version: 66.04
glider: 5
mission: 7
dive: 128
start: 9 20 109 1 23 3
data:
$ID,5
$MISSION,7
$DIVE,128
$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,-102624.9
$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,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
$GPS1,011637,6321.571,-1312.877,31,1.7,31,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-55.9
$GPS2,012214,6321.546,-1312.862,14,1.7,14,-12.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,JW
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.158,0.188
$KALMAN_X,-92844.3,-55.8,174.5,-147707.9,3427.6
$KALMAN_Y,-11247.1,-1.1,-388.6,205955.9,1910.7
$MHEAD_RNG_PITCHd_Wd,332.3,24978,-14.7,-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,-146.6,0.0,0.0,0,101,0.00,0.00,-81.30,0.000,2,0.000,0.000,420,2152,2649
$GC,105,-1.22,-146.6,2.6,-1.9,4,152,11.43,2.62,-29.77,0.000,4,0.170,0.069,2470,705,3429
$GC,181,-1.11,-146.6,9.0,-13.0,7,188,0.15,2.47,0.00,0.000,6,0.100,0.045,2502,2111,3430
$GC,498,-1.07,-146.6,49.9,-13.8,23,502,0.00,2.58,0.00,0.000,4,0.000,0.062,2502,3538,3430
$GC,548,-1.04,-146.6,56.6,-13.4,25,552,0.00,2.50,0.00,0.000,6,0.000,0.046,2502,2122,3430
$GC,864,-1.04,-146.6,94.0,-13.4,40,869,0.00,2.47,0.00,0.000,4,0.000,0.057,2502,719,3430
$GC,950,-1.04,-146.6,106.3,-14.5,44,954,0.00,2.47,0.00,0.000,6,0.000,0.045,2502,2137,3431
$GC,1278,-1.04,-146.6,146.7,-11.3,60,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2138,3431
$GC,1586,-1.04,-146.6,174.4,-8.1,75,1590,0.00,2.55,0.00,0.000,4,0.000,0.059,2502,723,3431
$GC,1686,-1.04,-146.6,183.1,-8.4,79,1692,0.00,2.47,0.00,0.000,6,0.000,0.046,2502,2129,3431
$GC,2002,-1.04,-146.6,215.7,-12.0,95,2006,0.00,2.55,0.00,0.000,4,0.000,0.062,2502,719,3431
$GC,2057,-1.04,-146.6,222.7,-12.3,97,2063,0.00,2.47,0.00,0.000,6,0.000,0.048,2502,2120,3431
$GC,2373,-1.04,-146.6,255.5,-9.1,113,2377,0.00,2.53,0.00,0.000,4,0.000,0.060,2502,719,3431
$GC,2424,-1.04,-146.6,260.5,-9.4,115,2428,0.00,2.47,0.00,0.000,6,0.000,0.049,2502,2118,3431
$GC,2740,-1.04,-146.6,293.2,-10.8,130,2744,0.00,2.53,0.00,0.000,4,0.000,0.061,2502,719,3431
$GC,2785,-1.04,-146.6,298.3,-10.9,132,2789,0.00,2.45,0.00,0.000,6,0.000,0.048,2502,2108,3431
$GC,3107,-1.04,-146.6,332.9,-10.9,148,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2108,3431
$GC,3416,-1.04,-146.6,367.5,-11.0,163,3420,0.00,2.53,0.00,0.000,4,0.000,0.062,2502,717,3431
$GC,3466,-1.04,-146.6,373.4,-11.6,165,3470,0.00,2.45,0.00,0.000,6,0.000,0.049,2502,2099,3431
$GC,3782,-1.04,-146.6,409.1,-11.1,180,3786,0.00,2.50,0.00,0.000,4,0.000,0.061,2502,717,3430
$GC,3809,-1.04,-146.6,412.3,-11.3,181,3813,0.00,2.45,0.00,0.000,6,0.000,0.049,2502,2100,3430
$GC,4125,-1.04,-146.6,447.8,-11.6,196,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2100,3430
$GC,4435,-1.04,-146.6,484.7,-12.4,211,4439,0.00,2.50,0.00,0.000,4,0.000,0.064,2502,724,3430
$GC,4474,-1.04,-146.6,490.1,-13.7,213,4479,0.00,2.42,0.00,0.000,6,0.000,0.051,2502,2094,3430
$GC,4802,-1.04,-146.6,534.3,-13.8,229,4806,0.00,2.50,0.00,0.000,4,0.000,0.062,2502,716,3430
$GC,4852,-1.07,-146.6,541.3,-13.3,231,4856,0.00,2.42,0.00,0.000,6,0.000,0.050,2502,2080,3429
$GC,5169,-1.07,-146.6,580.2,-11.3,246,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2080,3429
$GC,5478,-1.07,-146.6,611.2,-9.4,261,5482,0.00,2.47,0.00,0.000,4,0.000,0.064,2502,720,3429
$GC,5517,-1.07,-146.6,615.1,-9.4,263,5521,0.00,2.40,0.00,0.000,6,0.000,0.051,2502,2073,3429
$GC,5845,-1.07,-146.6,647.2,-11.5,279,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2073,3429
$GC,6154,-1.07,-146.6,682.4,-9.5,294,6158,0.00,2.47,0.00,0.000,4,0.000,0.064,2502,715,3429
$GC,6181,-1.07,-146.6,684.8,-8.9,295,6185,0.00,2.38,0.00,0.000,6,0.000,0.051,2502,2050,3429
$GC,6497,-1.07,-146.6,708.6,-6.7,310,6502,0.00,2.70,0.00,0.000,4,0.000,0.071,2502,3535,3428
$GC,6577,-1.07,-146.6,714.8,-8.6,313,6583,0.00,2.65,0.00,0.000,6,0.000,0.058,2502,2062,3428
$GC,6893,-1.07,-146.6,744.8,-9.9,329,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2052,3428
$STATE,6973,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6973,begin apogee
$GC,6980,-0.33,0.0,752.7,9.6,333,7117,0.80,0.00,133.15,1.316,6,0.078,0.000,2674,1829,2831
$STATE,7118,end apogee,CONTROL_FINISHED_OK
$STATE,7118,begin climb
$GC,7121,1.22,146.6,756.6,0.0,340,7263,1.52,0.00,135.27,1.280,6,0.060,0.000,3008,1829,2233
$GC,7577,1.16,174.6,732.7,7.0,362,7611,0.00,2.72,26.67,1.216,4,0.000,0.066,3008,3255,2119
$GC,7758,1.10,174.6,717.2,9.4,370,7763,0.12,2.60,0.00,0.000,6,0.098,0.063,2986,1851,2118
$GC,8080,1.10,174.6,691.1,8.4,386,8084,0.00,2.60,0.00,0.000,4,0.000,0.067,2986,3253,2117
$GC,8158,1.10,174.6,684.7,8.5,389,8164,0.00,2.58,0.00,0.000,6,0.000,0.062,2985,1853,2117
$GC,8474,1.10,174.6,660.3,8.7,405,8478,0.00,2.60,0.00,0.000,4,0.000,0.065,2985,3259,2116
$GC,8536,1.12,186.3,654.9,7.6,408,8557,0.00,2.55,11.65,1.146,6,0.000,0.061,2986,1867,2071
$GC,8866,1.12,186.3,627.6,8.7,424,8871,0.00,2.60,0.00,0.000,4,0.000,0.071,2986,429,2070
$GC,8900,1.06,186.3,624.8,8.1,425,8907,0.00,2.58,0.00,0.000,6,0.000,0.053,2986,1867,2070
$GC,9217,1.27,315.8,606.9,3.3,441,9342,0.17,2.75,114.90,1.234,4,0.054,0.069,3034,444,1543
$GC,9366,1.16,315.8,599.4,8.2,448,9371,0.20,2.55,0.00,0.000,6,0.088,0.052,2996,1848,1544
$GC,9693,1.23,359.1,577.9,6.4,464,9735,0.00,0.00,39.70,1.174,6,0.000,0.000,2996,1864,1366
$GC,10043,1.30,377.4,555.9,7.3,481,10068,0.15,2.70,17.77,1.116,4,0.052,0.068,3034,445,1292
$GC,10109,1.24,377.4,548.5,11.9,484,10114,0.00,2.53,0.00,0.000,6,0.000,0.051,3034,1845,1292
$GC,10436,1.20,377.4,510.3,11.7,500,10441,0.15,2.55,0.00,0.000,4,0.090,0.061,3004,3260,1292
$GC,10464,1.24,377.4,507.2,10.6,501,10469,0.00,2.60,0.00,0.000,6,0.000,0.058,3004,1833,1292
$GC,10781,1.24,377.4,475.8,10.6,516,10782,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1834,1292
$GC,11090,1.24,377.4,444.4,10.1,531,11094,0.00,2.60,0.00,0.000,4,0.000,0.061,3004,3257,1293
$GC,11130,1.32,377.4,440.4,10.0,533,11135,0.12,2.58,0.00,0.000,6,0.055,0.057,3039,1838,1293
$GC,11458,1.28,377.4,401.6,11.8,549,11459,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1837,1293
$GC,11766,1.24,377.4,368.7,9.9,564,11768,0.12,0.00,0.00,0.000,6,0.092,0.000,3014,1838,1293
$GC,12075,1.24,377.4,342.0,9.2,579,12080,0.00,2.58,0.00,0.000,4,0.000,0.060,3014,3260,1293
$GC,12131,1.31,377.4,336.6,9.4,581,12137,0.00,2.55,0.00,0.000,6,0.000,0.054,3014,1844,1293
$GC,12447,1.31,377.4,298.7,13.1,597,12448,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1843,1294
$GC,12756,1.31,377.4,256.0,14.2,612,12757,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1843,1294
$GC,13066,1.31,377.4,212.9,14.2,627,13070,0.00,2.58,0.00,0.000,4,0.000,0.058,3014,3265,1294
$GC,13122,1.38,377.4,205.4,13.0,629,13128,0.15,2.53,0.00,0.000,6,0.052,0.051,3056,1853,1294
$GC,13438,1.30,377.4,159.6,13.4,645,13443,0.15,2.55,0.00,0.000,4,0.089,0.058,3026,3261,1294
$GC,13466,1.30,377.4,156.0,11.4,646,13470,0.00,2.50,0.00,0.000,6,0.000,0.051,3026,1859,1294
$GC,13782,1.30,377.4,122.3,12.6,661,13783,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1859,1294
$GC,14091,1.30,377.4,90.4,9.4,676,14096,0.00,2.55,0.00,0.000,4,0.000,0.065,3026,435,1294
$GC,14125,1.30,377.4,86.4,11.8,677,14131,0.00,2.55,0.00,0.000,6,0.000,0.048,3026,1881,1294
$GC,14442,1.30,377.4,50.2,10.4,693,14447,0.00,2.42,0.00,0.000,4,0.000,0.058,3026,3256,1295
$GC,14484,1.37,377.4,45.8,9.8,695,14488,0.00,2.45,0.00,0.000,6,0.000,0.048,3026,1873,1295
$GC,14811,1.37,377.4,9.6,11.1,711,14812,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1874,1295
$STATE,14869,end climb,SURFACE_DEPTH_REACHED
$STATE,14870,begin surface coast
$FINISH,0.5,1.011980
$STATE,14891,end surface coast,CONTROL_FINISHED_OK
$STATE,14891,begin surface
$SM_CCo,14975,0.00,0.000,0,0,1295,376.78
$SM_GC,1.52,11.20,0.00,0.00,0.035,0.000,0.000,420,2143,1295,-10.58,0.40,376.78
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1820
$TCM_TEMP,17.60
$XPDR_PINGS,41
$ALTIM_BOTTOM_PING,695.1,65.9
$24V_AH,23.8,23.758
$10V_AH,10.1,10.712
$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,26.450,137.725,479.125,0.000,0.000,37.762,42.743,136.075,16.500,0.000,0.000,14.901,1320.456,11295.938,628.442,1566.450,499.137,33.356,1454.878,0.000,1530.807,0.000,42.983,0.000
$DEVICE_MAMPS,169.507,71.331,1316.172,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,488.280,534.617,421.535,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34903,715
$CAP_FILE_SIZE,114652,0
$CFSIZE,254472192,244662272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,200909,053355,6322.437,-1320.509,40,1.1,40,-12.4