version: 66.04
glider: 5
mission: 7
dive: 130
start: 9 20 109 10 38 41
data:
$ID,5
$MISSION,7
$DIVE,130
$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,-102655.1
$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,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
$GPS1,103155,6327.110,-1322.083,43,1.2,43,-12.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-59.3
$GPS2,103750,6327.157,-1321.938,12,1.3,12,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,JW
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.115,0.217
$KALMAN_X,-95716.3,-698.7,754.6,-152728.8,-1042.4
$KALMAN_Y,-12488.9,-121.2,992.7,216320.8,-1087.8
$MHEAD_RNG_PITCHd_Wd,40.3,15609,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.17,0.000,2,0.000,0.000,417,2155,2682
$GC,82,-1.22,-146.6,2.6,-3.2,3,129,11.35,2.55,-27.48,0.000,4,0.163,0.074,2469,3528,3429
$GC,309,-1.13,-146.6,32.0,-15.0,13,314,0.15,2.50,0.00,0.000,6,0.103,0.044,2500,2113,3430
$GC,631,-1.13,-146.6,76.7,-15.6,29,635,0.00,2.47,0.00,0.000,4,0.000,0.056,2500,714,3430
$GC,811,-1.13,-146.6,111.8,-21.6,37,815,0.00,2.47,0.00,0.000,6,0.000,0.045,2500,2117,3430
$GC,1133,-1.13,-146.6,170.2,-14.9,53,1137,0.00,2.55,0.00,0.000,4,0.000,0.064,2500,3536,3430
$GC,1160,-1.13,-146.6,174.3,-13.9,54,1165,0.00,2.53,0.00,0.000,6,0.000,0.048,2500,2113,3431
$GC,1482,-1.13,-146.6,203.2,-6.6,70,1486,0.00,2.60,0.00,0.000,4,0.000,0.064,2500,3534,3431
$GC,1526,-1.13,-146.6,205.8,-5.2,72,1530,0.00,2.53,0.00,0.000,6,0.000,0.050,2500,2113,3431
$GC,1849,-1.13,-146.6,220.3,-4.9,88,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2101,3431
$GC,2156,-1.13,-146.6,238.7,-6.9,103,2161,0.00,2.62,0.00,0.000,4,0.000,0.066,2500,3540,3431
$GC,2224,-1.13,-146.6,244.2,-8.0,106,2229,0.00,2.53,0.00,0.000,6,0.000,0.051,2500,2118,3431
$GC,2546,-1.13,-146.6,272.0,-9.3,122,2550,0.00,2.62,0.00,0.000,4,0.000,0.067,2500,3542,3431
$GC,2579,-1.13,-146.6,275.4,-10.6,123,2585,0.00,2.53,0.00,0.000,6,0.000,0.054,2500,2133,3431
$GC,2895,-1.13,-146.6,309.8,-11.4,139,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2119,3431
$GC,3206,-1.13,-146.6,346.2,-12.2,154,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2119,3431
$GC,3513,-1.13,-146.6,384.7,-13.1,169,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2109,3430
$GC,3823,-1.13,-146.6,431.4,-16.4,184,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2110,3430
$GC,4132,-1.13,-146.6,485.2,-18.2,199,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2110,3430
$GC,4441,-1.13,-146.6,536.1,-15.4,214,4442,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2110,3430
$GC,4750,-1.13,-146.6,579.5,-14.5,229,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2110,3430
$GC,5059,-1.13,-146.6,619.5,-12.0,244,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2109,3429
$GC,5369,-1.13,-146.6,648.4,-7.8,259,5373,0.00,2.53,0.00,0.000,4,0.000,0.064,2500,714,3429
$GC,5505,-1.17,-146.6,661.1,-9.9,265,5510,0.00,2.53,0.00,0.000,6,0.000,0.051,2500,2141,3429
$GC,5830,-1.17,-146.6,696.0,-10.7,281,5834,0.00,2.60,0.00,0.000,4,0.000,0.065,2500,712,3429
$GC,5975,-1.17,-146.6,714.6,-13.3,287,5982,0.00,2.50,0.00,0.000,6,0.000,0.051,2500,2121,3429
$STATE,6289,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6289,begin apogee
$GC,6296,-0.33,0.0,754.9,14.2,303,6432,0.80,0.00,132.52,1.318,6,0.076,0.000,2674,1835,2831
$STATE,6433,end apogee,CONTROL_FINISHED_OK
$STATE,6433,begin climb
$GC,6436,1.22,146.6,768.2,0.0,310,6582,1.52,2.70,133.27,1.283,4,0.059,0.063,3007,3254,2233
$GC,6653,1.33,285.0,775.8,3.0,320,6783,0.12,2.58,122.43,1.272,6,0.054,0.061,3040,1859,1669
$GC,7108,1.32,374.1,745.5,4.8,342,7194,0.00,2.70,80.05,1.252,4,0.000,0.072,3041,444,1306
$GC,7297,1.21,374.1,717.4,13.4,350,7304,0.17,2.55,0.00,0.000,6,0.092,0.054,3007,1854,1307
$GC,7613,1.21,374.1,682.7,9.4,366,7617,0.00,2.65,0.00,0.000,4,0.000,0.072,3008,438,1307
$GC,7663,1.21,374.1,678.3,8.2,368,7667,0.00,2.53,0.00,0.000,6,0.000,0.053,3007,1839,1307
$GC,7979,1.24,392.5,657.4,7.3,383,8004,0.00,2.70,17.95,1.174,4,0.000,0.070,3007,442,1230
$GC,8057,1.24,392.5,650.3,9.3,386,8062,0.00,2.47,0.00,0.000,6,0.000,0.053,3007,1812,1230
$GC,8374,1.24,392.5,616.6,11.3,401,8378,0.00,2.60,0.00,0.000,4,0.000,0.062,3007,3255,1230
$GC,8407,1.32,392.5,613.0,8.8,402,8414,0.12,2.65,0.00,0.000,6,0.057,0.059,3042,1805,1230
$GC,8723,1.25,392.5,574.3,11.1,418,8725,0.12,0.00,0.00,0.000,6,0.094,0.000,3018,1805,1230
$GC,9032,1.25,392.5,537.5,12.8,433,9037,0.00,2.65,0.00,0.000,4,0.000,0.061,3018,3263,1230
$GC,9073,1.31,392.5,532.4,12.4,435,9077,0.00,2.62,0.00,0.000,6,0.000,0.058,3018,1810,1230
$GC,9400,1.31,392.5,488.4,14.5,451,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1810,1230
$GC,9709,1.31,392.5,443.4,14.3,466,9714,0.00,2.65,0.00,0.000,4,0.000,0.061,3018,3261,1230
$GC,9750,1.36,392.5,437.6,14.7,468,9755,0.10,2.60,0.00,0.000,6,0.061,0.058,3046,1820,1231
$GC,10077,1.30,392.5,389.0,13.8,484,10082,0.00,2.60,0.00,0.000,4,0.000,0.061,3046,3255,1231
$GC,10111,1.30,392.5,384.4,13.4,485,10117,0.00,2.55,0.00,0.000,6,0.000,0.055,3046,1840,1230
$GC,10427,1.24,392.5,340.0,14.1,501,10429,0.17,0.00,0.00,0.000,6,0.087,0.000,3011,1841,1231
$GC,10736,1.24,392.5,308.9,9.2,516,10741,0.00,2.58,0.00,0.000,4,0.000,0.059,3011,3259,1231
$GC,10770,1.32,397.3,306.0,7.8,517,10781,0.00,2.55,5.80,0.798,6,0.000,0.054,3011,1844,1211
$GC,11103,1.37,432.3,282.7,6.7,534,11136,0.15,0.00,30.55,0.988,6,0.052,0.000,3051,1844,1068
$GC,11433,1.32,432.3,244.7,11.8,550,11437,0.00,2.53,0.00,0.000,4,0.000,0.066,3051,440,1068
$GC,11460,1.24,432.3,241.5,11.9,551,11465,0.17,2.53,0.00,0.000,6,0.086,0.049,3015,1862,1069
$GC,11782,1.49,587.2,226.0,2.4,567,11917,0.20,2.70,127.38,0.950,4,0.049,0.066,3071,436,436
$GC,11942,1.39,587.2,209.1,16.6,574,11949,0.12,2.55,0.00,0.000,6,0.092,0.048,3047,1853,436
$GC,12258,1.35,587.2,162.2,14.5,590,12263,0.00,2.50,0.00,0.000,4,0.000,0.060,3046,3256,440
$GC,12281,1.35,587.2,159.0,13.4,591,12285,0.00,2.55,0.00,0.000,6,0.000,0.054,3047,1843,439
$GC,12602,1.35,587.2,114.6,14.3,607,12607,0.00,2.55,0.00,0.000,4,0.000,0.067,3047,433,440
$GC,12644,1.32,587.2,107.4,17.6,609,12648,0.00,2.50,0.00,0.000,6,0.000,0.049,3046,1841,440
$GC,12977,1.32,587.2,53.8,16.8,625,12981,0.00,2.58,0.00,0.000,4,0.000,0.065,3046,440,441
$GC,13027,1.32,587.2,44.7,17.7,627,13031,0.00,2.45,0.00,0.000,6,0.000,0.048,3046,1822,441
$STATE,13298,end climb,SURFACE_DEPTH_REACHED
$STATE,13299,begin surface coast
$FINISH,0.5,1.002276
$STATE,13321,end surface coast,CONTROL_FINISHED_OK
$STATE,13321,begin surface
$SM_CCo,13405,0.00,0.000,0,0,441,586.27
$SM_GC,1.13,11.38,0.00,0.00,0.035,0.000,0.000,418,2138,441,-10.60,0.23,586.27
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1818
$TCM_TEMP,16.40
$XPDR_PINGS,29
$ALTIM_BOTTOM_PING,721.4,42.1
$24V_AH,23.8,24.168
$10V_AH,10.1,10.857
$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,26.675,114.025,649.950,0.000,0.000,37.761,29.033,160.826,13.750,0.000,0.000,12.758,1175.000,9910.738,674.380,1507.648,488.568,33.368,1505.736,0.000,1467.999,0.000,44.512,0.000
$DEVICE_MAMPS,162.604,74.399,1317.706,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.576,474.328,347.460,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31711,641
$CAP_FILE_SIZE,104430,0
$CFSIZE,254472192,244551680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,200909,142325,6329.889,-1317.865,42,1.5,42,-12.4