version: 66.04
glider: 5
mission: 7
dive: 123
start: 9 19 109 3 27 59
data:
$ID,5
$MISSION,7
$DIVE,123
$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,-102532.92
$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,30
$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
$GPS1,032107,6307.638,-1314.894,29,1.2,29,-12.2
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-58.9
$GPS2,032708,6307.630,-1314.906,13,1.1,13,-12.2
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.096,0.226
$KALMAN_X,-94905.0,-238.9,-998.6,-146058.7,4809.5
$KALMAN_Y,-10736.1,-654.7,-808.6,180770.1,2148.3
$MHEAD_RNG_PITCHd_Wd,349.1,13649,-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,16,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.50,0.000,2,0.000,0.000,426,2146,2459
$GC,63,-1.22,-146.6,2.1,-4.3,2,121,11.23,2.58,-40.60,0.000,4,0.160,0.064,2471,707,3427
$GC,374,-1.16,-146.6,41.4,-15.9,15,379,0.10,2.50,0.00,0.000,6,0.109,0.044,2490,2127,3428
$GC,698,-1.12,-146.6,86.2,-12.2,31,702,0.00,2.55,0.00,0.000,4,0.000,0.058,2490,710,3428
$GC,738,-1.12,-146.6,91.0,-10.7,33,742,0.00,2.53,0.00,0.000,6,0.000,0.045,2491,2144,3428
$GC,1065,-1.08,-146.6,127.0,-10.9,49,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2144,3429
$GC,1374,-1.05,-146.6,163.1,-12.2,64,1379,0.12,2.58,0.00,0.000,4,0.097,0.058,2518,715,3429
$GC,1438,-1.10,-146.6,170.2,-10.8,67,1442,0.00,2.53,0.00,0.000,6,0.000,0.048,2518,2146,3429
$GC,1765,-1.10,-146.6,203.6,-10.1,83,1769,0.00,2.60,0.00,0.000,4,0.000,0.061,2518,708,3429
$GC,1821,-1.15,-146.6,209.3,-10.3,85,1828,0.12,2.53,0.00,0.000,6,0.054,0.048,2481,2137,3429
$GC,2138,-1.10,-146.6,245.9,-11.8,101,2140,0.12,0.00,0.00,0.000,6,0.091,0.000,2508,2137,3429
$GC,2447,-1.10,-146.6,278.2,-10.5,116,2451,0.00,2.58,0.00,0.000,4,0.000,0.060,2508,708,3429
$GC,2503,-1.14,-146.6,284.5,-11.1,118,2509,0.00,2.53,0.00,0.000,6,0.000,0.048,2508,2138,3429
$GC,2818,-1.14,-146.6,318.6,-11.0,134,2823,0.00,2.55,0.00,0.000,4,0.000,0.061,2508,715,3429
$GC,2869,-1.17,-146.6,324.5,-11.2,136,2874,0.00,2.50,0.00,0.000,6,0.000,0.049,2508,2128,3429
$GC,3186,-1.17,-146.6,358.5,-10.4,151,3190,0.00,2.55,0.00,0.000,4,0.000,0.062,2508,718,3428
$GC,3242,-1.21,-146.6,364.5,-10.3,153,3248,0.12,2.47,0.00,0.000,6,0.055,0.049,2471,2117,3428
$GC,3558,-1.14,-146.6,400.6,-11.5,169,3560,0.12,0.00,0.00,0.000,6,0.093,0.000,2497,2118,3428
$GC,3867,-1.14,-146.6,432.0,-10.4,184,3871,0.00,2.53,0.00,0.000,4,0.000,0.062,2496,709,3428
$GC,3936,-1.14,-146.6,439.3,-10.6,187,3940,0.00,2.47,0.00,0.000,6,0.000,0.050,2497,2109,3428
$GC,4263,-1.14,-146.6,473.3,-10.0,203,4267,0.00,2.53,0.00,0.000,4,0.000,0.062,2497,715,3427
$GC,4290,-1.14,-146.6,476.4,-10.7,204,4295,0.00,2.47,0.00,0.000,6,0.000,0.051,2497,2108,3427
$GC,4606,-1.14,-146.6,507.3,-9.5,219,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2109,3427
$GC,4915,-1.14,-146.6,536.3,-9.3,234,4920,0.00,2.53,0.00,0.000,4,0.000,0.064,2497,716,3427
$GC,4978,-1.14,-146.6,542.3,-9.8,237,4982,0.00,2.47,0.00,0.000,6,0.000,0.051,2497,2109,3427
$GC,5305,-1.14,-146.6,572.4,-9.1,253,5309,0.00,2.53,0.00,0.000,4,0.000,0.063,2497,715,3427
$GC,5354,-1.14,-146.6,577.4,-9.6,255,5359,0.00,2.45,0.00,0.000,6,0.000,0.051,2497,2098,3427
$GC,5671,-1.14,-146.6,606.8,-9.3,270,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2098,3427
$GC,5979,-1.14,-146.6,634.0,-9.0,285,5984,0.00,2.50,0.00,0.000,4,0.000,0.063,2497,716,3426
$GC,6030,-1.14,-146.6,638.6,-9.6,287,6034,0.00,2.42,0.00,0.000,6,0.000,0.051,2497,2088,3426
$GC,6351,-1.14,-146.6,669.1,-10.1,303,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2089,3426
$GC,6660,-1.14,-146.6,703.4,-10.9,318,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2088,3426
$GC,6969,-1.14,-146.6,732.0,-8.8,333,6974,0.00,2.50,0.00,0.000,4,0.000,0.066,2497,715,3426
$GC,7010,-1.14,-146.6,735.8,-9.4,335,7014,0.00,2.45,0.00,0.000,6,0.000,0.052,2497,2089,3426
$GC,7337,-1.14,-146.6,766.6,-9.5,351,7342,0.00,2.65,0.00,0.000,4,0.000,0.073,2497,3538,3426
$GC,7381,-1.14,-146.6,771.2,-10.0,353,7385,0.00,2.65,0.00,0.000,6,0.000,0.061,2497,2076,3425
$STATE,7616,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7616,begin apogee
$GC,7624,-0.33,0.0,797.9,11.2,365,7761,0.80,0.00,133.20,1.346,6,0.074,0.000,2671,1835,2831
$STATE,7761,end apogee,CONTROL_FINISHED_OK
$STATE,7762,begin climb
$GC,7765,1.22,146.6,805.1,0.0,372,7907,1.52,0.00,135.88,1.302,6,0.057,0.000,3007,1835,2233
$GC,8217,1.14,146.6,774.4,9.1,394,8222,0.00,2.58,0.00,0.000,4,0.000,0.076,3007,448,2233
$GC,8258,1.00,146.6,770.3,10.6,396,8264,0.22,2.53,0.00,0.000,6,0.091,0.056,2965,1838,2232
$GC,8586,1.00,146.6,743.9,8.4,412,8590,0.00,2.60,0.00,0.000,4,0.000,0.069,2965,3261,2231
$GC,8680,1.00,146.6,735.3,9.0,416,8685,0.00,2.60,0.00,0.000,6,0.000,0.065,2965,1854,2231
$GC,8997,1.08,191.8,712.2,6.4,431,9043,0.00,2.67,40.67,1.282,4,0.000,0.066,2965,3259,2049
$GC,9111,1.19,236.4,705.4,6.4,436,9158,0.17,2.60,40.85,1.269,6,0.054,0.063,3008,1854,1867
$GC,9472,1.16,246.8,679.4,7.6,453,9488,0.00,2.65,10.82,1.138,4,0.000,0.073,3008,436,1824
$GC,9517,1.09,246.8,674.7,10.3,454,9522,0.12,2.62,0.00,0.000,6,0.094,0.054,2984,1882,1824
$GC,9839,1.11,256.5,649.9,7.6,470,9851,0.00,0.00,10.12,1.119,6,0.000,0.000,2984,1896,1785
$GC,10148,1.11,256.5,621.0,9.8,485,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1896,1785
$GC,10457,1.11,256.5,590.4,9.4,500,10458,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1896,1785
$GC,10766,1.14,276.1,565.6,7.3,515,10791,0.00,2.78,18.40,1.151,4,0.000,0.068,2984,439,1705
$GC,10821,1.14,276.1,561.4,8.2,517,10825,0.00,2.60,0.00,0.000,6,0.000,0.051,2984,1881,1705
$GC,11137,1.17,294.1,539.0,7.3,532,11159,0.00,2.58,17.12,1.124,4,0.000,0.061,2984,3255,1631
$GC,11183,1.24,294.3,535.4,8.0,534,11188,0.12,2.55,0.00,0.000,6,0.054,0.057,3019,1865,1631
$GC,11511,1.20,294.3,500.4,11.8,550,11512,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1865,1631
$GC,11820,1.17,294.3,461.6,12.7,565,11824,0.00,2.53,0.00,0.000,4,0.000,0.061,3020,3254,1632
$GC,11864,1.17,294.3,455.8,11.5,567,11868,0.00,2.50,0.00,0.000,6,0.000,0.056,3019,1871,1631
$GC,12186,1.14,294.3,416.1,11.5,583,12187,0.15,0.00,0.00,0.000,6,0.088,0.000,2990,1871,1632
$GC,12494,1.17,294.3,388.9,8.2,598,12499,0.00,2.53,0.00,0.000,4,0.000,0.061,2989,3255,1632
$GC,12536,1.24,294.3,385.3,8.9,600,12540,0.12,2.47,0.00,0.000,6,0.054,0.054,3024,1878,1632
$GC,12863,1.20,294.3,350.4,11.2,616,12864,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1877,1632
$GC,13172,1.16,294.3,313.9,12.2,631,13177,0.15,2.53,0.00,0.000,4,0.087,0.059,2994,3265,1632
$GC,13201,1.21,294.3,310.5,11.1,632,13205,0.00,2.47,0.00,0.000,6,0.000,0.052,2994,1882,1632
$GC,13516,1.21,294.3,276.6,10.6,647,13518,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1882,1633
$GC,13826,1.24,294.3,245.0,10.2,662,13830,0.00,2.50,0.00,0.000,4,0.000,0.060,2994,3262,1633
$GC,13878,1.31,294.3,239.8,9.5,664,13883,0.17,2.45,0.00,0.000,6,0.050,0.051,3040,1886,1632
$GC,14199,1.25,294.3,201.7,11.8,680,14204,0.12,2.60,0.00,0.000,4,0.091,0.064,3015,435,1633
$GC,14233,1.21,294.3,197.6,11.3,681,14239,0.00,2.60,0.00,0.000,6,0.000,0.048,3015,1904,1633
$GC,14549,1.21,294.3,164.1,10.8,697,14553,0.00,2.40,0.00,0.000,4,0.000,0.059,3015,3259,1633
$GC,14582,1.21,294.3,160.1,11.2,698,14586,0.00,2.45,0.00,0.000,6,0.000,0.051,3015,1883,1633
$GC,14899,1.21,294.3,122.0,11.5,713,14900,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1883,1633
$GC,15208,1.21,294.3,92.8,9.7,728,15209,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1883,1633
$GC,15517,1.21,294.3,61.2,8.9,743,15521,0.00,2.47,0.00,0.000,4,0.000,0.058,3015,3257,1633
$GC,15590,1.26,294.3,54.5,9.0,746,15594,0.00,2.40,0.00,0.000,6,0.000,0.048,3015,1897,1633
$GC,15907,1.26,294.3,24.2,9.7,761,15912,0.00,2.60,0.00,0.000,4,0.000,0.063,3015,439,1633
$GC,15948,1.26,294.3,19.8,10.4,763,15952,0.00,2.58,0.00,0.000,6,0.000,0.044,3015,1911,1633
$STATE,16129,end climb,SURFACE_DEPTH_REACHED
$STATE,16129,begin surface coast
$FINISH,0.8,1.026838
$STATE,16149,end surface coast,CONTROL_FINISHED_OK
$STATE,16150,begin surface
$SM_CCo,16173,3.30,0.456,0,0,1608,300.00
$SM_GC,2.49,0.00,0.00,3.30,0.000,0.000,0.456,417,2143,1608,-10.71,0.37,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1825
$TCM_TEMP,17.80
$XPDR_PINGS,37
$ALTIM_BOTTOM_PING,795.7,12.0
$24V_AH,23.8,22.915
$10V_AH,10.1,10.356
$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,26.800,142.850,407.075,3.300,0.000,37.764,38.693,165.348,16.750,0.000,0.000,13.842,1443.214,12331.838,523.625,1703.341,538.526,33.361,1404.234,0.000,1660.260,0.000,52.034,0.000
$DEVICE_MAMPS,159.536,75.933,1346.085,455.598,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,529.292,580.695,445.258,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37904,773
$CAP_FILE_SIZE,125151,0
$CFSIZE,254472192,244920320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190909,075900,6310.455,-1319.426,39,1.1,44,-12.3