version: 66.04
glider: 5
mission: 7
dive: 151
start: 9 23 109 18 29 26
data:
$ID,5
$MISSION,7
$DIVE,151
$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,-103040.27
$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,24
$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
$GPS1,182330,6401.293,-1307.697,36,2.0,42,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-63.9
$GPS2,182837,6401.264,-1307.508,15,1.9,15,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,K1
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.204,-0.136
$KALMAN_X,-71423.3,1706.7,-2239.0,-163670.4,34028.1
$KALMAN_Y,-22297.1,1310.4,-622.8,289517.5,3211.2
$MHEAD_RNG_PITCHd_Wd,248.9,20961,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.28,0.000,2,0.000,0.000,417,2143,2776
$GC,83,-1.22,-146.6,2.8,-3.5,3,119,11.50,0.00,-21.12,0.000,6,0.163,0.000,2472,2143,3430
$GC,431,-1.13,-146.6,45.9,-12.7,20,433,0.12,0.00,0.00,0.000,6,0.110,0.000,2497,2143,3430
$GC,738,-1.13,-146.6,81.8,-12.0,35,742,0.00,2.50,0.00,0.000,4,0.000,0.062,2497,3534,3431
$GC,778,-1.13,-146.6,87.0,-13.5,37,782,0.00,2.50,0.00,0.000,6,0.000,0.047,2497,2120,3431
$GC,1106,-1.13,-146.6,120.5,-8.9,53,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2108,3431
$GC,1414,-1.13,-146.6,147.7,-9.3,68,1418,0.00,2.58,0.00,0.000,4,0.000,0.064,2497,3533,3431
$GC,1497,-1.13,-146.6,156.3,-10.1,73,1501,0.00,2.47,0.00,0.000,6,0.000,0.048,2497,2137,3431
$GC,1817,-1.13,-146.6,188.5,-9.6,93,1821,0.00,2.55,0.00,0.000,4,0.000,0.064,2497,3537,3431
$GC,1884,-1.13,-146.6,195.5,-10.3,97,1888,0.00,2.47,0.00,0.000,6,0.000,0.050,2497,2144,3431
$GC,2203,-1.13,-146.6,225.7,-9.5,117,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2131,3431
$GC,2515,-1.13,-146.6,259.4,-10.8,137,2519,0.00,2.55,0.00,0.000,4,0.000,0.067,2497,3538,3431
$GC,2543,-1.13,-146.6,262.5,-10.8,139,2548,0.00,2.47,0.00,0.000,6,0.000,0.052,2497,2150,3431
$GC,2871,-1.13,-146.6,296.2,-10.4,160,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2138,3431
$GC,3180,-1.13,-146.6,327.6,-10.1,180,3185,0.00,2.55,0.00,0.000,4,0.000,0.068,2498,3531,3431
$GC,3202,-1.13,-146.6,329.9,-9.9,181,3209,0.00,2.45,0.00,0.000,6,0.000,0.054,2497,2164,3431
$GC,3522,-1.13,-146.6,362.7,-10.8,202,3526,0.00,2.53,0.00,0.000,4,0.000,0.069,2498,3529,3431
$GC,3571,-1.13,-146.6,368.6,-11.5,205,3576,0.00,2.42,0.00,0.000,6,0.000,0.054,2497,2174,3431
$GC,3891,-1.13,-146.6,402.2,-9.9,225,3895,0.00,2.53,0.00,0.000,4,0.000,0.070,2498,3537,3431
$GC,3924,-1.13,-146.6,405.7,-10.3,227,3928,0.00,2.42,0.00,0.000,6,0.000,0.056,2497,2187,3430
$GC,4243,-1.13,-146.6,434.9,-9.5,247,4247,0.00,2.62,0.00,0.000,4,0.000,0.063,2498,715,3431
$GC,4264,-1.13,-146.6,437.1,-9.8,248,4270,0.00,2.60,0.00,0.000,6,0.000,0.051,2497,2177,3431
$GC,4584,-1.13,-146.6,462.2,-7.0,269,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2179,3430
$GC,4897,-1.13,-146.6,490.9,-11.1,289,4901,0.00,2.65,0.00,0.000,4,0.000,0.064,2498,719,3430
$GC,4919,-1.13,-146.6,493.4,-9.9,290,4925,0.00,2.60,0.00,0.000,6,0.000,0.053,2497,2184,3430
$GC,5238,-1.13,-146.6,529.6,-11.0,311,5243,0.00,2.67,0.00,0.000,4,0.000,0.067,2498,718,3430
$GC,5260,-1.13,-146.6,532.3,-11.5,312,5267,0.00,2.60,0.00,0.000,6,0.000,0.054,2498,2176,3430
$GC,5580,-1.13,-146.6,562.1,-11.3,333,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2176,3429
$GC,5892,-1.13,-146.6,594.5,-13.3,353,5896,0.00,2.67,0.00,0.000,4,0.000,0.072,2497,723,3429
$GC,5947,-1.13,-146.6,599.7,-9.6,356,5953,0.00,2.55,0.00,0.000,6,0.000,0.057,2498,2143,3428
$GC,6266,-1.13,-146.6,634.0,-12.8,377,6270,0.00,2.60,0.00,0.000,4,0.000,0.070,2497,722,3427
$GC,6352,-1.19,-146.6,641.8,-13.2,382,6356,0.00,2.50,0.00,0.000,6,0.000,0.058,2497,2120,3427
$STATE,6423,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6423,begin apogee
$GC,6431,-0.33,0.0,649.0,9.6,387,6565,0.80,0.00,130.68,1.256,6,0.081,0.000,2668,1838,2832
$STATE,6566,end apogee,CONTROL_FINISHED_OK
$STATE,6566,begin climb
$GC,6569,1.22,146.6,650.4,0.0,396,6709,1.55,2.65,128.50,1.223,4,0.062,0.076,3008,468,2233
$GC,6774,1.11,146.6,633.7,12.2,408,6780,0.00,2.53,0.00,0.000,6,0.000,0.056,3008,1855,2233
$GC,7093,1.05,166.6,609.1,7.3,429,7115,0.17,0.00,18.90,1.138,6,0.102,0.000,2974,1871,2151
$GC,7426,1.17,213.8,586.6,6.3,450,7475,0.12,2.62,42.15,1.194,4,0.061,0.070,3004,3254,1958
$GC,7556,1.14,213.8,574.5,10.2,457,7562,0.00,2.60,0.00,0.000,6,0.000,0.066,3004,1857,1958
$GC,7876,1.10,215.3,547.6,7.9,478,7881,0.00,2.62,0.00,0.000,4,0.000,0.079,3004,436,1957
$GC,7923,1.01,215.3,543.2,9.6,481,7928,0.20,2.50,0.00,0.000,6,0.096,0.058,2965,1827,1957
$GC,8251,1.06,215.3,521.3,8.2,502,8252,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1842,1957
$GC,8560,1.10,215.3,495.5,8.3,522,8565,0.00,2.60,0.00,0.000,4,0.000,0.068,2965,3257,1957
$GC,8595,1.17,219.2,492.7,7.9,524,8607,0.17,2.65,5.65,0.913,6,0.056,0.064,3008,1817,1937
$GC,8922,1.13,219.2,457.1,11.4,545,8923,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1817,1937
$GC,9231,1.09,219.2,423.7,10.5,565,9236,0.15,2.65,0.00,0.000,4,0.093,0.064,2979,3256,1937
$GC,9345,1.13,219.2,413.4,8.6,572,9350,0.00,2.58,0.00,0.000,6,0.000,0.059,2979,1834,1936
$GC,9670,1.13,219.2,382.6,10.8,593,9674,0.00,2.60,0.00,0.000,4,0.000,0.063,2979,3255,1936
$GC,9703,1.17,219.2,379.0,10.8,595,9707,0.00,2.55,0.00,0.000,6,0.000,0.057,2978,1847,1936
$GC,10023,1.21,219.2,347.8,9.8,615,10028,0.12,2.58,0.00,0.000,4,0.058,0.061,3013,3255,1936
$GC,10073,1.18,219.2,341.9,11.9,618,10078,0.00,2.50,0.00,0.000,6,0.000,0.056,3013,1869,1936
$GC,10393,1.13,219.2,306.7,10.7,638,10397,0.00,2.58,0.00,0.000,4,0.000,0.069,3012,440,1936
$GC,10422,1.05,219.2,303.3,12.6,640,10427,0.20,2.55,0.00,0.000,6,0.087,0.050,2974,1879,1937
$GC,10751,1.11,219.2,274.8,8.5,661,10755,0.00,2.45,0.00,0.000,4,0.000,0.060,2974,3257,1937
$GC,10781,1.17,219.2,271.9,9.3,663,10785,0.12,2.47,0.00,0.000,6,0.056,0.054,3008,1870,1937
$GC,11107,1.14,219.2,241.5,9.6,684,11109,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1870,1937
$GC,11417,1.14,219.2,211.7,9.6,704,11422,0.00,2.53,0.00,0.000,4,0.000,0.060,3008,3262,1938
$GC,11456,1.14,219.2,207.6,10.5,706,11463,0.00,2.47,0.00,0.000,6,0.000,0.052,3008,1874,1938
$GC,11775,1.14,219.2,178.8,8.6,727,11776,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1874,1938
$GC,12088,1.14,219.2,152.6,8.4,747,12089,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1874,1939
$GC,12403,1.14,219.2,127.0,8.0,763,12407,0.00,2.50,0.00,0.000,4,0.000,0.058,3008,3259,1939
$GC,12448,1.16,228.0,123.2,7.7,765,12465,0.00,2.42,9.30,0.797,6,0.000,0.050,3008,1893,1900
$GC,12777,1.17,233.6,97.9,7.8,781,12785,0.00,0.00,6.70,0.735,6,0.000,0.000,3008,1893,1878
$GC,13085,1.17,233.6,73.7,8.0,796,13087,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1893,1878
$GC,13393,1.17,233.6,45.4,10.1,811,13398,0.00,2.60,0.00,0.000,4,0.000,0.064,3008,439,1878
$GC,13438,1.12,233.6,40.2,11.4,813,13443,0.00,2.60,0.00,0.000,6,0.000,0.046,3008,1916,1878
$GC,13761,1.14,245.2,13.2,7.6,829,13776,0.00,2.40,10.95,0.751,4,0.000,0.058,3008,3255,1830
$GC,13827,1.14,245.2,7.8,8.9,831,13831,0.00,2.40,0.00,0.000,6,0.000,0.048,3008,1910,1830
$STATE,13900,end climb,SURFACE_DEPTH_REACHED
$STATE,13900,begin surface coast
$FINISH,0.7,1.026940
$STATE,13921,end surface coast,CONTROL_FINISHED_OK
$STATE,13921,begin surface
$SM_CCo,13944,29.35,0.788,0,0,1608,300.00
$SM_GC,1.31,0.00,0.00,29.35,0.000,0.000,0.788,417,2138,1608,-10.71,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1821
$TCM_TEMP,17.40
$XPDR_PINGS,35
$ALTIM_BOTTOM_PING,571.4,86.9
$24V_AH,23.8,27.432
$10V_AH,10.1,12.295
$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,26.450,128.150,352.825,29.350,0.000,37.762,35.292,120.795,13.750,0.000,0.000,15.525,1474.584,10157.611,510.280,1665.480,477.786,33.356,1348.944,0.000,1630.605,0.000,34.779,0.000
$DEVICE_MAMPS,162.604,79.001,1256.346,788.476,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,572.928,612.247,502.214,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44399,836
$CAP_FILE_SIZE,114607,0
$CFSIZE,254472192,243404800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,230909,222337,6359.722,-1307.254,36,1.0,36,-12.5