version: 66.04
glider: 5
mission: 7
dive: 144
start: 9 23 109 0 3 29
data:
$ID,5
$MISSION,7
$DIVE,144
$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,-102893.91
$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,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
$GPS1,235654,6358.079,-1317.463,25,0.9,42,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-64.6
$GPS2,000238,6358.196,-1317.290,13,1.1,13,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.044,0.241
$KALMAN_X,-99804.2,387.3,1443.6,-146349.3,-3052.3
$KALMAN_Y,-26255.8,481.8,1306.5,286642.7,-4724.6
$MHEAD_RNG_PITCHd_Wd,2.3,10846,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-60.67,0.000,2,0.000,0.000,417,2151,2883
$GC,82,-1.22,-146.6,3.2,-4.3,3,118,11.48,2.55,-15.98,0.000,4,0.163,0.075,2471,3522,3429
$GC,204,-1.12,-146.6,20.5,-15.2,8,209,0.12,2.50,0.00,0.000,6,0.102,0.047,2497,2119,3430
$GC,520,-1.12,-146.6,56.1,-11.5,23,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2106,3430
$GC,829,-1.12,-146.6,92.1,-11.3,38,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2106,3431
$GC,1139,-1.12,-146.6,125.7,-10.5,53,1143,0.00,2.60,0.00,0.000,4,0.000,0.064,2497,3535,3431
$GC,1172,-1.09,-146.6,129.5,-11.4,54,1178,0.00,2.53,0.00,0.000,6,0.000,0.050,2497,2118,3431
$GC,1494,-1.09,-146.6,163.4,-10.4,72,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2104,3431
$GC,1806,-1.09,-146.6,194.1,-10.3,92,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2105,3431
$GC,2119,-1.09,-146.6,227.6,-11.4,112,2123,0.00,2.58,0.00,0.000,4,0.000,0.067,2498,3525,3431
$GC,2174,-1.09,-146.6,233.9,-11.1,115,2181,0.00,2.53,0.00,0.000,6,0.000,0.054,2498,2115,3431
$GC,2494,-1.09,-146.6,269.4,-11.0,136,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2103,3431
$GC,2808,-1.09,-146.6,305.3,-11.8,156,2812,0.00,2.47,0.00,0.000,4,0.000,0.061,2498,719,3431
$GC,2846,-1.09,-146.6,310.2,-12.0,158,2852,0.00,2.47,0.00,0.000,6,0.000,0.049,2498,2120,3431
$GC,3165,-1.09,-146.6,349.6,-13.2,179,3169,0.00,2.53,0.00,0.000,4,0.000,0.060,2498,718,3431
$GC,3217,-1.09,-146.6,356.4,-13.7,182,3221,0.00,2.47,0.00,0.000,6,0.000,0.049,2498,2117,3431
$GC,3536,-1.09,-146.6,398.1,-10.7,202,3540,0.00,2.53,0.00,0.000,4,0.000,0.061,2498,719,3430
$GC,3599,-1.09,-146.6,403.4,-7.8,206,3603,0.00,2.47,0.00,0.000,6,0.000,0.051,2498,2114,3430
$GC,3923,-1.09,-146.6,430.0,-8.4,227,3927,0.00,2.53,0.00,0.000,4,0.000,0.063,2497,719,3430
$GC,4057,-1.09,-146.6,442.7,-9.7,235,4061,0.00,2.45,0.00,0.000,6,0.000,0.051,2497,2096,3430
$GC,4376,-1.09,-146.6,471.5,-8.1,255,4381,0.00,2.50,0.00,0.000,4,0.000,0.066,2498,722,3430
$GC,4517,-1.09,-146.6,484.6,-8.7,263,4523,0.00,2.40,0.00,0.000,6,0.000,0.052,2498,2069,3430
$GC,4837,-1.09,-146.6,513.5,-10.3,284,4842,0.00,2.45,0.00,0.000,4,0.000,0.065,2498,722,3429
$GC,4967,-1.09,-146.6,526.5,-9.7,292,4971,0.00,2.38,0.00,0.000,6,0.000,0.052,2497,2056,3429
$GC,5296,-1.09,-146.6,551.3,-7.0,313,5301,0.00,2.45,0.00,0.000,4,0.000,0.069,2497,721,3428
$GC,5360,-1.09,-146.6,557.3,-8.9,317,5364,0.00,2.35,0.00,0.000,6,0.000,0.056,2497,2043,3428
$GC,5690,-1.09,-146.6,589.1,-9.7,338,5694,0.00,2.72,0.00,0.000,4,0.000,0.075,2498,3533,3428
$GC,5720,-1.09,-146.6,591.9,-9.6,340,5724,0.00,2.72,0.00,0.000,6,0.000,0.063,2498,2035,3427
$GC,6045,-1.49,-146.6,614.1,-0.1,361,6051,0.32,2.80,0.00,0.000,4,0.057,0.077,2415,3532,3427
$GC,6304,-1.80,-146.6,614.1,-0.4,376,6311,0.30,2.62,0.00,0.000,6,0.051,0.061,2343,2086,3426
$STATE,6323,end dive,NO_VERTICAL_VELOCITY
$STATE,6324,begin apogee
$GC,6331,-0.33,0.0,614.1,0.0,378,6463,1.50,0.00,128.27,1.251,6,0.057,0.000,2679,1828,2831
$STATE,6464,end apogee,CONTROL_FINISHED_OK
$STATE,6464,begin climb
$GC,6468,1.22,146.6,613.9,0.0,387,6609,1.52,2.72,129.00,1.207,4,0.062,0.067,3009,3256,2233
$GC,6869,1.14,146.6,586.5,8.5,411,6874,0.00,2.60,0.00,0.000,6,0.000,0.064,3010,1851,2232
$GC,7194,1.07,155.6,560.2,7.7,432,7211,0.17,2.65,9.18,1.034,4,0.100,0.077,2977,438,2196
$GC,7240,1.04,178.9,556.7,7.2,434,7267,0.00,2.58,21.73,1.141,6,0.000,0.057,2977,1865,2101
$GC,7591,1.10,211.8,531.9,6.8,457,7622,0.00,0.00,29.73,1.162,6,0.000,0.000,2977,1865,1967
$GC,7929,1.21,279.9,509.2,5.5,479,7996,0.15,2.78,58.92,1.173,4,0.058,0.075,3014,436,1689
$GC,8072,1.13,279.9,497.3,9.5,487,8079,0.12,2.55,0.00,0.000,6,0.097,0.056,2991,1838,1689
$GC,8392,1.20,324.3,473.9,6.4,508,8439,0.00,2.72,39.03,1.142,4,0.000,0.071,2991,434,1509
$GC,8474,1.25,356.2,468.4,6.8,513,8510,0.12,2.55,28.62,1.114,6,0.061,0.054,3022,1852,1378
$GC,8836,1.22,356.2,434.8,8.5,536,8840,0.00,2.62,0.00,0.000,4,0.000,0.071,3022,432,1379
$GC,8891,1.19,356.2,428.6,10.4,539,8898,0.00,2.47,0.00,0.000,6,0.000,0.053,3022,1805,1379
$GC,9211,1.15,356.2,393.2,10.6,560,9216,0.15,2.55,0.00,0.000,4,0.091,0.069,2993,432,1379
$GC,9273,1.15,356.2,387.1,9.7,564,9278,0.00,2.50,0.00,0.000,6,0.000,0.052,2993,1822,1379
$GC,9598,1.19,356.2,358.2,9.5,585,9602,0.00,2.60,0.00,0.000,4,0.000,0.064,2993,3264,1379
$GC,9637,1.29,356.2,354.5,10.1,587,9644,0.15,2.67,0.00,0.000,6,0.054,0.059,3032,1800,1379
$GC,9956,1.23,356.2,315.3,12.6,608,9958,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1800,1380
$GC,10269,1.18,356.2,276.7,12.4,628,10274,0.17,2.67,0.00,0.000,4,0.087,0.060,2995,3262,1380
$GC,10303,1.26,356.2,273.2,9.3,630,10308,0.12,2.62,0.00,0.000,6,0.055,0.055,3028,1811,1380
$GC,10624,1.22,356.2,234.5,12.9,650,10625,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1811,1380
$GC,10935,1.18,356.2,193.8,13.3,670,10940,0.15,2.62,0.00,0.000,4,0.090,0.059,2999,3255,1380
$GC,10964,1.23,356.2,190.2,12.5,672,10968,0.00,2.60,0.00,0.000,6,0.000,0.054,2998,1809,1380
$GC,11289,1.27,356.2,157.0,10.0,693,11294,0.12,2.62,0.00,0.000,4,0.056,0.073,3032,3261,1381
$GC,11322,1.27,356.2,153.1,11.9,695,11326,0.00,2.58,0.00,0.000,6,0.000,0.053,3032,1825,1381
$GC,11650,1.23,356.2,115.1,11.2,711,11654,0.00,2.60,0.00,0.000,4,0.000,0.058,3033,3261,1382
$GC,11677,1.23,356.2,111.8,10.3,712,11682,0.00,2.55,0.00,0.000,6,0.000,0.052,3032,1835,1381
$GC,11996,1.41,493.2,89.7,3.0,727,12113,0.00,0.00,113.12,0.871,6,0.000,0.000,3032,1834,820
$GC,12425,1.41,493.2,41.7,18.4,748,12429,0.00,2.53,0.00,0.000,4,0.000,0.064,3032,430,821
$GC,12475,1.41,493.2,31.5,17.9,750,12480,0.00,2.53,0.00,0.000,6,0.000,0.046,3032,1857,822
$STATE,12666,end climb,SURFACE_DEPTH_REACHED
$STATE,12666,begin surface coast
$FINISH,0.9,1.026935
$STATE,12687,end surface coast,CONTROL_FINISHED_OK
$STATE,12687,begin surface
$SM_CCo,12771,0.00,0.000,0,0,821,493.05
$SM_GC,1.17,11.35,0.00,0.00,0.037,0.000,0.000,426,2133,821,-10.58,0.03,493.05
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1822
$TCM_TEMP,17.30
$XPDR_PINGS,52
$ALTIM_BOTTOM_PING,545.7,83.4
$24V_AH,23.8,26.557
$10V_AH,10.1,11.910
$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,28.050,123.925,557.600,0.000,0.000,37.766,26.529,152.484,17.750,0.000,0.000,13.345,1356.915,8952.770,634.994,1675.564,491.278,33.363,1502.597,0.000,1636.177,0.000,33.518,0.000
$DEVICE_MAMPS,162.604,76.700,1250.977,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,519.030,553.207,438.590,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38028,760
$CAP_FILE_SIZE,110114,0
$CFSIZE,254472192,243728384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230909,033737,6400.897,-1314.138,40,1.4,40,-12.6