version: 66.04
glider: 5
mission: 7
dive: 145
start: 9 23 109 3 44 11
data:
$ID,5
$MISSION,7
$DIVE,145
$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,-102910.12
$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,20
$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
$GPS1,033737,6400.897,-1314.138,40,1.4,40,-12.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-63.0
$GPS2,034320,6400.909,-1313.888,15,1.4,15,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.241,-0.044
$KALMAN_X,-93448.8,607.1,-343.9,-148160.5,6772.8
$KALMAN_Y,-24608.2,229.9,-641.1,292232.5,1179.3
$MHEAD_RNG_PITCHd_Wd,272.3,13189,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-80.70,0.000,2,0.000,0.000,425,2127,2487
$GC,103,-1.22,-146.6,2.1,-1.3,4,159,11.35,2.65,-37.25,0.000,4,0.163,0.077,2472,3544,3429
$GC,357,-1.12,-146.6,38.2,-18.1,15,362,0.15,2.53,0.00,0.000,6,0.098,0.045,2503,2119,3429
$GC,674,-1.09,-146.6,89.0,-14.6,30,678,0.00,2.60,0.00,0.000,4,0.000,0.063,2503,3538,3430
$GC,764,-1.05,-146.6,100.1,-11.0,34,768,0.00,2.47,0.00,0.000,6,0.000,0.045,2503,2141,3429
$GC,1085,-1.05,-146.6,117.9,-3.5,50,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2128,3429
$GC,1395,-1.05,-146.6,135.0,-6.4,65,1400,0.00,2.58,0.00,0.000,4,0.000,0.064,2503,3541,3430
$GC,1440,-1.05,-146.6,138.3,-7.1,67,1444,0.00,2.47,0.00,0.000,6,0.000,0.048,2503,2149,3430
$GC,1768,-1.05,-146.6,168.5,-10.7,86,1772,0.00,2.53,0.00,0.000,4,0.000,0.058,2503,715,3430
$GC,1808,-1.05,-146.6,172.7,-10.6,88,1815,0.00,2.55,0.00,0.000,6,0.000,0.048,2503,2158,3430
$GC,2127,-1.05,-146.6,210.3,-11.9,109,2132,0.00,2.60,0.00,0.000,4,0.000,0.058,2503,715,3430
$GC,2173,-1.05,-146.6,215.8,-11.9,112,2178,0.00,2.53,0.00,0.000,6,0.000,0.049,2503,2141,3430
$GC,2500,-1.05,-146.6,252.4,-10.6,133,2504,0.00,2.55,0.00,0.000,4,0.000,0.059,2503,723,3430
$GC,2538,-1.05,-146.6,257.2,-11.1,135,2545,0.00,2.50,0.00,0.000,6,0.000,0.049,2503,2139,3430
$GC,2858,-1.05,-146.6,291.1,-10.3,156,2862,0.00,2.55,0.00,0.000,4,0.000,0.060,2502,721,3430
$GC,2899,-1.05,-146.6,295.5,-11.5,158,2903,0.00,2.50,0.00,0.000,6,0.000,0.049,2503,2132,3430
$GC,3218,-1.05,-146.6,329.2,-10.8,178,3222,0.00,2.55,0.00,0.000,4,0.000,0.062,2503,720,3430
$GC,3241,-1.05,-146.6,331.7,-10.8,179,3247,0.00,2.47,0.00,0.000,6,0.000,0.050,2503,2114,3430
$GC,3560,-1.05,-146.6,368.7,-11.8,200,3564,0.00,2.60,0.00,0.000,4,0.000,0.068,2503,3544,3430
$GC,3581,-1.05,-146.6,371.3,-11.7,201,3588,0.00,2.58,0.00,0.000,6,0.000,0.056,2503,2113,3429
$GC,3901,-1.05,-146.6,408.4,-12.2,222,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2101,3429
$GC,4213,-1.05,-146.6,444.2,-10.6,242,4217,0.00,2.62,0.00,0.000,4,0.000,0.068,2503,3541,3429
$GC,4251,-1.05,-146.6,448.4,-10.9,244,4258,0.00,2.58,0.00,0.000,6,0.000,0.054,2503,2106,3429
$GC,4571,-1.05,-146.6,475.1,-7.4,265,4576,0.00,2.65,0.00,0.000,4,0.000,0.068,2503,3541,3429
$GC,4605,-1.05,-146.6,477.9,-7.4,267,4609,0.00,2.55,0.00,0.000,6,0.000,0.058,2503,2130,3429
$GC,4924,-1.05,-146.6,501.5,-9.1,287,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2100,3429
$GC,5237,-1.08,-146.6,517.0,-0.3,307,5241,0.00,2.62,0.00,0.000,4,0.000,0.072,2503,3540,3428
$GC,5266,-1.08,-146.6,515.9,3.7,309,5270,0.00,2.58,0.00,0.000,6,0.000,0.067,2503,2145,3428
$GC,5593,-1.08,-146.6,536.3,-4.6,330,5597,0.00,2.60,0.00,0.000,4,0.000,0.073,2503,3537,3427
$GC,5631,-1.08,-146.6,537.8,-4.4,332,5637,0.00,2.55,0.00,0.000,6,0.000,0.058,2503,2124,3427
$GC,5951,-1.08,-146.6,567.6,-8.2,353,5955,0.00,2.55,0.00,0.000,4,0.000,0.071,2503,715,3427
$STATE,6016,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6016,begin apogee
$GC,6025,-0.33,0.0,572.0,7.8,357,6158,0.75,0.00,128.60,1.202,6,0.079,0.000,2667,1875,2831
$STATE,6159,end apogee,CONTROL_FINISHED_OK
$STATE,6159,begin climb
$GC,6162,1.22,146.6,579.5,0.0,366,6301,1.55,2.60,129.07,1.162,4,0.056,0.067,3010,3256,2233
$GC,6323,1.22,244.3,571.9,4.5,376,6417,0.00,2.62,86.32,1.131,6,0.000,0.064,3010,1834,1834
$GC,6729,1.18,244.3,533.4,14.7,402,6734,0.00,2.55,0.00,0.000,4,0.000,0.076,3010,455,1834
$GC,6786,1.09,244.3,526.2,11.5,405,6793,0.15,2.53,0.00,0.000,6,0.094,0.057,2982,1849,1834
$GC,7106,1.10,251.9,500.8,7.7,426,7122,0.00,2.62,7.85,0.958,4,0.000,0.067,2982,3249,1803
$GC,7179,1.14,252.0,494.6,8.0,430,7183,0.00,2.50,0.00,0.000,6,0.000,0.064,2982,1892,1803
$GC,7498,1.14,252.0,467.4,8.6,450,7502,0.00,2.67,0.00,0.000,4,0.000,0.074,2982,433,1802
$GC,7544,1.14,252.0,462.8,11.1,453,7548,0.00,2.60,0.00,0.000,6,0.000,0.055,2982,1875,1802
$GC,7868,1.14,252.0,433.4,8.7,474,7872,0.00,2.50,0.00,0.000,4,0.000,0.066,2982,3258,1802
$GC,7941,1.18,252.0,426.9,8.7,478,7947,0.00,2.53,0.00,0.000,6,0.000,0.061,2982,1877,1802
$GC,8260,1.18,252.0,400.0,8.9,499,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1877,1801
$GC,8572,1.18,252.0,372.3,8.4,519,8576,0.00,2.55,0.00,0.000,4,0.000,0.063,2982,3265,1801
$GC,8635,1.23,252.0,367.0,8.5,523,8640,0.15,2.50,0.00,0.000,6,0.054,0.057,3021,1883,1801
$GC,8962,1.18,252.0,332.9,10.5,544,8963,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1883,1801
$GC,9272,1.13,252.0,301.1,9.9,564,9277,0.17,2.53,0.00,0.000,4,0.091,0.061,2987,3264,1801
$GC,9301,1.13,252.0,298.2,9.1,566,9305,0.00,2.45,0.00,0.000,6,0.000,0.054,2987,1901,1801
$GC,9625,1.13,252.0,272.0,8.0,587,9629,0.00,2.47,0.00,0.000,4,0.000,0.061,2987,3261,1801
$GC,9658,1.18,252.0,269.2,8.6,589,9663,0.00,2.45,0.00,0.000,6,0.000,0.054,2987,1897,1801
$GC,9977,1.18,252.0,241.0,9.1,609,9982,0.00,2.47,0.00,0.000,4,0.000,0.060,2987,3258,1801
$GC,10000,1.23,252.0,238.9,9.1,610,10007,0.10,2.42,0.00,0.000,6,0.060,0.052,3016,1901,1801
$GC,10320,1.19,252.0,204.5,10.6,631,10321,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1901,1802
$GC,10632,1.16,252.0,173.4,9.8,651,10636,0.00,2.47,0.00,0.000,4,0.000,0.060,3016,3265,1802
$GC,10677,1.16,252.0,169.0,9.8,654,10681,0.00,2.40,0.00,0.000,6,0.000,0.051,3016,1920,1802
$GC,10996,1.16,252.0,139.8,9.0,673,11001,0.00,2.65,0.00,0.000,4,0.000,0.065,3016,441,1802
$GC,11025,1.10,252.0,137.0,10.1,674,11030,0.17,2.65,0.00,0.000,6,0.087,0.048,2980,1942,1802
$GC,11342,1.17,258.9,113.2,7.7,689,11356,0.00,2.83,7.47,0.752,4,0.000,0.064,2980,433,1774
$GC,11391,1.17,258.9,108.7,8.6,691,11395,0.00,2.62,0.00,0.000,6,0.000,0.047,2980,1913,1774
$GC,11713,1.26,280.4,83.0,7.2,707,11739,0.17,2.47,18.50,0.827,4,0.049,0.057,3031,3262,1687
$GC,11785,1.26,280.4,76.0,10.0,710,11789,0.00,2.42,0.00,0.000,6,0.000,0.050,3031,1911,1687
$GC,12107,1.22,280.4,44.7,9.8,726,12108,0.12,0.00,0.00,0.000,6,0.091,0.000,3006,1911,1687
$GC,12418,1.25,280.4,18.0,8.7,741,12422,0.00,2.65,0.00,0.000,4,0.000,0.064,3006,433,1687
$GC,12473,1.25,280.4,12.2,10.3,743,12480,0.00,2.65,0.00,0.000,6,0.000,0.046,3006,1942,1687
$STATE,12600,end climb,SURFACE_DEPTH_REACHED
$STATE,12601,begin surface coast
$FINISH,0.6,1.026949
$STATE,12623,end surface coast,CONTROL_FINISHED_OK
$STATE,12623,begin surface
$SM_CCo,12646,10.40,0.724,0,0,1608,300.00
$SM_GC,1.84,0.00,0.00,10.40,0.000,0.000,0.724,422,2148,1608,-10.69,0.48,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1822
$TCM_TEMP,17.40
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,545.3,36.5
$24V_AH,23.9,26.696
$10V_AH,10.1,11.981
$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,26.025,142.875,377.825,10.400,0.000,37.759,33.434,150.561,15.500,0.000,0.000,15.581,1346.919,9022.789,542.768,1590.425,499.830,33.364,1366.463,0.000,1550.685,0.000,36.294,0.000
$DEVICE_MAMPS,162.604,76.700,1201.889,724.048,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,513.132,548.263,476.654,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37911,751
$CAP_FILE_SIZE,111227,0
$CFSIZE,254472192,243666944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230909,071631,6359.746,-1316.243,42,1.3,42,-12.6