version: 66.04
glider: 5
mission: 7
dive: 102
start: 9 15 109 1 28 44
data:
$ID,5
$MISSION,7
$DIVE,102
$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,-102173.9
$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,22
$R_STBD_OVSHOOT,38
$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
$GPS1,012224,6233.040,-1156.729,41,1.4,58,-11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-62.4
$GPS2,012755,6233.027,-1156.747,11,1.9,16,-11.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.145,0.198
$KALMAN_X,-99435.6,654.1,112.2,-74725.2,-5083.6
$KALMAN_Y,-488.2,1013.3,392.7,103536.5,-8059.6
$MHEAD_RNG_PITCHd_Wd,335.0,23617,-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,-41.62,0.000,2,0.000,0.000,417,2141,2519
$GC,65,-1.22,-146.6,2.4,-3.0,2,117,11.38,2.58,-35.33,0.000,4,0.160,0.067,2472,715,3429
$GC,241,-1.15,-146.6,23.9,-15.5,10,247,0.10,2.47,0.00,0.000,6,0.110,0.044,2490,2117,3430
$GC,565,-1.09,-146.6,58.8,-11.3,26,569,0.00,2.53,0.00,0.000,4,0.000,0.055,2491,711,3430
$GC,605,-1.09,-146.6,63.3,-10.8,28,609,0.00,2.50,0.00,0.000,6,0.000,0.044,2491,2130,3430
$GC,933,-1.05,-146.6,94.5,-9.4,44,935,0.10,0.00,0.00,0.000,6,0.100,0.000,2513,2131,3431
$GC,1243,-1.05,-146.6,121.4,-9.1,59,1247,0.00,2.55,0.00,0.000,4,0.000,0.058,2513,718,3431
$GC,1284,-1.09,-146.6,125.5,-10.0,61,1288,0.00,2.50,0.00,0.000,6,0.000,0.048,2514,2136,3431
$GC,1616,-1.09,-146.6,158.1,-9.7,77,1621,0.00,2.58,0.00,0.000,4,0.000,0.059,2514,706,3432
$GC,1650,-1.12,-146.6,161.7,-10.5,78,1656,0.00,2.53,0.00,0.000,6,0.000,0.048,2514,2132,3431
$GC,1966,-1.12,-146.6,192.7,-10.1,94,1971,0.00,2.55,0.00,0.000,4,0.000,0.060,2513,718,3432
$GC,1994,-1.12,-146.6,195.7,-10.6,95,1998,0.00,2.50,0.00,0.000,6,0.000,0.048,2513,2133,3432
$GC,2310,-1.12,-146.6,226.8,-9.7,110,2314,0.00,2.58,0.00,0.000,4,0.000,0.063,2513,708,3432
$GC,2343,-1.15,-146.6,230.3,-10.2,111,2350,0.00,2.50,0.00,0.000,6,0.000,0.048,2513,2120,3432
$GC,2659,-1.15,-146.6,261.1,-9.8,127,2663,0.00,2.55,0.00,0.000,4,0.000,0.061,2513,710,3432
$GC,2687,-1.19,-146.6,264.1,-10.2,128,2693,0.12,2.47,0.00,0.000,6,0.058,0.048,2477,2109,3432
$GC,3012,-1.13,-146.6,301.0,-11.7,144,3016,0.00,2.53,0.00,0.000,4,0.000,0.061,2477,714,3431
$GC,3039,-1.09,-146.6,304.7,-11.9,145,3044,0.15,2.47,0.00,0.000,6,0.094,0.049,2508,2109,3431
$GC,3355,-1.09,-146.6,337.3,-10.2,160,3359,0.00,2.53,0.00,0.000,4,0.000,0.063,2508,712,3431
$GC,3389,-1.09,-146.6,341.0,-10.4,161,3393,0.00,2.45,0.00,0.000,6,0.000,0.050,2508,2102,3431
$GC,3705,-1.09,-146.6,373.7,-10.5,176,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2103,3431
$GC,4014,-1.09,-146.6,405.5,-10.1,191,4019,0.00,2.53,0.00,0.000,4,0.000,0.065,2508,711,3430
$GC,4060,-1.13,-146.6,410.3,-10.8,193,4064,0.00,2.45,0.00,0.000,6,0.000,0.050,2508,2095,3431
$GC,4381,-1.13,-146.6,443.5,-10.4,209,4385,0.00,2.50,0.00,0.000,4,0.000,0.064,2508,718,3429
$GC,4414,-1.16,-146.6,446.8,-10.3,210,4421,0.00,2.42,0.00,0.000,6,0.000,0.050,2508,2089,3429
$GC,4731,-1.16,-146.6,477.9,-9.8,226,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2089,3429
$GC,5040,-1.16,-146.6,509.2,-10.4,241,5044,0.00,2.50,0.00,0.000,4,0.000,0.064,2509,714,3429
$GC,5074,-1.20,-146.6,512.7,-10.9,242,5080,0.12,2.42,0.00,0.000,6,0.058,0.051,2472,2079,3429
$GC,5390,-1.15,-146.6,551.3,-12.6,258,5392,0.10,0.00,0.00,0.000,6,0.100,0.000,2491,2079,3429
$GC,5699,-1.15,-146.6,585.5,-10.6,273,5703,0.00,2.50,0.00,0.000,4,0.000,0.066,2491,709,3429
$GC,5766,-1.15,-146.6,592.8,-10.9,276,5770,0.00,2.42,0.00,0.000,6,0.000,0.051,2491,2075,3429
$GC,6087,-1.15,-146.6,624.0,-9.0,292,6088,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2075,3429
$GC,6397,-1.15,-146.6,649.6,-7.8,307,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2074,3428
$GC,6706,-1.15,-146.6,672.5,-7.6,322,6710,0.00,2.47,0.00,0.000,4,0.000,0.067,2491,718,3428
$GC,6745,-1.15,-146.6,675.9,-8.6,324,6749,0.00,2.40,0.00,0.000,6,0.000,0.052,2491,2067,3428
$GC,7073,-1.15,-146.6,703.2,-8.5,340,7077,0.00,2.67,0.00,0.000,4,0.000,0.073,2491,3535,3428
$GC,7117,-1.15,-146.6,707.2,-9.0,342,7121,0.00,2.65,0.00,0.000,6,0.000,0.060,2491,2067,3427
$GC,7437,-1.15,-146.6,735.4,-8.9,358,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2066,3427
$GC,7747,-1.15,-146.6,762.6,-8.7,373,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2066,3427
$GC,8056,-1.15,-146.6,790.4,-9.0,388,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2066,3425
$STATE,8363,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8363,begin apogee
$GC,8371,-0.33,0.0,818.4,9.2,403,8506,0.82,0.00,129.95,1.381,6,0.079,0.000,2669,1838,2831
$STATE,8506,end apogee,CONTROL_FINISHED_OK
$STATE,8506,begin climb
$GC,8509,1.22,146.6,823.1,0.0,410,8647,1.60,0.00,132.18,1.338,6,0.063,0.000,3012,1839,2233
$GC,8957,1.12,147.6,793.6,8.0,432,8959,0.12,0.00,0.00,0.000,6,0.102,0.000,2990,1839,2233
$GC,9267,1.12,179.2,771.9,6.9,447,9299,0.00,0.00,30.20,1.289,6,0.000,0.000,2990,1838,2100
$GC,9595,1.15,198.0,747.0,7.3,463,9615,0.00,0.00,17.85,1.255,6,0.000,0.000,2990,1838,2023
$GC,9925,1.18,217.6,723.4,7.3,479,9945,0.00,0.00,18.42,1.256,6,0.000,0.000,2990,1838,1944
$GC,10254,1.20,233.6,698.6,7.4,495,10277,0.00,2.70,15.88,1.234,4,0.000,0.067,2990,3254,1877
$GC,10368,1.21,237.9,689.4,7.8,500,10378,0.00,2.60,5.43,0.974,6,0.000,0.065,2990,1852,1861
$GC,10695,1.21,237.9,663.4,8.2,516,10700,0.00,2.62,0.00,0.000,4,0.000,0.077,2990,429,1861
$GC,10740,1.17,237.9,659.0,9.7,518,10745,0.00,2.58,0.00,0.000,6,0.000,0.055,2990,1854,1861
$GC,11061,1.17,237.9,628.6,9.9,534,11065,0.00,2.55,0.00,0.000,4,0.000,0.067,2990,3259,1860
$GC,11108,1.17,237.9,623.9,11.0,536,11112,0.00,2.60,0.00,0.000,6,0.000,0.063,2990,1843,1860
$GC,11434,1.17,237.9,591.0,10.0,552,11436,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1843,1860
$GC,11744,1.17,237.9,560.2,9.3,567,11748,0.00,2.60,0.00,0.000,4,0.000,0.065,2990,3255,1860
$GC,11784,1.20,237.9,556.2,10.0,569,11788,0.00,2.53,0.00,0.000,6,0.000,0.060,2990,1860,1860
$GC,12110,1.20,237.9,524.4,9.8,585,12111,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1860,1860
$GC,12420,1.20,237.9,491.7,11.0,600,12421,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1860,1860
$GC,12729,1.20,237.9,457.2,11.2,615,12733,0.00,2.55,0.00,0.000,4,0.000,0.062,2990,3256,1860
$GC,12769,1.24,237.9,452.8,11.7,617,12774,0.12,2.50,0.00,0.000,6,0.055,0.058,3024,1866,1861
$GC,13096,1.17,237.9,413.7,11.8,633,13098,0.12,0.00,0.00,0.000,6,0.091,0.000,3001,1866,1862
$GC,13404,1.17,237.9,383.1,9.5,648,13409,0.00,2.53,0.00,0.000,4,0.000,0.061,3001,3255,1861
$GC,13444,1.17,237.9,379.3,9.9,650,13449,0.00,2.47,0.00,0.000,6,0.000,0.055,3001,1870,1861
$GC,13773,1.17,237.9,349.9,9.0,666,13774,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1870,1862
$GC,14081,1.17,237.9,322.7,8.9,681,14085,0.00,2.53,0.00,0.000,4,0.000,0.061,3001,3259,1862
$GC,14143,1.17,237.9,317.1,9.0,684,14148,0.00,2.45,0.00,0.000,6,0.000,0.054,3001,1884,1863
$GC,14470,1.17,237.9,287.4,9.1,700,14475,0.00,2.60,0.00,0.000,4,0.000,0.067,3001,436,1863
$GC,14499,1.14,237.9,284.5,10.1,701,14503,0.00,2.58,0.00,0.000,6,0.000,0.048,3001,1894,1863
$GC,14815,1.14,237.9,256.4,8.7,716,14816,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1909,1863
$GC,15124,1.14,237.9,229.3,8.8,731,15128,0.00,2.67,0.00,0.000,4,0.000,0.065,3001,434,1863
$GC,15164,1.10,237.9,225.6,9.3,733,15168,0.00,2.58,0.00,0.000,6,0.000,0.048,3001,1894,1863
$GC,15491,1.10,237.9,197.3,8.5,749,15492,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1895,1863
$GC,15800,1.10,237.9,171.6,8.2,764,15804,0.00,2.65,0.00,0.000,4,0.000,0.066,3001,444,1864
$GC,15833,1.07,237.9,168.7,8.7,765,15840,0.12,2.55,0.00,0.000,6,0.093,0.049,2977,1885,1863
$GC,16150,1.16,257.0,146.3,7.3,781,16170,0.00,0.00,17.62,0.861,6,0.000,0.000,2977,1899,1783
$GC,16480,1.22,257.0,120.9,8.3,797,16482,0.15,0.00,0.00,0.000,6,0.049,0.000,3018,1900,1782
$GC,16788,1.22,257.0,87.1,11.1,812,16789,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1900,1782
$GC,17097,1.22,257.0,54.5,9.4,827,17102,0.00,2.65,0.00,0.000,4,0.000,0.064,3018,433,1783
$GC,17160,1.22,257.0,48.1,10.5,830,17165,0.00,2.58,0.00,0.000,6,0.000,0.048,3018,1890,1782
$GC,17488,1.22,257.0,16.7,10.8,846,17489,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1907,1783
$STATE,17629,end climb,SURFACE_DEPTH_REACHED
$STATE,17629,begin surface coast
$FINISH,0.7,1.013535
$STATE,17651,end surface coast,CONTROL_FINISHED_OK
$STATE,17651,begin surface
$SM_CCo,17675,22.92,0.763,0,0,1607,300.00
$SM_GC,1.30,0.00,0.00,22.92,0.000,0.000,0.763,416,2132,1607,-10.71,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1825
$TCM_TEMP,16.70
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,771.6,55.2
$24V_AH,23.8,19.596
$10V_AH,10.1,8.774
$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,26.350,132.700,367.525,22.925,0.000,37.760,34.700,136.457,13.000,0.000,0.000,16.860,1547.193,13712.479,530.748,1723.646,515.473,33.360,1395.802,0.000,1685.958,0.000,47.716,0.000
$DEVICE_MAMPS,159.536,76.700,1381.367,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,585.865,641.105,497.105,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44223,854
$CAP_FILE_SIZE,125971,0
$CFSIZE,254472192,246157312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,150909,062506,6235.376,-1201.381,43,1.1,43,-11.3