048,3012,1911,1762
$GC,14115,1.15,262.1,293.8,9.4,676,14116,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1915,1762
$GC,14424,1.15,262.1,264.7,9.4,691,14429,0.00,2.72,0.00,0.000,4,0.000,0.069,3012,433,1762
$GC,14464,1.11,262.1,260.5,10.4,693,14469,0.15,2.60,0.00,0.000,6,0.089,0.049,2981,1897,1763
$GC,14792,1.19,282.6,235.5,7.3,709,14817,0.10,2.50,18.23,0.927,4,0.057,0.059,3012,3250,1678
$GC,14840,1.19,282.6,231.3,8.9,711,14844,0.00,2.47,0.00,0.000,6,0.000,0.052,3012,1881,1677
$GC,15161,1.19,282.6,203.1,8.7,727,15162,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1881,1677
$GC,15470,1.19,282.6,174.3,9.3,742,15471,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1881,1678
$GC,15780,1.19,282.6,145.9,9.1,757,15784,0.00,2.50,0.00,0.000,4,0.000,0.059,3012,3262,1678
$GC,15843,1.22,282.6,140.2,8.9,760,15847,0.00,2.45,0.00,0.000,6,0.000,0.050,3012,1884,1678
$GC,16170,1.22,282.6,108.9,9.9,776,16171,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1884,1678
$GC,16479,1.22,282.6,79.3,9.1,791,16483,0.00,2.47,0.00,0.000,4,0.000,0.058,3012,3255,1678
$GC,16513,1.26,282.6,76.1,8.9,792,16519,0.00,2.40,0.00,0.000,6,0.000,0.049,3012,1898,1679
$GC,16830,1.26,282.6,46.0,9.8,808,16834,0.00,2.45,0.00,0.000,4,0.000,0.058,3012,3256,1679
$GC,16871,1.30,282.6,41.8,9.6,810,16875,0.00,2.38,0.00,0.000,6,0.000,0.047,3012,1914,1679
$GC,17199,1.30,282.6,9.3,8.8,826,17200,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1914,1679
$STATE,17278,end climb,SURFACE_DEPTH_REACHED
$STATE,17278,begin surface coast
$FINISH,1.0,1.026854
$STATE,17300,end surface coast,CONTROL_FINISHED_OK
$STATE,17300,begin surface
$SM_CCo,17324,9.48,0.708,0,0,1607,300.00
$SM_GC,1.69,0.00,0.00,9.48,0.000,0.000,0.708,424,2156,1607,-10.68,0.79,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1828
$TCM_TEMP,16.80
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,746.7,59.3
$24V_AH,23.8,17.990
$10V_AH,10.1,8.017
$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,25.650,137.600,392.100,9.475,0.000,37.785,30.632,159.178,17.250,0.000,0.000,33.601,1519.527,13370.090,517.473,1764.027,537.229,33.360,1412.764,0.000,1706.618,0.000,48.330,0.000
$DEVICE_MAMPS,157.235,83.603,1369.862,707.941,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,569.846,621.277,485.216,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41156,831
$CAP_FILE_SIZE,126113,0
$CFSIZE,254472192,246743040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130909,062906,6224.258,-1107.209,44,1.3,44,-10.7