version: 66.04
glider: 5
mission: 7
dive: 120
start: 9 18 109 13 28 33
data:
$ID,5
$MISSION,7
$DIVE,120
$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,-102470.83
$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,54
$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
$GPS1,131207,6258.287,-1314.834,37,1.3,37,-12.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-62.0
$GPS2,132743,6258.393,-1314.869,11,1.3,11,-12.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.029,0.244
$KALMAN_X,-97289.0,-177.4,-400.3,-144302.7,3802.5
$KALMAN_Y,-12734.8,1034.2,5.9,163127.7,-2052.9
$MHEAD_RNG_PITCHd_Wd,5.3,30756,-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,-41.72,0.000,2,0.000,0.000,418,2170,2494
$GC,63,-1.22,-146.6,2.1,-2.6,2,119,11.48,2.50,-36.60,0.000,4,0.166,0.081,2469,3505,3428
$GC,375,-1.12,-146.6,40.5,-14.4,16,380,0.15,2.45,0.00,0.000,6,0.097,0.047,2500,2122,3428
$GC,703,-1.12,-146.6,77.7,-9.7,32,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2122,3428
$GC,1011,-1.12,-146.6,108.9,-10.0,47,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2122,3429
$GC,1320,-1.12,-146.6,139.9,-10.4,62,1325,0.00,2.55,0.00,0.000,4,0.000,0.069,2500,3507,3429
$GC,1348,-1.12,-146.6,142.9,-11.0,63,1352,0.00,2.47,0.00,0.000,6,0.000,0.052,2500,2118,3429
$GC,1664,-1.12,-146.6,175.2,-10.0,78,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2118,3429
$GC,1973,-1.12,-146.6,205.4,-9.5,93,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2118,3429
$GC,2282,-1.12,-146.6,236.1,-10.0,108,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2118,3429
$GC,2592,-1.12,-146.6,268.5,-10.7,123,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2118,3429
$GC,2901,-1.12,-146.6,301.4,-11.0,138,2906,0.00,2.50,0.00,0.000,4,0.000,0.064,2501,711,3429
$GC,2942,-1.12,-146.6,306.0,-11.5,140,2946,0.00,2.47,0.00,0.000,6,0.000,0.057,2500,2107,3429
$GC,3269,-1.12,-146.6,340.9,-10.5,156,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2107,3428
$GC,3578,-1.12,-146.6,372.7,-10.1,171,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2108,3428
$GC,3887,-1.12,-146.6,405.6,-10.7,186,3891,0.00,2.50,0.00,0.000,4,0.000,0.064,2500,718,3427
$GC,3942,-1.12,-146.6,412.0,-11.2,188,3947,0.00,2.50,0.00,0.000,6,0.000,0.060,2500,2124,3427
$GC,4259,-1.12,-146.6,446.0,-10.8,203,4264,0.00,2.55,0.00,0.000,4,0.000,0.067,2501,719,3427
$GC,4310,-1.12,-146.6,451.7,-10.8,205,4314,0.00,2.47,0.00,0.000,6,0.000,0.056,2500,2115,3427
$GC,4626,-1.12,-146.6,484.8,-10.5,220,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2115,3427
$GC,4935,-1.12,-146.6,516.6,-10.4,235,4939,0.00,2.53,0.00,0.000,4,0.000,0.064,2500,717,3427
$GC,4990,-1.16,-146.6,522.7,-10.6,237,4997,0.00,2.47,0.00,0.000,6,0.000,0.055,2500,2112,3427
$GC,5306,-1.16,-146.6,554.7,-9.7,253,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2113,3427
$GC,5615,-1.16,-146.6,583.6,-9.2,268,5620,0.00,2.53,0.00,0.000,4,0.000,0.065,2500,717,3426
$GC,5682,-1.16,-146.6,589.9,-9.8,271,5687,0.00,2.45,0.00,0.000,6,0.000,0.057,2500,2109,3426
$GC,6004,-1.16,-146.6,618.4,-8.3,287,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2110,3426
$GC,6314,-1.16,-146.6,641.8,-7.0,302,6317,0.00,2.50,0.00,0.000,4,0.000,0.066,2500,721,3426
$GC,6347,-1.16,-146.6,644.3,-7.2,303,6351,0.00,2.45,0.00,0.000,6,0.000,0.054,2500,2102,3426
$GC,6664,-1.16,-146.6,667.1,-7.8,318,6668,0.00,2.53,0.00,0.000,4,0.000,0.068,2500,716,3425
$GC,6685,-1.16,-146.6,669.1,-8.7,319,6689,0.00,2.45,0.00,0.000,6,0.000,0.056,2501,2092,3426
$GC,7012,-1.16,-146.6,700.3,-10.3,335,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2093,3425
$GC,7322,-1.16,-146.6,729.8,-9.1,350,7326,0.00,2.50,0.00,0.000,4,0.000,0.068,2500,720,3425
$GC,7434,-1.20,-146.6,740.7,-10.2,355,7438,0.00,2.42,0.00,0.000,6,0.000,0.055,2500,2081,3425
$GC,7756,-1.20,-146.6,766.3,-7.6,371,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2081,3424
$GC,8065,-1.23,-146.6,788.9,-8.4,386,8070,0.10,2.50,0.00,0.000,4,0.067,0.076,2471,719,3423
$GC,8154,-1.23,-146.6,797.8,-9.7,390,8158,0.00,2.40,0.00,0.000,6,0.000,0.060,2471,2053,3423
$STATE,8266,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8266,begin apogee
$GC,8274,-0.33,0.0,811.3,12.0,396,8409,0.93,0.00,130.57,1.364,6,0.081,0.000,2670,1836,2831
$STATE,8410,end apogee,CONTROL_FINISHED_OK
$STATE,8410,begin climb
$GC,8413,1.22,146.6,817.1,0.0,403,8551,1.58,0.00,133.40,1.324,6,0.059,0.000,3010,1836,2233
$GC,8865,1.15,164.8,790.6,7.3,425,8888,0.00,2.72,17.58,1.223,4,0.000,0.078,3010,436,2159
$GC,8958,0.99,164.8,783.2,8.1,429,8963,0.25,2.58,0.00,0.000,6,0.093,0.061,2963,1850,2159
$GC,9285,1.04,197.5,763.4,6.8,445,9318,0.00,0.00,30.48,1.284,6,0.000,0.000,2963,1867,2025
$GC,9614,1.11,212.0,737.1,7.5,461,9637,0.10,2.62,14.48,1.216,4,0.064,0.073,2989,3262,1966
$GC,9660,1.11,212.0,733.3,8.3,463,9665,0.00,2.65,0.00,0.000,6,0.000,0.067,2989,1845,1966
$GC,9987,1.20,271.6,709.1,5.8,479,10050,0.00,2.67,53.35,1.295,4,0.000,0.078,2989,443,1723
$GC,10074,1.20,271.6,702.5,8.7,483,10078,0.00,2.55,0.00,0.000,6,0.000,0.061,2989,1835,1723
$GC,10401,1.20,271.6,675.2,8.6,499,10405,0.00,2.60,0.00,0.000,4,0.000,0.071,2989,3261,1723
$GC,10451,1.24,271.6,670.8,8.6,501,10456,0.12,2.62,0.00,0.000,6,0.058,0.067,3022,1840,1723
$GC,10768,1.18,271.6,636.2,11.3,516,10772,0.00,2.62,0.00,0.000,4,0.000,0.067,3022,3256,1723
$GC,10818,1.18,271.6,630.1,11.3,518,10822,0.00,2.58,0.00,0.000,6,0.000,0.065,3022,1853,1723
$GC,11134,1.12,271.6,595.0,11.0,533,11139,0.17,2.58,0.00,0.000,4,0.088,0.066,2988,3256,1723
$GC,11168,1.16,271.6,591.4,9.7,534,11174,0.00,2.55,0.00,0.000,6,0.000,0.063,2988,1860,1723
$GC,11484,1.16,271.6,564.3,8.1,550,11485,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1859,1723
$GC,11793,1.16,271.6,540.1,8.0,565,11797,0.00,2.55,0.00,0.000,4,0.000,0.067,2988,3258,1723
$GC,11843,1.22,273.9,535.8,7.9,567,11855,0.10,2.53,3.80,0.728,6,0.062,0.061,3015,1865,1714
$GC,12165,1.18,273.9,503.3,10.5,583,12166,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1865,1714
$GC,12474,1.14,273.9,469.8,10.9,598,12478,0.00,2.55,0.00,0.000,4,0.000,0.067,3015,3265,1714
$GC,12507,1.14,273.9,465.8,11.1,599,12513,0.00,2.53,0.00,0.000,6,0.000,0.059,3015,1869,1714
$GC,12823,1.11,273.9,430.2,11.3,615,12825,0.15,0.00,0.00,0.000,6,0.088,0.000,2984,1869,1714
$GC,13132,1.14,273.9,400.1,9.3,630,13137,0.00,2.53,0.00,0.000,4,0.000,0.069,2984,3258,1715
$GC,13189,1.21,273.9,394.8,10.0,632,13196,0.10,2.47,0.00,0.000,6,0.060,0.058,3013,1882,1715
$GC,13505,1.18,273.9,361.9,10.4,648,13507,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1882,1715
$GC,13814,1.18,273.9,329.6,10.5,663,13815,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1882,1716
$GC,14123,1.18,273.9,297.9,10.0,678,14127,0.00,2.50,0.00,0.000,4,0.000,0.069,3013,3259,1716
$GC,14174,1.18,273.9,292.8,9.4,680,14178,0.00,2.45,0.00,0.000,6,0.000,0.054,3013,1889,1716
$GC,14495,1.18,273.9,262.7,9.3,696,14496,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1889,1716
$GC,14805,1.18,273.9,234.7,8.8,711,14809,0.00,2.47,0.00,0.000,4,0.000,0.064,3013,3258,1716
$GC,14838,1.18,273.9,231.8,8.3,712,14842,0.00,2.45,0.00,0.000,6,0.000,0.055,3013,1884,1716
$GC,15154,1.18,273.9,203.9,9.2,727,15155,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1884,1716
$GC,15463,1.18,273.9,172.9,10.7,742,15464,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1885,1716
$GC,15773,1.18,273.9,142.4,9.1,757,15774,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1884,1716
$GC,16082,1.18,273.9,115.3,9.1,772,16086,0.00,2.50,0.00,0.000,4,0.000,0.064,3013,3265,1717
$GC,16145,1.18,273.9,109.4,10.0,775,16149,0.00,2.42,0.00,0.000,6,0.000,0.051,3013,1897,1717
$GC,16472,1.18,273.9,78.9,8.7,791,16476,0.00,2.47,0.00,0.000,4,0.000,0.061,3013,3266,1717
$GC,16539,1.27,305.1,74.0,6.9,794,16571,0.00,2.40,26.98,0.828,6,0.000,0.051,3013,1909,1587
$GC,16883,1.27,305.1,39.1,10.9,810,16887,0.00,2.65,0.00,0.000,4,0.000,0.070,3013,432,1587
$GC,16950,1.27,305.1,31.0,11.5,813,16954,0.00,2.62,0.00,0.000,6,0.000,0.058,3013,1919,1586
$STATE,17247,end climb,SURFACE_DEPTH_REACHED
$STATE,17247,begin surface coast
$FINISH,1.0,1.026868
$STATE,17271,end surface coast,CONTROL_FINISHED_OK
$STATE,17271,begin surface
$SM_CCo,17355,0.00,0.000,0,0,1586,305.40
$SM_GC,1.51,11.15,0.00,0.00,0.033,0.000,0.000,419,2149,1586,-10.60,0.57,305.40
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1828
$TCM_TEMP,17.70
$XPDR_PINGS,38
$ALTIM_BOTTOM_PING,745.4,75.7
$24V_AH,23.8,22.427
$10V_AH,10.1,10.132
$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,26.375,126.875,410.625,0.000,0.000,151.046,130.348,333.408,16.250,0.000,0.000,13.348,1508.472,13563.493,525.805,1759.270,929.897,33.363,1420.681,0.000,1719.547,0.000,49.250,0.000
$DEVICE_MAMPS,165.672,86.671,1364.493,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,567.949,622.547,481.412,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41187,829
$CAP_FILE_SIZE,129152,0
$CFSIZE,254472192,245092352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,180909,181906,6301.659,-1316.605,41,1.0,41,-12.2