version: 66.04
glider: 5
mission: 7
dive: 140
start: 9 22 109 5 33 45
data:
$ID,5
$MISSION,7
$DIVE,140
$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,-102831.34
$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,21
$R_STBD_OVSHOOT,25
$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
$GPS1,052630,6346.909,-1309.126,40,1.9,40,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-59.4
$GPS2,053256,6346.897,-1309.343,17,2.0,17,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.030,0.244
$KALMAN_X,-100105.6,443.9,-882.9,-136753.7,721.4
$KALMAN_Y,-26083.3,842.0,-385.5,266914.4,-5743.1
$MHEAD_RNG_PITCHd_Wd,5.3,5771,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-66.32,0.000,2,0.000,0.000,422,2104,2667
$GC,88,-1.22,-146.6,2.3,-1.8,4,134,11.23,2.53,-29.35,0.000,4,0.156,0.071,2472,707,3431
$GC,198,-1.15,-146.6,13.6,-12.5,9,203,0.12,2.53,0.00,0.000,6,0.100,0.046,2497,2137,3430
$GC,526,-1.11,-146.6,53.1,-11.7,25,530,0.00,2.53,0.00,0.000,4,0.000,0.062,2497,3540,3430
$GC,576,-1.11,-146.6,58.9,-11.2,27,580,0.00,2.47,0.00,0.000,6,0.000,0.046,2497,2143,3430
$GC,892,-1.11,-146.6,97.7,-12.9,42,897,0.00,2.53,0.00,0.000,4,0.000,0.057,2497,710,3430
$GC,982,-1.11,-146.6,110.0,-13.9,46,987,0.00,2.53,0.00,0.000,6,0.000,0.047,2497,2141,3431
$GC,1304,-1.11,-146.6,149.2,-11.6,62,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2141,3431
$GC,1620,-1.11,-146.6,185.8,-11.7,82,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2141,3430
$GC,1934,-1.11,-146.6,221.7,-12.0,102,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2142,3431
$GC,2245,-1.11,-146.6,256.5,-10.4,122,2249,0.00,2.58,0.00,0.000,4,0.000,0.060,2497,715,3431
$GC,2312,-1.11,-146.6,263.9,-11.2,126,2316,0.00,2.50,0.00,0.000,6,0.000,0.049,2497,2134,3431
$GC,2631,-1.11,-146.6,296.6,-10.3,146,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2134,3431
$GC,2943,-1.11,-146.6,323.6,-8.6,166,2947,0.00,2.55,0.00,0.000,4,0.000,0.061,2497,719,3431
$GC,2989,-1.11,-146.6,327.6,-8.5,169,2993,0.00,2.50,0.00,0.000,6,0.000,0.050,2497,2134,3431
$GC,3314,-1.11,-146.6,352.8,-7.5,190,3318,0.00,2.55,0.00,0.000,4,0.000,0.061,2497,720,3431
$GC,3342,-1.11,-146.6,355.0,-7.6,192,3347,0.00,2.47,0.00,0.000,6,0.000,0.051,2497,2117,3431
$GC,3667,-1.11,-146.6,382.0,-8.7,213,3672,0.00,2.53,0.00,0.000,4,0.000,0.061,2497,718,3431
$GC,3696,-1.11,-146.6,384.7,-9.7,215,3700,0.00,2.47,0.00,0.000,6,0.000,0.050,2497,2113,3431
$GC,4021,-1.11,-146.6,417.6,-10.7,236,4024,0.00,2.50,0.00,0.000,4,0.000,0.061,2497,719,3430
$GC,4049,-1.11,-146.6,420.8,-11.4,237,4055,0.00,2.45,0.00,0.000,6,0.000,0.050,2497,2113,3430
$GC,4367,-1.11,-146.6,457.6,-11.7,258,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2113,3430
$GC,4680,-1.11,-146.6,494.5,-11.6,278,4685,0.00,2.53,0.00,0.000,4,0.000,0.062,2497,718,3429
$GC,4724,-1.11,-146.6,500.0,-12.3,280,4731,0.00,2.47,0.00,0.000,6,0.000,0.051,2497,2115,3430
$GC,5044,-1.11,-146.6,535.8,-11.0,301,5048,0.00,2.53,0.00,0.000,4,0.000,0.061,2498,718,3430
$GC,5077,-1.11,-146.6,539.6,-10.9,303,5081,0.00,2.45,0.00,0.000,6,0.000,0.051,2497,2100,3429
$GC,5398,-1.11,-146.6,571.3,-10.2,323,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2100,3429
$GC,5708,-1.11,-146.6,605.0,-11.1,343,5712,0.00,2.50,0.00,0.000,4,0.000,0.063,2497,718,3429
$GC,5797,-1.11,-146.6,615.6,-11.4,348,5803,0.00,2.45,0.00,0.000,6,0.000,0.051,2497,2102,3429
$GC,6116,-1.11,-146.6,647.8,-9.2,369,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2102,3429
$GC,6430,-1.11,-146.6,678.9,-10.6,389,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2103,3429
$GC,6741,-1.11,-146.6,714.8,-11.3,409,6745,0.00,2.53,0.00,0.000,4,0.000,0.067,2498,720,3428
$GC,6836,-1.11,-146.6,724.9,-10.6,415,6840,0.00,2.45,0.00,0.000,6,0.000,0.053,2497,2092,3428
$GC,7160,-1.11,-146.6,753.3,-8.9,436,7162,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2093,3427
$GC,7473,-1.11,-146.6,780.4,-9.3,456,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2093,3427
$STATE,7579,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7579,begin apogee
$GC,7587,-0.33,0.0,790.2,9.2,463,7723,0.80,0.00,133.38,1.333,6,0.077,0.000,2670,1826,2831
$STATE,7724,end apogee,CONTROL_FINISHED_OK
$STATE,7724,begin climb
$GC,7727,1.22,146.6,794.7,0.0,472,7870,1.52,0.00,135.05,1.292,6,0.056,0.000,3006,1827,2232
$GC,8183,1.13,146.6,758.7,9.8,502,8188,0.00,2.62,0.00,0.000,4,0.000,0.065,3006,3252,2232
$GC,8234,1.05,146.6,753.4,10.4,505,8239,0.17,2.58,0.00,0.000,6,0.093,0.061,2974,1853,2231
$GC,8553,1.05,146.6,722.2,10.3,525,8557,0.00,2.60,0.00,0.000,4,0.000,0.064,2974,3258,2231
$GC,8615,1.05,146.6,715.7,10.1,529,8620,0.00,2.55,0.00,0.000,6,0.000,0.061,2974,1861,2231
$GC,8940,1.24,267.5,694.8,3.6,550,9054,0.20,2.62,107.88,1.258,4,0.052,0.064,3026,3252,1740
$GC,9089,1.33,349.3,687.1,5.0,559,9170,0.00,2.55,73.95,1.222,6,0.000,0.061,3026,1875,1407
$GC,9490,1.27,349.3,655.6,10.3,585,9494,0.00,2.53,0.00,0.000,4,0.000,0.064,3026,3252,1408
$GC,9535,1.27,349.3,649.5,13.1,587,9541,0.00,2.50,0.00,0.000,6,0.000,0.060,3026,1890,1407
$GC,9855,1.22,349.3,602.5,15.3,608,9859,0.00,2.65,0.00,0.000,4,0.000,0.069,3026,433,1408
$GC,9927,1.16,349.3,591.0,15.5,612,9934,0.15,2.60,0.00,0.000,6,0.091,0.051,2998,1881,1408
$GC,10246,1.16,349.3,549.8,12.8,633,10248,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1896,1408
$GC,10559,1.16,349.3,513.6,11.0,653,10563,0.00,2.67,0.00,0.000,4,0.000,0.067,2997,433,1408
$GC,10592,1.16,349.3,509.8,12.1,655,10596,0.00,2.58,0.00,0.000,6,0.000,0.050,2997,1875,1408
$GC,10911,1.16,349.3,478.9,9.4,675,10912,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1890,1408
$GC,11223,1.16,349.3,451.0,8.6,695,11227,0.00,2.65,0.00,0.000,4,0.000,0.066,2997,432,1409
$GC,11262,1.16,349.3,447.2,10.0,697,11268,0.00,2.55,0.00,0.000,6,0.000,0.049,2997,1868,1408
$GC,11581,1.16,349.3,416.3,10.5,718,11582,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1883,1409
$GC,11893,1.16,349.3,383.7,10.4,738,11894,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1883,1409
$GC,12206,1.20,349.3,351.6,10.5,758,12210,0.00,2.62,0.00,0.000,4,0.000,0.067,2997,440,1409
$GC,12251,1.20,349.3,346.5,11.6,761,12256,0.00,2.50,0.00,0.000,6,0.000,0.049,2997,1859,1409
$GC,12578,1.23,349.3,311.4,10.8,782,12582,0.00,2.47,0.00,0.000,4,0.000,0.059,2997,3255,1409
$GC,12608,1.30,349.3,307.9,11.4,784,12613,0.15,2.53,0.00,0.000,6,0.051,0.054,3037,1848,1409
$GC,12934,1.24,349.3,261.9,14.4,805,12936,0.12,0.00,0.00,0.000,6,0.092,0.000,3013,1848,1409
$GC,13244,1.24,349.3,221.4,12.7,825,13249,0.00,2.55,0.00,0.000,4,0.000,0.061,3013,3264,1409
$GC,13284,1.29,349.3,216.2,12.9,827,13290,0.00,2.53,0.00,0.000,6,0.000,0.052,3013,1853,1410
$GC,13603,1.29,349.3,179.2,10.3,848,13604,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1853,1410
$GC,13915,1.43,433.7,156.4,4.9,868,13995,0.17,2.65,68.78,0.907,4,0.050,0.057,3064,3259,1062
$GC,14012,1.38,433.7,148.2,9.2,874,14016,0.00,2.55,0.00,0.000,6,0.000,0.051,3064,1854,1063
$GC,14331,1.28,433.7,107.1,16.9,889,14336,0.17,2.55,0.00,0.000,4,0.089,0.064,3024,439,1064
$GC,14409,1.31,433.7,94.0,14.2,892,14416,0.00,2.50,0.00,0.000,6,0.000,0.047,3024,1852,1064
$GC,14727,1.31,433.7,42.0,16.4,908,14732,0.00,2.60,0.00,0.000,4,0.000,0.063,3024,432,1064
$GC,14772,1.31,433.7,34.1,16.6,910,14776,0.00,2.47,0.00,0.000,6,0.000,0.046,3024,1833,1064
$STATE,15009,end climb,SURFACE_DEPTH_REACHED
$STATE,15009,begin surface coast
$FINISH,0.8,1.027021
$STATE,15030,end surface coast,CONTROL_FINISHED_OK
$STATE,15030,begin surface
$SM_CCo,15114,0.00,0.000,0,0,1063,433.69
$SM_GC,1.19,11.23,0.00,0.00,0.034,0.000,0.000,420,2146,1063,-10.58,0.48,433.69
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1820
$TCM_TEMP,17.50
$XPDR_PINGS,55
$ALTIM_BOTTOM_PING,720.3,78.5
$24V_AH,23.8,25.873
$10V_AH,10.1,11.583
$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,26.050,127.825,519.025,0.000,0.000,37.760,31.073,187.381,20.250,0.000,0.000,17.658,1579.363,10926.378,612.605,1831.775,547.432,33.362,1553.806,0.000,1788.272,0.000,44.614,0.000
$DEVICE_MAMPS,155.701,70.564,1333.046,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,630.459,672.825,472.920,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47465,923
$CAP_FILE_SIZE,119305,0
$CFSIZE,254472192,243961856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,220909,094654,6349.438,-1311.990,38,1.3,38,-12.5