version: 66.04
glider: 5
mission: 7
dive: 122
start: 9 18 109 23 1 54
data:
$ID,5
$MISSION,7
$DIVE,122
$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,-102518.45
$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,23
$R_STBD_OVSHOOT,34
$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
$GPS1,225507,6305.784,-1313.240,35,1.3,35,-12.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-59.6
$GPS2,230106,6305.811,-1313.206,34,1.2,34,-12.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.037,0.241
$KALMAN_X,-96287.7,42.8,752.4,-145232.6,432.9
$KALMAN_Y,-10111.2,48.0,587.1,174637.9,-745.8
$MHEAD_RNG_PITCHd_Wd,3.5,17083,-14.9,-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,-145.6,0.0,0.0,0,81,0.00,0.00,-61.40,0.000,2,0.000,0.000,416,2151,2823
$GC,84,-1.23,-146.6,2.9,-3.8,3,121,11.48,2.58,-19.08,0.000,4,0.166,0.069,2472,718,3431
$GC,318,-1.17,-146.6,32.9,-13.3,12,325,0.00,2.47,0.00,0.000,6,0.000,0.047,2472,2125,3431
$GC,635,-1.10,-146.6,69.4,-10.9,28,640,0.15,2.55,0.00,0.000,4,0.101,0.063,2503,3538,3432
$GC,730,-1.10,-146.6,79.6,-10.9,32,735,0.00,2.50,0.00,0.000,6,0.000,0.046,2503,2124,3432
$GC,1047,-1.10,-146.6,112.0,-10.3,47,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2115,3433
$GC,1356,-1.10,-146.6,142.6,-9.6,62,1360,0.00,2.50,0.00,0.000,4,0.000,0.059,2503,713,3433
$GC,1384,-1.10,-146.6,145.3,-9.2,63,1388,0.00,2.53,0.00,0.000,6,0.000,0.050,2503,2141,3433
$GC,1700,-1.10,-146.6,174.7,-9.8,78,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2141,3433
$GC,2009,-1.10,-146.6,207.0,-10.7,93,2014,0.00,2.58,0.00,0.000,4,0.000,0.060,2503,711,3433
$GC,2088,-1.10,-146.6,215.7,-11.3,96,2094,0.00,2.53,0.00,0.000,6,0.000,0.048,2503,2141,3433
$GC,2404,-1.10,-146.6,251.4,-11.4,112,2408,0.00,2.58,0.00,0.000,4,0.000,0.061,2503,713,3433
$GC,2437,-1.10,-146.6,255.5,-11.9,113,2443,0.00,2.50,0.00,0.000,6,0.000,0.048,2503,2127,3433
$GC,2753,-1.10,-146.6,292.6,-11.9,129,2758,0.00,2.55,0.00,0.000,4,0.000,0.062,2503,717,3433
$GC,2787,-1.10,-146.6,296.6,-11.6,130,2793,0.00,2.50,0.00,0.000,6,0.000,0.049,2503,2130,3433
$GC,3103,-1.10,-146.6,331.1,-11.0,146,3108,0.00,2.55,0.00,0.000,4,0.000,0.063,2503,723,3432
$GC,3138,-1.10,-146.6,335.1,-11.1,147,3144,0.00,2.47,0.00,0.000,6,0.000,0.053,2503,2120,3433
$GC,3454,-1.10,-146.6,368.3,-10.4,163,3458,0.00,2.53,0.00,0.000,4,0.000,0.061,2503,720,3432
$GC,3494,-1.10,-146.6,372.7,-10.8,165,3499,0.00,2.47,0.00,0.000,6,0.000,0.052,2503,2120,3432
$GC,3822,-1.10,-146.6,406.5,-10.2,181,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2119,3432
$GC,4131,-1.10,-146.6,437.0,-9.8,196,4135,0.00,2.53,0.00,0.000,4,0.000,0.063,2503,723,3432
$GC,4187,-1.10,-146.6,442.7,-9.8,198,4193,0.00,2.45,0.00,0.000,6,0.000,0.052,2503,2107,3432
$GC,4502,-1.10,-146.6,472.3,-9.2,214,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2108,3431
$GC,4812,-1.10,-146.6,501.2,-9.3,229,4816,0.00,2.50,0.00,0.000,4,0.000,0.071,2502,723,3431
$GC,4880,-1.10,-146.6,507.8,-9.2,232,4884,0.00,2.45,0.00,0.000,6,0.000,0.051,2503,2109,3431
$GC,5207,-1.10,-146.6,537.7,-9.0,248,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2110,3430
$GC,5516,-1.10,-146.6,565.2,-8.7,263,5520,0.00,2.53,0.00,0.000,4,0.000,0.064,2503,715,3430
$GC,5561,-1.13,-146.6,569.5,-9.6,265,5565,0.00,2.45,0.00,0.000,6,0.000,0.050,2503,2098,3430
$GC,5883,-1.13,-146.6,597.9,-7.8,281,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2099,3430
$GC,6192,-1.13,-146.6,621.6,-8.2,296,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2099,3430
$GC,6501,-1.13,-146.6,649.3,-9.9,311,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2099,3430
$GC,6810,-1.13,-146.6,680.5,-9.8,326,6814,0.00,2.50,0.00,0.000,4,0.000,0.066,2503,722,3429
$GC,6900,-1.17,-146.6,689.8,-10.2,330,6904,0.00,2.45,0.00,0.000,6,0.000,0.053,2503,2102,3429
$GC,7225,-1.17,-146.6,721.4,-8.5,346,7229,0.00,2.53,0.00,0.000,4,0.000,0.070,2502,715,3428
$GC,7280,-1.17,-146.6,726.9,-9.7,348,7285,0.00,2.42,0.00,0.000,6,0.000,0.054,2503,2073,3428
$STATE,7490,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7490,begin apogee
$GC,7498,-0.33,0.0,745.0,9.7,358,7634,0.77,0.00,132.60,1.309,6,0.075,0.000,2670,1839,2831
$STATE,7635,end apogee,CONTROL_FINISHED_OK
$STATE,7635,begin climb
$GC,7638,1.23,146.6,750.4,0.0,365,7783,1.55,2.65,133.15,1.269,4,0.059,0.065,3010,3252,2233
$GC,7820,1.12,146.6,739.5,8.1,373,7825,0.12,2.58,0.00,0.000,6,0.103,0.062,2988,1856,2232
$GC,8137,1.12,179.3,718.4,6.8,388,8173,0.00,2.65,30.52,1.220,4,0.000,0.077,2988,443,2100
$GC,8336,1.05,179.3,697.4,11.5,396,8340,0.00,2.50,0.00,0.000,6,0.000,0.055,2989,1825,2098
$GC,8657,1.05,179.3,669.6,8.1,412,8661,0.00,2.62,0.00,0.000,4,0.000,0.071,2988,3261,2098
$GC,8696,1.05,179.3,666.4,8.4,414,8701,0.00,2.70,0.00,0.000,6,0.000,0.065,2988,1802,2097
$GC,9023,1.14,236.1,645.4,5.9,430,9080,0.00,2.75,51.42,1.242,4,0.000,0.064,2988,3251,1867
$GC,9154,1.19,266.6,636.7,6.9,435,9191,0.00,2.65,28.55,1.202,6,0.000,0.061,2988,1818,1743
$GC,9501,1.21,280.6,610.7,7.5,452,9523,0.00,2.70,13.95,1.133,4,0.000,0.065,2988,3257,1686
$GC,9579,1.27,280.6,604.2,8.2,455,9585,0.15,2.60,0.00,0.000,6,0.055,0.061,3026,1840,1686
$GC,9896,1.22,280.6,568.1,12.5,470,9900,0.00,2.62,0.00,0.000,4,0.000,0.065,3026,3261,1686
$GC,9929,1.22,280.6,563.8,12.2,471,9935,0.00,2.60,0.00,0.000,6,0.000,0.059,3026,1840,1686
$GC,10245,1.17,280.6,525.0,12.8,487,10250,0.15,2.60,0.00,0.000,4,0.095,0.062,2998,3252,1686
$GC,10279,1.21,280.6,520.9,11.6,488,10285,0.00,2.55,0.00,0.000,6,0.000,0.058,2998,1853,1686
$GC,10595,1.21,280.6,488.1,10.0,504,10596,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1853,1686
$GC,10904,1.21,280.6,458.1,9.9,519,10908,0.00,2.55,0.00,0.000,4,0.000,0.062,2998,3254,1686
$GC,10954,1.26,280.6,452.9,9.6,521,10959,0.00,2.53,0.00,0.000,6,0.000,0.056,2998,1860,1686
$GC,11271,1.26,280.6,422.2,9.3,536,11272,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1859,1686
$GC,11580,1.26,280.6,395.4,8.5,551,11584,0.00,2.55,0.00,0.000,4,0.000,0.061,2998,3256,1686
$GC,11643,1.33,287.7,390.2,7.7,554,11657,0.17,2.47,7.82,0.918,6,0.051,0.055,3044,1873,1657
$GC,11976,1.25,287.7,353.6,11.2,570,11978,0.15,0.00,0.00,0.000,6,0.089,0.000,3014,1873,1657
$GC,12283,1.25,287.7,322.1,10.2,585,12285,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1872,1657
$GC,12592,1.25,287.7,288.8,10.8,600,12596,0.00,2.53,0.00,0.000,4,0.000,0.061,3014,3260,1657
$GC,12625,1.25,287.7,285.1,11.1,601,12631,0.00,2.47,0.00,0.000,6,0.000,0.053,3014,1880,1657
$GC,12941,1.25,287.7,248.6,12.0,617,12942,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1880,1658
$GC,13250,1.25,287.7,214.4,10.1,632,13254,0.00,2.47,0.00,0.000,4,0.000,0.060,3014,3261,1658
$GC,13288,1.25,287.7,210.7,9.1,633,13294,0.00,2.45,0.00,0.000,6,0.000,0.051,3014,1887,1658
$GC,13604,1.25,287.7,181.2,9.8,649,13606,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1887,1658
$GC,13914,1.25,287.7,147.1,11.8,664,13915,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1887,1658
$GC,14223,1.25,287.7,110.3,11.4,679,14227,0.00,2.47,0.00,0.000,4,0.000,0.058,3014,3257,1658
$GC,14256,1.28,287.7,106.6,10.1,680,14263,0.00,2.42,0.00,0.000,6,0.000,0.051,3014,1893,1658
$GC,14574,1.28,287.7,77.9,8.4,696,14578,0.00,2.47,0.00,0.000,4,0.000,0.058,3014,3264,1658
$GC,14608,1.33,287.7,74.5,8.8,697,14614,0.00,2.42,0.00,0.000,6,0.000,0.049,3014,1896,1659
$GC,14925,1.35,302.6,48.1,7.5,713,14947,0.12,2.67,13.77,0.785,4,0.054,0.064,3049,445,1597
$GC,14995,1.27,302.6,40.6,11.2,716,15000,0.15,2.60,0.00,0.000,6,0.088,0.046,3020,1912,1597
$GC,15324,1.30,302.6,7.6,10.6,732,15325,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1929,1597
$STATE,15381,end climb,SURFACE_DEPTH_REACHED
$STATE,15381,begin surface coast
$FINISH,1.0,1.026853
$STATE,15403,end surface coast,CONTROL_FINISHED_OK
$STATE,15403,begin surface
$SM_CCo,15487,0.00,0.000,0,0,1596,302.95
$SM_GC,1.37,11.23,0.00,0.00,0.037,0.000,0.000,426,2135,1596,-10.58,0.20,302.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1823
$TCM_TEMP,17.60
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,721.4,33.2
$24V_AH,23.8,22.751
$10V_AH,10.1,10.282
$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,26.200,137.825,411.800,0.000,0.000,37.762,33.558,146.049,13.750,0.000,0.000,34.050,1354.542,11772.469,524.830,1683.148,505.533,33.359,1395.685,0.000,1617.986,0.000,50.291,0.000
$DEVICE_MAMPS,166.439,76.700,1308.502,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,502.961,549.072,443.509,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37984,736
$CAP_FILE_SIZE,116610,0
$CFSIZE,254472192,244985856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,190909,032107,6307.638,-1314.894,29,1.2,29,-12.2