version: 66.04
glider: 5
mission: 7
dive: 112
start: 9 16 109 23 42 56
data:
$ID,5
$MISSION,7
$DIVE,112
$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,-102331.14
$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,20
$R_STBD_OVSHOOT,35
$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
$GPS1,233537,6250.864,-1242.287,41,1.3,41,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-58.4
$GPS2,234207,6250.846,-1242.203,11,1.4,15,-11.8
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.242,0.040
$KALMAN_X,-104192.2,182.4,-157.1,-109262.5,-165.7
$KALMAN_Y,-8422.6,226.0,-260.7,145921.9,-1466.4
$MHEAD_RNG_PITCHd_Wd,291.2,19340,-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,-41.65,0.000,2,0.000,0.000,426,2160,2467
$GC,65,-1.22,-146.6,2.1,-2.5,2,121,11.18,2.62,-37.75,0.000,4,0.160,0.067,2469,718,3430
$GC,144,-1.13,-146.6,8.0,-10.0,5,152,0.15,2.45,0.00,0.000,6,0.106,0.043,2498,2123,3430
$GC,463,-1.07,-146.6,47.3,-13.2,21,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2123,3430
$GC,771,-1.04,-146.6,85.9,-10.5,36,775,0.10,2.55,0.00,0.000,4,0.107,0.062,2518,3541,3431
$GC,815,-1.04,-146.6,90.9,-10.3,38,819,0.00,2.50,0.00,0.000,6,0.000,0.046,2519,2130,3431
$GC,1136,-1.04,-146.6,125.6,-10.1,54,1140,0.00,2.58,0.00,0.000,4,0.000,0.064,2518,3538,3432
$GC,1180,-1.04,-146.6,130.0,-9.9,56,1185,0.00,2.47,0.00,0.000,6,0.000,0.048,2518,2141,3432
$GC,1507,-1.04,-146.6,161.4,-9.7,72,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2129,3431
$GC,1817,-1.04,-146.6,192.7,-10.1,87,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2126,3432
$GC,2126,-1.04,-146.6,223.4,-10.0,102,2130,0.00,2.53,0.00,0.000,4,0.000,0.061,2518,717,3432
$GC,2160,-1.08,-146.6,226.8,-9.6,103,2165,0.00,2.53,0.00,0.000,6,0.000,0.048,2518,2148,3432
$GC,2476,-1.08,-146.6,255.9,-8.8,118,2480,0.00,2.60,0.00,0.000,4,0.000,0.064,2519,719,3432
$GC,2516,-1.13,-146.6,259.4,-9.0,120,2521,0.00,2.50,0.00,0.000,6,0.000,0.050,2519,2131,3432
$GC,2844,-1.13,-146.6,288.8,-9.3,136,2848,0.00,2.58,0.00,0.000,4,0.000,0.063,2519,713,3432
$GC,2889,-1.18,-146.6,293.2,-10.0,138,2894,0.15,2.50,0.00,0.000,6,0.052,0.049,2475,2121,3432
$GC,3213,-1.12,-146.6,331.7,-12.0,154,3218,0.12,2.55,0.00,0.000,4,0.097,0.063,2501,718,3432
$GC,3246,-1.12,-146.6,336.0,-11.7,155,3253,0.00,2.47,0.00,0.000,6,0.000,0.050,2501,2115,3432
$GC,3563,-1.12,-146.6,369.3,-10.1,171,3567,0.00,2.53,0.00,0.000,4,0.000,0.065,2501,720,3431
$GC,3596,-1.12,-146.6,372.9,-10.7,172,3600,0.00,2.45,0.00,0.000,6,0.000,0.051,2501,2102,3431
$GC,3917,-1.12,-146.6,405.9,-10.5,188,3921,0.00,2.53,0.00,0.000,4,0.000,0.066,2501,718,3431
$GC,3939,-1.12,-146.6,408.2,-10.2,189,3943,0.00,2.45,0.00,0.000,6,0.000,0.051,2501,2098,3431
$GC,4260,-1.12,-146.6,440.5,-9.8,205,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2098,3431
$GC,4569,-1.12,-146.6,469.0,-9.0,220,4573,0.00,2.50,0.00,0.000,4,0.000,0.065,2501,720,3430
$GC,4609,-1.12,-146.6,472.6,-9.1,222,4613,0.00,2.42,0.00,0.000,6,0.000,0.051,2501,2093,3430
$GC,4935,-1.12,-146.6,500.9,-8.4,238,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2093,3430
$GC,5244,-1.12,-146.6,527.0,-8.8,253,5248,0.00,2.50,0.00,0.000,4,0.000,0.066,2501,718,3430
$GC,5272,-1.12,-146.6,529.6,-8.9,254,5276,0.00,2.42,0.00,0.000,6,0.000,0.051,2501,2086,3429
$GC,5587,-1.12,-146.6,558.3,-9.0,269,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2086,3429
$GC,5897,-1.12,-146.6,585.9,-9.0,284,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2085,3429
$GC,6206,-1.12,-146.6,614.2,-9.1,299,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2085,3429
$GC,6515,-1.12,-146.6,642.9,-9.2,314,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2086,3429
$GC,6824,-1.12,-146.6,670.0,-8.8,329,6829,0.00,2.65,0.00,0.000,4,0.000,0.075,2501,3534,3428
$GC,6887,-1.12,-146.6,676.0,-10.6,331,6893,0.00,2.65,0.00,0.000,6,0.000,0.063,2501,2074,3428
$GC,7203,-1.12,-146.6,704.0,-8.5,347,7207,0.00,2.45,0.00,0.000,4,0.000,0.074,2501,717,3427
$GC,7242,-1.15,-146.6,707.5,-9.0,348,7248,0.00,2.42,0.00,0.000,6,0.000,0.056,2501,2069,3427
$STATE,7287,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7287,begin apogee
$GC,7295,-0.33,0.0,711.6,9.0,351,7431,0.80,0.00,132.62,1.286,6,0.080,0.000,2671,1845,2831
$STATE,7432,end apogee,CONTROL_FINISHED_OK
$STATE,7432,begin climb
$GC,7435,1.22,146.6,715.4,0.0,358,7578,1.55,0.00,133.95,1.246,6,0.062,0.000,3009,1845,2233
$GC,7888,1.13,146.6,684.1,8.4,380,7892,0.00,2.60,0.00,0.000,4,0.000,0.076,3009,437,2233
$GC,7938,0.99,153.4,679.8,7.8,382,7954,0.25,2.58,7.88,1.023,6,0.092,0.056,2962,1865,2204
$GC,8284,1.10,223.3,659.1,5.5,399,8352,0.10,2.60,62.30,1.234,4,0.063,0.068,2988,3255,1920
$GC,8422,1.11,226.8,649.1,7.9,405,8434,0.00,2.58,4.93,0.866,6,0.000,0.066,2988,1872,1906
$GC,8744,1.15,251.7,624.9,7.1,421,8770,0.00,0.00,23.65,1.187,6,0.000,0.000,2988,1872,1804
$GC,9073,1.20,286.1,602.4,6.8,437,9114,0.00,2.60,31.52,1.200,4,0.000,0.065,2988,3249,1664
$GC,9167,1.26,297.0,595.8,7.6,441,9184,0.15,2.55,11.25,1.094,6,0.056,0.064,3026,1873,1620
$GC,9493,1.20,297.0,564.7,9.7,457,9498,0.00,2.62,0.00,0.000,4,0.000,0.074,3025,440,1620
$GC,9527,1.12,297.0,560.7,10.8,458,9534,0.20,2.60,0.00,0.000,6,0.089,0.054,2987,1878,1619
$GC,9844,1.13,302.7,536.4,7.8,474,9857,0.00,2.58,6.82,0.971,4,0.000,0.064,2987,3258,1596
$GC,9888,1.20,302.7,532.7,8.6,476,9892,0.00,2.53,0.00,0.000,6,0.000,0.061,2987,1886,1596
$GC,10215,1.23,302.7,504.1,9.2,492,10220,0.10,2.62,0.00,0.000,4,0.061,0.070,3014,441,1596
$GC,10245,1.19,302.7,500.8,12.1,493,10249,0.00,2.62,0.00,0.000,6,0.000,0.051,3015,1907,1596
$GC,10561,1.19,302.7,463.1,12.2,508,10565,0.00,2.72,0.00,0.000,4,0.000,0.071,3014,439,1596
$GC,10601,1.14,302.7,458.1,13.2,510,10605,0.00,2.60,0.00,0.000,6,0.000,0.051,3014,1891,1596
$GC,10928,1.14,302.7,419.5,11.7,526,10929,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1905,1596
$GC,11237,1.14,302.7,384.2,11.4,541,11241,0.00,2.70,0.00,0.000,4,0.000,0.070,3014,432,1596
$GC,11287,1.10,302.7,378.1,11.9,543,11292,0.15,2.58,0.00,0.000,6,0.089,0.051,2984,1879,1596
$GC,11604,1.15,302.7,348.8,8.9,558,11605,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1894,1597
$GC,11912,1.20,302.7,321.4,8.6,573,11914,0.10,0.00,0.00,0.000,6,0.059,0.000,3013,1894,1597
$GC,12221,1.20,302.7,288.4,10.9,588,12226,0.00,2.65,0.00,0.000,4,0.000,0.068,3013,439,1597
$GC,12261,1.17,302.7,283.7,11.8,590,12266,0.00,2.55,0.00,0.000,6,0.000,0.049,3013,1873,1597
$GC,12589,1.17,302.7,246.3,11.3,606,12593,0.00,2.47,0.00,0.000,4,0.000,0.060,3013,3265,1597
$GC,12616,1.17,302.7,242.9,11.5,607,12621,0.00,2.53,0.00,0.000,6,0.000,0.055,3013,1858,1598
$GC,12932,1.17,302.7,208.0,10.9,622,12937,0.00,2.55,0.00,0.000,4,0.000,0.058,3013,3265,1598
$GC,12960,1.17,302.7,205.0,11.2,623,12965,0.00,2.50,0.00,0.000,6,0.000,0.053,3013,1868,1598
$GC,13276,1.17,302.7,170.3,11.1,638,13277,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1869,1598
$GC,13585,1.17,302.7,137.4,10.4,653,13590,0.00,2.53,0.00,0.000,4,0.000,0.058,3013,3265,1598
$GC,13631,1.20,302.7,132.6,10.3,655,13635,0.00,2.47,0.00,0.000,6,0.000,0.051,3013,1875,1598
$GC,13952,1.20,302.7,101.0,9.3,671,13954,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1874,1599
$GC,14263,1.20,302.7,69.1,10.3,686,14264,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1875,1599
$GC,14571,1.20,302.7,36.5,10.5,701,14575,0.00,2.50,0.00,0.000,4,0.000,0.058,3013,3262,1599
$GC,14650,1.25,302.7,28.3,9.7,704,14656,0.00,2.42,0.00,0.000,6,0.000,0.047,3013,1881,1599
$STATE,14942,end climb,SURFACE_DEPTH_REACHED
$STATE,14942,begin surface coast
$FINISH,0.8,1.015908
$STATE,14966,end surface coast,CONTROL_FINISHED_OK
$STATE,14966,begin surface
$SM_CCo,15049,0.00,0.000,0,0,1598,302.45
$SM_GC,1.45,11.18,0.00,0.00,0.037,0.000,0.000,421,2166,1598,-10.59,0.99,302.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1825
$TCM_TEMP,17.60
$XPDR_PINGS,25
$ALTIM_BOTTOM_PING,696.9,24.4
$24V_AH,23.8,21.167
$10V_AH,10.1,9.514
$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,26.275,133.125,414.925,0.000,0.000,37.760,26.401,205.385,12.750,0.000,0.000,15.600,1328.299,11508.104,529.174,1517.784,553.008,33.364,1330.164,0.000,1480.083,0.000,45.795,0.000
$DEVICE_MAMPS,160.303,75.933,1286.259,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,492.548,541.950,438.824,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38022,720
$CAP_FILE_SIZE,114599,0
$CFSIZE,254472192,245583872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,170909,035506,6250.606,-1251.319,39,1.1,44,-11.9