version: 66.04
glider: 5
mission: 7
dive: 146
start: 9 23 109 7 22 51
data:
$ID,5
$MISSION,7
$DIVE,146
$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,-102921.95
$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,30
$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
$GPS1,071631,6359.746,-1316.243,42,1.3,42,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-64.9
$GPS2,072202,6359.719,-1316.186,11,1.6,11,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.229,0.088
$KALMAN_X,-89787.2,566.4,-269.4,-153830.9,8932.3
$KALMAN_Y,-26594.1,42.1,195.4,291396.0,-2313.2
$MHEAD_RNG_PITCHd_Wd,303.6,11227,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,81,0.00,0.00,-60.62,0.000,2,0.000,0.000,422,2147,2898
$GC,84,-1.22,-146.6,3.3,-4.4,3,117,11.32,2.53,-14.75,0.000,4,0.164,0.075,2470,3532,3429
$GC,252,-1.12,-146.6,27.4,-13.1,10,259,0.15,2.50,0.00,0.000,6,0.100,0.046,2502,2116,3429
$GC,570,-1.12,-146.6,62.0,-10.9,26,574,0.00,2.47,0.00,0.000,4,0.000,0.058,2502,717,3430
$GC,655,-1.12,-146.6,71.7,-11.1,30,660,0.00,2.47,0.00,0.000,6,0.000,0.047,2501,2117,3430
$GC,983,-1.12,-146.6,104.3,-9.8,46,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2117,3430
$GC,1292,-1.12,-146.6,135.5,-10.8,61,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2117,3430
$GC,1608,-1.12,-146.6,167.8,-10.3,79,1612,0.00,2.53,0.00,0.000,4,0.000,0.058,2502,716,3430
$GC,1647,-1.16,-146.6,171.8,-9.7,81,1653,0.00,2.50,0.00,0.000,6,0.000,0.049,2502,2136,3430
$GC,1966,-1.16,-146.6,203.0,-10.0,102,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2136,3430
$GC,2279,-1.16,-146.6,234.5,-10.2,122,2283,0.00,2.55,0.00,0.000,4,0.000,0.059,2502,720,3430
$GC,2334,-1.16,-146.6,240.4,-10.9,125,2341,0.00,2.50,0.00,0.000,6,0.000,0.048,2502,2133,3430
$GC,2656,-1.16,-146.6,273.1,-10.4,146,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2133,3430
$GC,2968,-1.16,-146.6,305.2,-10.1,166,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2133,3430
$GC,3278,-1.16,-146.6,335.6,-8.9,186,3282,0.00,2.55,0.00,0.000,4,0.000,0.061,2501,720,3430
$GC,3313,-1.16,-146.6,339.0,-9.6,188,3318,0.00,2.50,0.00,0.000,6,0.000,0.050,2502,2135,3430
$GC,3639,-1.16,-146.6,369.0,-9.0,209,3643,0.00,2.55,0.00,0.000,4,0.000,0.061,2502,720,3430
$GC,3668,-1.16,-146.6,372.0,-9.8,211,3673,0.00,2.50,0.00,0.000,6,0.000,0.050,2502,2130,3430
$GC,3993,-1.16,-146.6,400.7,-8.6,232,3998,0.00,2.55,0.00,0.000,4,0.000,0.064,2502,724,3430
$GC,4057,-1.19,-146.6,406.5,-9.6,236,4061,0.00,2.47,0.00,0.000,6,0.000,0.051,2502,2116,3430
$GC,4382,-1.19,-146.6,435.9,-7.5,257,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2118,3429
$GC,4694,-1.19,-146.6,459.3,-7.8,277,4696,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2118,3429
$GC,5007,-1.19,-146.6,478.7,-5.1,297,5011,0.00,2.53,0.00,0.000,4,0.000,0.064,2502,718,3429
$GC,5086,-1.19,-146.6,485.3,-9.1,302,5091,0.00,2.45,0.00,0.000,6,0.000,0.051,2502,2100,3429
$GC,5410,-1.19,-146.6,519.0,-10.2,323,5414,0.00,2.50,0.00,0.000,4,0.000,0.065,2501,723,3428
$GC,5444,-1.23,-146.6,522.4,-9.6,325,5449,0.12,2.45,0.00,0.000,6,0.062,0.054,2467,2097,3428
$GC,5768,-1.16,-146.6,556.7,-12.3,345,5772,0.12,2.50,0.00,0.000,4,0.104,0.066,2491,723,3427
$GC,5864,-1.16,-146.6,568.6,-10.8,351,5868,0.00,2.42,0.00,0.000,6,0.000,0.055,2491,2080,3427
$GC,6192,-1.34,-146.6,594.8,-5.0,372,6197,0.17,2.67,0.00,0.000,4,0.064,0.077,2451,3533,3427
$GC,6450,-1.61,-146.6,594.8,-0.2,387,6457,0.25,2.55,0.00,0.000,6,0.054,0.062,2384,2112,3426
$STATE,6516,end dive,NO_VERTICAL_VELOCITY
$STATE,6516,begin apogee
$GC,6524,-0.33,0.0,594.7,0.0,392,6656,1.30,0.00,128.40,1.235,6,0.061,0.000,2677,1855,2831
$STATE,6657,end apogee,CONTROL_FINISHED_OK
$STATE,6657,begin climb
$GC,6660,1.22,146.6,594.5,0.0,401,6801,1.50,2.67,129.40,1.189,4,0.052,0.067,3011,3252,2233
$GC,7036,1.13,146.6,570.7,8.6,423,7042,0.00,2.60,0.00,0.000,6,0.000,0.065,3011,1851,2232
$GC,7356,1.01,146.6,545.0,8.8,444,7361,0.22,2.60,0.00,0.000,4,0.097,0.074,2966,436,2232
$GC,7413,1.06,209.2,541.3,5.7,447,7474,0.00,2.55,54.85,1.167,6,0.000,0.057,2966,1860,1977
$GC,7794,1.08,225.3,514.9,7.4,472,7814,0.00,2.70,15.02,1.094,4,0.000,0.074,2966,441,1912
$GC,7942,1.08,225.3,504.1,8.6,481,7947,0.00,2.50,0.00,0.000,6,0.000,0.057,2966,1814,1912
$GC,8267,1.12,225.3,472.4,10.2,502,8272,0.10,2.55,0.00,0.000,4,0.062,0.073,2994,435,1911
$GC,8357,1.07,225.3,462.8,10.3,507,8363,0.00,2.45,0.00,0.000,6,0.000,0.055,2994,1796,1911
$GC,8676,1.07,225.3,432.5,10.6,528,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1811,1911
$GC,8990,1.07,225.3,399.6,10.7,548,8994,0.00,2.65,0.00,0.000,4,0.000,0.066,2994,3261,1911
$GC,9046,1.07,225.3,392.8,12.5,551,9052,0.00,2.70,0.00,0.000,6,0.000,0.061,2994,1785,1911
$GC,9365,1.07,225.3,360.2,10.3,572,9369,0.00,2.70,0.00,0.000,4,0.000,0.062,2994,3258,1911
$GC,9398,1.07,225.3,356.5,10.4,574,9402,0.00,2.65,0.00,0.000,6,0.000,0.060,2994,1807,1910
$GC,9717,1.07,225.3,326.8,9.0,594,9721,0.00,2.67,0.00,0.000,4,0.000,0.063,2994,3264,1910
$GC,9755,1.07,225.3,323.3,8.9,596,9762,0.00,2.62,0.00,0.000,6,0.000,0.058,2994,1816,1911
$GC,10076,1.07,225.3,295.8,9.1,617,10077,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1817,1911
$GC,10387,1.07,225.3,269.4,10.0,637,10391,0.00,2.47,0.00,0.000,4,0.000,0.069,2995,442,1911
$GC,10438,1.07,225.3,264.2,9.2,640,10442,0.00,2.50,0.00,0.000,6,0.000,0.051,2994,1844,1910
$GC,10763,1.14,271.1,245.6,6.3,661,10810,0.00,2.70,39.08,0.992,4,0.000,0.069,2995,443,1725
$GC,10862,1.19,298.9,238.5,7.0,667,10894,0.00,2.45,24.38,0.966,6,0.000,0.050,2994,1827,1612
$GC,11209,1.19,298.9,207.0,10.3,689,11213,0.00,2.55,0.00,0.000,4,0.000,0.059,2995,3242,1613
$GC,11265,1.25,298.9,200.7,10.5,692,11271,0.10,2.58,0.00,0.000,6,0.055,0.053,3023,1812,1613
$GC,11587,1.22,298.9,165.7,11.4,712,11591,0.00,2.60,0.00,0.000,4,0.000,0.059,3023,3241,1614
$GC,11620,1.22,298.9,161.3,12.1,714,11625,0.00,2.55,0.00,0.000,6,0.000,0.053,3023,1823,1613
$GC,11948,1.18,298.9,120.8,12.9,731,11949,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1823,1613
$GC,12259,1.15,298.9,82.6,12.1,746,12264,0.15,2.58,0.00,0.000,4,0.087,0.058,2994,3243,1614
$GC,12304,1.23,298.9,77.4,9.7,748,12308,0.00,2.53,0.00,0.000,6,0.000,0.051,2994,1830,1614
$GC,12626,1.29,306.7,50.9,7.7,764,12641,0.15,2.60,8.60,0.756,4,0.052,0.058,3034,3241,1580
$GC,12675,1.29,306.7,46.1,9.8,766,12679,0.00,2.50,0.00,0.000,6,0.000,0.050,3034,1849,1579
$GC,12997,1.25,306.7,12.8,10.7,782,12998,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1849,1580
$STATE,13096,end climb,SURFACE_DEPTH_REACHED
$STATE,13096,begin surface coast
$FINISH,0.5,1.024905
$STATE,13118,end surface coast,CONTROL_FINISHED_OK
$STATE,13118,begin surface
$SM_CCo,13202,0.00,0.000,0,0,1579,307.12
$SM_GC,1.57,11.38,0.00,0.00,0.038,0.000,0.000,417,2126,1579,-10.61,-0.11,307.12
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1836
$TCM_TEMP,17.20
$XPDR_PINGS,54
$24V_AH,23.8,26.840
$10V_AH,10.1,12.054
$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,27.050,123.450,399.725,0.000,0.000,37.764,30.768,142.382,18.750,0.000,0.000,11.205,1414.328,9418.946,490.256,1715.397,490.905,33.364,1363.700,0.000,1679.437,0.000,37.691,0.000
$DEVICE_MAMPS,164.138,76.700,1234.870,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,539.705,577.200,457.759,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41127,788
$CAP_FILE_SIZE,111591,0
$CFSIZE,254472192,243605504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,230909,110407,6401.129,-1316.917,37,1.0,37,-12.6