version: 66.04
glider: 5
mission: 7
dive: 127
start: 9 19 109 21 20 21
data:
$ID,5
$MISSION,7
$DIVE,127
$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,-102609.37
$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
$GPS1,211024,6318.505,-1319.881,40,1.0,40,-12.3
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-55.4
$GPS2,211931,6318.552,-1319.725,8,1.7,8,-12.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,JW
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.114,0.217
$KALMAN_X,-97395.4,283.8,611.9,-149944.3,-2486.4
$KALMAN_Y,-13188.1,166.3,895.4,200893.7,-2973.4
$MHEAD_RNG_PITCHd_Wd,39.9,30710,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.30,0.000,2,0.000,0.000,417,2149,2658
$GC,82,-1.22,-146.6,2.6,-3.2,3,126,11.40,2.65,-26.15,0.000,4,0.163,0.067,2472,709,3429
$GC,376,-1.16,-146.6,41.5,-13.7,16,381,0.00,2.50,0.00,0.000,6,0.000,0.045,2472,2128,3430
$GC,706,-1.08,-146.6,90.0,-16.8,32,708,0.17,0.00,0.00,0.000,6,0.093,0.000,2511,2128,3430
$GC,1013,-1.08,-146.6,130.0,-10.9,47,1018,0.00,2.55,0.00,0.000,4,0.000,0.065,2511,3535,3431
$GC,1086,-1.08,-146.6,137.3,-9.3,50,1090,0.00,2.55,0.00,0.000,6,0.000,0.048,2511,2100,3431
$GC,1402,-1.08,-146.6,165.7,-9.1,65,1405,0.00,2.45,0.00,0.000,4,0.000,0.059,2510,709,3431
$GC,1435,-1.08,-146.6,169.0,-9.6,66,1439,0.00,2.47,0.00,0.000,6,0.000,0.048,2511,2119,3431
$GC,1752,-1.08,-146.6,198.2,-8.8,81,1756,0.00,2.53,0.00,0.000,4,0.000,0.059,2511,718,3432
$GC,1807,-1.11,-146.6,203.3,-8.6,83,1813,0.00,2.47,0.00,0.000,6,0.000,0.048,2511,2118,3431
$GC,2124,-1.11,-146.6,230.3,-8.7,99,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2119,3431
$GC,2432,-1.11,-146.6,258.0,-8.9,114,2437,0.00,2.53,0.00,0.000,4,0.000,0.060,2511,719,3431
$GC,2522,-1.14,-146.6,265.8,-8.3,118,2527,0.00,2.45,0.00,0.000,6,0.000,0.049,2511,2105,3431
$GC,2844,-1.14,-146.6,293.7,-8.5,134,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2105,3431
$GC,3153,-1.14,-146.6,318.9,-7.8,149,3158,0.00,2.50,0.00,0.000,4,0.000,0.061,2511,720,3430
$GC,3210,-1.17,-146.6,323.4,-7.8,151,3216,0.00,2.42,0.00,0.000,6,0.000,0.049,2511,2092,3430
$GC,3526,-1.17,-146.6,349.4,-8.8,167,3530,0.00,2.47,0.00,0.000,4,0.000,0.060,2511,720,3430
$GC,3571,-1.21,-146.6,353.8,-9.7,169,3576,0.12,2.42,0.00,0.000,6,0.056,0.050,2474,2091,3430
$GC,3893,-1.14,-146.6,392.5,-13.5,185,3895,0.10,0.00,0.00,0.000,6,0.101,0.000,2493,2090,3429
$GC,4202,-1.14,-146.6,433.4,-13.7,200,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2090,3429
$GC,4511,-1.14,-146.6,476.2,-13.4,215,4515,0.00,2.47,0.00,0.000,4,0.000,0.062,2493,722,3429
$GC,4544,-1.14,-146.6,480.9,-13.5,216,4550,0.00,2.42,0.00,0.000,6,0.000,0.051,2493,2091,3429
$GC,4862,-1.14,-146.6,521.5,-12.0,232,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2091,3429
$GC,5170,-1.14,-146.6,555.1,-10.2,247,5174,0.00,2.47,0.00,0.000,4,0.000,0.062,2493,720,3429
$GC,5203,-1.14,-146.6,558.5,-10.1,248,5209,0.00,2.40,0.00,0.000,6,0.000,0.051,2493,2079,3429
$GC,5519,-1.14,-146.6,585.6,-8.2,264,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2078,3428
$GC,5828,-1.14,-146.6,609.6,-7.3,279,5833,0.00,2.65,0.00,0.000,4,0.000,0.071,2493,3538,3428
$GC,5863,-1.14,-146.6,612.0,-7.4,280,5869,0.00,2.62,0.00,0.000,6,0.000,0.058,2493,2080,3428
$GC,6180,-1.14,-146.6,634.0,-7.4,296,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2068,3428
$GC,6489,-1.14,-146.6,657.3,-7.3,311,6493,0.00,2.42,0.00,0.000,4,0.000,0.066,2493,720,3428
$GC,6567,-1.14,-146.6,663.9,-8.7,314,6573,0.00,2.42,0.00,0.000,6,0.000,0.051,2493,2091,3427
$GC,6883,-1.14,-146.6,691.2,-9.0,330,6887,0.00,2.50,0.00,0.000,4,0.000,0.067,2493,720,3427
$GC,6933,-1.14,-146.6,696.9,-11.3,332,6937,0.00,2.42,0.00,0.000,6,0.000,0.053,2493,2086,3427
$GC,7249,-1.14,-146.6,730.0,-9.5,347,7253,0.00,2.50,0.00,0.000,4,0.000,0.067,2493,718,3426
$GC,7435,-1.14,-146.6,751.9,-14.8,355,7439,0.00,2.40,0.00,0.000,4,0.000,0.054,2493,2061,3426
$STATE,7440,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7440,begin apogee
$GC,7447,-0.33,0.0,752.6,15.7,355,7587,0.80,0.00,136.23,1.309,6,0.080,0.000,2668,1826,2831
$STATE,7588,end apogee,CONTROL_FINISHED_OK
$STATE,7588,begin climb
$GC,7591,1.22,146.6,757.6,0.0,362,7728,1.58,0.00,132.82,1.285,6,0.064,0.000,3009,1826,2233
$GC,8033,1.12,146.6,732.4,8.5,384,8038,0.00,2.55,0.00,0.000,4,0.000,0.074,3009,447,2233
$GC,8112,0.97,146.6,724.9,8.5,387,8119,0.28,2.55,0.00,0.000,6,0.094,0.055,2956,1857,2232
$GC,8428,1.11,231.9,710.1,4.9,403,8513,0.12,2.70,77.45,1.269,4,0.058,0.073,2990,453,1885
$GC,8620,1.06,231.9,692.5,10.4,411,8626,0.00,2.50,0.00,0.000,6,0.000,0.056,2990,1830,1885
$GC,8936,1.06,231.9,653.5,15.1,427,8940,0.00,2.60,0.00,0.000,4,0.000,0.067,2990,3258,1885
$GC,8976,1.06,231.9,647.2,16.1,429,8980,0.00,2.60,0.00,0.000,6,0.000,0.063,2990,1843,1885
$GC,9302,1.06,231.9,605.9,8.9,445,9306,0.00,2.55,0.00,0.000,4,0.000,0.072,2990,437,1884
$GC,9335,1.02,231.9,602.8,8.9,446,9342,0.12,2.50,0.00,0.000,6,0.094,0.054,2968,1829,1884
$GC,9652,1.38,433.1,590.6,0.7,462,9844,0.32,2.67,181.25,1.205,4,0.048,0.063,3048,3250,1065
$GC,9878,1.43,460.3,576.5,7.0,472,9909,0.00,2.65,25.52,1.131,6,0.000,0.061,3048,1822,954
$GC,10234,1.34,460.3,533.2,16.0,490,10238,0.00,2.62,0.00,0.000,4,0.000,0.062,3048,3254,955
$GC,10261,1.30,460.3,528.2,16.9,491,10266,0.00,2.62,0.00,0.000,6,0.000,0.060,3048,1826,955
$GC,10578,1.20,460.3,478.7,16.5,506,10580,0.22,0.00,0.00,0.000,6,0.091,0.000,3005,1826,956
$GC,10887,1.24,460.3,438.0,12.5,521,10892,0.00,2.62,0.00,0.000,4,0.000,0.061,3004,3256,956
$GC,10921,1.35,460.3,433.8,11.5,522,10928,0.15,2.60,0.00,0.000,6,0.051,0.058,3045,1831,956
$GC,11238,1.29,460.3,385.0,15.4,538,11239,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1830,956
$GC,11547,1.22,460.3,336.6,16.1,553,11549,0.17,0.00,0.00,0.000,6,0.087,0.000,3011,1831,956
$GC,11856,1.22,460.3,297.1,13.6,568,11860,0.00,2.60,0.00,0.000,4,0.000,0.059,3010,3258,957
$GC,11889,1.33,460.3,292.6,12.3,569,11896,0.10,2.55,0.00,0.000,6,0.058,0.055,3039,1846,956
$GC,12205,1.29,460.3,240.8,17.0,585,12207,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1846,957
$GC,12515,1.25,460.3,191.0,15.1,600,12519,0.12,2.55,0.00,0.000,4,0.091,0.058,3015,3261,957
$GC,12542,1.30,460.3,187.1,12.8,601,12547,0.00,2.53,0.00,0.000,6,0.000,0.054,3015,1849,957
$GC,12860,1.34,460.3,152.0,11.5,616,12861,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1848,958
$GC,13169,1.37,460.3,115.9,11.6,631,13170,0.12,0.00,0.00,0.000,6,0.056,0.000,3050,1848,958
$GC,13478,1.33,460.3,72.4,13.2,646,13482,0.00,2.55,0.00,0.000,4,0.000,0.058,3049,3257,958
$GC,13500,1.33,460.3,69.1,14.3,647,13504,0.00,2.47,0.00,0.000,6,0.000,0.051,3050,1870,958
$GC,13823,1.33,460.3,25.0,13.4,663,13828,0.00,2.58,0.00,0.000,4,0.000,0.064,3050,432,958
$GC,13868,1.29,460.3,18.6,14.6,665,13873,0.12,2.55,0.00,0.000,6,0.088,0.046,3025,1878,958
$STATE,14001,end climb,SURFACE_DEPTH_REACHED
$STATE,14001,begin surface coast
$FINISH,0.6,1.004364
$STATE,14023,end surface coast,CONTROL_FINISHED_OK
$STATE,14024,begin surface
$SM_CCo,14108,0.00,0.000,0,0,958,459.69
$SM_GC,1.26,11.23,0.00,0.00,0.035,0.000,0.000,420,2167,958,-10.59,1.02,459.69
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1826
$TCM_TEMP,17.50
$XPDR_PINGS,46
$ALTIM_BOTTOM_PING,745.0,17.0
$24V_AH,23.8,23.574
$10V_AH,10.1,10.641
$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,27.275,122.250,553.275,0.000,0.000,75.526,62.806,227.660,18.250,0.000,0.000,11.221,1244.837,10600.492,633.093,1530.103,643.679,33.361,1452.086,0.000,1494.234,0.000,46.962,0.000
$DEVICE_MAMPS,162.604,73.632,1308.502,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,458.949,500.824,387.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34859,673
$CAP_FILE_SIZE,112265,0
$CFSIZE,254472192,244715520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,200909,011637,6321.571,-1312.877,31,1.7,31,-12.3