version: 66.04
glider: 5
mission: 7
dive: 93
start: 9 13 109 6 35 29
data:
$ID,5
$MISSION,7
$DIVE,93
$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,-102021.67
$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,48
$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
$GPS1,062906,6224.258,-1107.209,44,1.3,44,-10.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-64.3
$GPS2,063438,6224.203,-1107.255,14,1.3,14,-10.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.085,0.230
$KALMAN_X,-82360.9,367.2,473.6,-48298.1,-4557.4
$KALMAN_Y,26219.3,-94.9,-117.1,62108.9,-3203.3
$MHEAD_RNG_PITCHd_Wd,350.3,29989,-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,-41.58,0.000,2,0.000,0.000,424,2150,2512
$GC,63,-1.22,-146.6,2.4,-2.9,2,114,11.23,2.62,-33.90,0.000,4,0.160,0.070,2471,717,3430
$GC,272,-1.17,-146.6,28.0,-14.5,11,277,0.00,2.47,0.00,0.000,6,0.000,0.045,2471,2120,3430
$GC,589,-1.10,-146.6,71.0,-13.4,26,594,0.15,2.55,0.00,0.000,4,0.104,0.062,2502,3536,3430
$GC,676,-1.10,-146.6,81.3,-12.0,30,680,0.00,2.47,0.00,0.000,6,0.000,0.044,2503,2131,3430
$GC,1003,-1.10,-146.6,123.1,-13.1,46,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2117,3431
$GC,1312,-1.10,-146.6,161.6,-12.1,61,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2116,3431
$GC,1622,-1.10,-146.6,197.6,-11.0,76,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2115,3431
$GC,1931,-1.10,-146.6,230.2,-10.7,91,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2116,3431
$GC,2240,-1.10,-146.6,260.4,-9.6,106,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2116,3431
$GC,2549,-1.10,-146.6,289.7,-9.5,121,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2116,3431
$GC,2858,-1.10,-146.6,319.6,-9.6,136,2863,0.00,2.60,0.00,0.000,4,0.000,0.070,2503,3537,3431
$GC,2897,-1.10,-146.6,323.7,-10.5,137,2903,0.00,2.53,0.00,0.000,6,0.000,0.054,2503,2127,3431
$GC,3213,-1.10,-146.6,355.0,-10.0,153,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2116,3431
$GC,3522,-1.10,-146.6,386.2,-10.2,168,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2104,3430
$GC,3831,-1.10,-146.6,417.9,-10.5,183,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2104,3429
$GC,4140,-1.10,-146.6,450.4,-10.3,198,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2104,3429
$GC,4450,-1.10,-146.6,482.1,-10.4,213,4454,0.00,2.53,0.00,0.000,4,0.000,0.065,2503,712,3429
$GC,4477,-1.10,-146.6,484.9,-10.7,214,4481,0.00,2.53,0.00,0.000,6,0.000,0.050,2503,2141,3429
$GC,4793,-1.10,-146.6,516.4,-9.9,229,4797,0.00,2.58,0.00,0.000,4,0.000,0.064,2503,711,3429
$GC,4826,-1.13,-146.6,519.7,-9.9,230,4834,0.00,2.53,0.00,0.000,6,0.000,0.050,2502,2140,3429
$GC,5143,-1.13,-146.6,548.6,-8.9,246,5147,0.00,2.58,0.00,0.000,4,0.000,0.064,2503,721,3429
$GC,5199,-1.17,-146.6,553.9,-9.5,248,5205,0.00,2.47,0.00,0.000,6,0.000,0.050,2503,2120,3429
$GC,5514,-1.17,-146.6,583.1,-9.9,264,5519,0.00,2.55,0.00,0.000,4,0.000,0.064,2503,715,3429
$GC,5556,-1.22,-146.6,587.3,-11.1,266,5561,0.10,2.50,0.00,0.000,6,0.062,0.050,2474,2125,3429
$GC,5885,-1.18,-146.6,624.9,-11.5,282,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2125,3429
$GC,6192,-1.18,-146.6,658.3,-10.3,297,6196,0.00,2.58,0.00,0.000,4,0.000,0.068,2473,714,3428
$GC,6242,-1.18,-146.6,663.4,-10.0,299,6246,0.00,2.47,0.00,0.000,6,0.000,0.051,2474,2109,3428
$GC,6559,-1.15,-146.6,696.0,-10.8,314,6564,0.10,2.53,0.00,0.000,4,0.104,0.065,2493,722,3428
$GC,6609,-1.15,-146.6,701.6,-10.9,316,6613,0.00,2.45,0.00,0.000,6,0.000,0.051,2493,2101,3428
$GC,6925,-1.15,-146.6,734.1,-10.1,331,6930,0.00,2.55,0.00,0.000,4,0.000,0.071,2493,716,3428
$GC,6993,-1.18,-146.6,740.8,-10.3,334,6997,0.00,2.47,0.00,0.000,6,0.000,0.054,2493,2104,3428
$GC,7314,-1.18,-146.6,768.4,-8.6,350,7318,0.00,2.55,0.00,0.000,4,0.000,0.074,2493,722,3427
$GC,7370,-1.22,-146.6,773.3,-9.2,352,7376,0.00,2.45,0.00,0.000,6,0.000,0.058,2493,2088,3427
$GC,7686,-1.22,-146.6,800.9,-9.6,368,7690,0.00,2.55,0.00,0.000,4,0.000,0.077,2493,718,3427
$GC,7730,-1.28,-146.6,805.7,-10.2,370,7735,0.12,2.42,0.00,0.000,6,0.064,0.058,2459,2064,3426
$STATE,7822,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7822,begin apogee
$GC,7829,-0.33,0.0,815.8,11.1,375,7965,1.00,0.00,131.40,1.381,6,0.081,0.000,2673,1833,2831
$STATE,7966,end apogee,CONTROL_FINISHED_OK
$STATE,7966,begin climb
$GC,7969,1.22,146.6,821.5,0.0,382,8107,1.55,0.00,133.55,1.340,6,0.058,0.000,3010,1834,2233
$GC,8419,1.13,146.6,793.4,8.4,404,8420,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1833,2233
$GC,8724,1.06,160.4,769.2,7.5,419,8744,0.17,0.00,13.48,1.229,6,0.102,0.000,2978,1833,2178
$GC,9054,1.11,195.1,745.5,6.7,435,9092,0.00,0.00,32.08,1.322,6,0.000,0.000,2978,1833,2035
$GC,9402,1.11,195.1,719.1,8.1,452,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1833,2034
$GC,9711,1.19,246.3,697.5,6.1,467,9763,0.12,2.65,45.72,1.326,4,0.061,0.078,3010,449,1826
$GC,9906,1.11,246.3,681.4,8.1,476,9911,0.12,2.55,0.00,0.000,6,0.098,0.058,2987,1855,1826
$GC,10233,1.12,257.3,657.6,7.6,492,10253,0.00,2.60,11.25,1.183,4,0.000,0.068,2987,3262,1782
$GC,10293,1.17,259.8,652.6,7.9,494,10303,0.00,2.62,4.15,0.843,6,0.000,0.064,2987,1850,1772
$GC,10632,1.17,259.8,625.0,8.4,511,10633,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1850,1772
$GC,10941,1.17,259.8,596.7,9.9,526,10945,0.00,2.60,0.00,0.000,4,0.000,0.065,2987,3257,1771
$GC,10974,1.22,259.8,593.5,9.7,527,10980,0.10,2.58,0.00,0.000,6,0.061,0.060,3014,1849,1771
$GC,11290,1.18,259.8,559.9,10.3,543,11295,0.00,2.60,0.00,0.000,4,0.000,0.063,3014,3261,1771
$GC,11318,1.18,259.8,557.0,10.7,544,11322,0.00,2.55,0.00,0.000,6,0.000,0.059,3014,1862,1771
$GC,11634,1.15,259.8,526.5,9.6,559,11635,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1862,1772
$GC,11943,1.11,259.8,496.7,9.7,574,11948,0.15,2.53,0.00,0.000,4,0.089,0.061,2985,3255,1772
$GC,11977,1.17,262.0,493.6,7.9,575,11987,0.00,2.53,4.18,0.770,6,0.000,0.058,2985,1857,1762
$GC,12317,1.20,262.0,465.6,8.6,592,12321,0.00,2.58,0.00,0.000,4,0.000,0.062,2985,3265,1762
$GC,12357,1.30,275.1,462.4,7.5,594,12379,0.20,2.53,12.55,1.051,6,0.048,0.057,3037,1868,1709
$GC,12690,1.23,275.1,424.9,11.8,610,12692,0.12,0.00,0.00,0.000,6,0.091,0.000,3012,1868,1709
$GC,12997,1.23,275.1,393.3,10.1,625,13001,0.00,2.53,0.00,0.000,4,0.000,0.061,3013,3261,1709
$GC,13030,1.23,275.1,389.7,10.4,626,13034,0.00,2.47,0.00,0.000,6,0.000,0.054,3013,1880,1709
$GC,13346,1.23,275.1,358.2,9.9,641,13348,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1880,1710
$GC,13656,1.23,275.1,328.0,9.7,656,13660,0.00,2.53,0.00,0.000,4,0.000,0.061,3012,3266,1710
$GC,13689,1.23,275.1,324.6,9.2,657,13695,0.00,2.47,0.00,0.000,6,0.000,0.054,3012,1888,1710
$GC,14005,1.23,275.1,292.6,10.4,673,14006,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1888,1710
$GC,14314,1.23,275.1,260.3,10.7,688,14318,0.00,2.50,0.00,0.000,4,0.000,0.060,3013,3264,1711
$GC,14354,1.23,275.1,255.9,11.0,690,14358,0.00,2.45,0.00,0.000,6,0.000,0.052,3012,1885,1710
$GC,14681,1.23,275.1,220.1,10.9,706,14682,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1886,1711
$GC,14990,1.23,275.1,186.2,10.4,721,14995,0.00,2.50,0.00,0.000,4,0.000,0.059,3013,3267,1711
$GC,15024,1.23,275.1,182.5,10.5,722,15030,0.00,2.45,0.00,0.000,6,0.000,0.051,3012,1891,1711
$GC,15340,1.23,275.1,152.3,9.0,738,15341,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1891,1711
$GC,15650,1.24,282.0,127.4,7.7,753,15659,0.00,0.00,7.82,0.779,6,0.000,0.000,3013,1891,1681
$GC,15960,1.25,287.5,103.4,7.8,768,15968,0.00,0.00,6.32,0.727,6,0.000,0.000,3012,1891,1658
$GC,16269,1.25,287.5,77.3,8.8,783,16270,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1891,1658
$GC,16578,1.28,287.5,47.7,10.2,798,16582,0.00,2.47,0.00,0.000,4,0.000,0.058,3013,3261,1658
$GC,16618,1.35,287.5,43.6,10.9,800,16623,0.12,2.40,0.00,0.000,6,0.052,0.048,3048,1904,1658
$GC,16945,1.30,287.5,6.9,11.4,816,16950,0.00,2.62,0.00,0.000,4,0.000,0.064,3048,440,1658
$STATE,16976,end climb,SURFACE_DEPTH_REACHED
$STATE,16976,begin surface coast
$FINISH,0.9,1.026848
$STATE,16994,end surface coast,CONTROL_FINISHED_OK
$STATE,16994,begin surface
$SM_CCo,17021,6.90,0.673,0,0,1607,300.00
$SM_GC,2.49,0.00,0.00,6.90,0.000,0.000,0.673,417,2154,1607,-10.70,0.82,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1830
$TCM_TEMP,19.50
$XPDR_PINGS,31
$ALTIM_BOTTOM_PING,796.7,27.3
$24V_AH,23.8,18.152
$10V_AH,10.1,8.093
$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,26.700,122.275,402.500,6.900,0.000,37.763,26.742,141.278,15.000,0.000,0.000,14.821,1480.452,13142.854,552.308,1675.783,509.784,33.389,1398.081,0.000,1638.019,0.000,49.244,0.000
$DEVICE_MAMPS,159.536,78.234,1381.367,673.426,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,560.268,611.412,466.211,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41074,818
$CAP_FILE_SIZE,121606,0
$CFSIZE,254472192,246681600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130909,112037,6224.542,-1113.412,39,1.1,39,-10.8