version: 66.04
glider: 5
mission: 7
dive: 152
start: 9 23 109 22 30 17
data:
$ID,5
$MISSION,7
$DIVE,152
$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,-103055.06
$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,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
$GPS1,222337,6359.722,-1307.254,36,1.0,36,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-63.3
$GPS2,222926,6359.788,-1307.075,14,1.1,14,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,K1
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.199,-0.143
$KALMAN_X,-64753.1,-3455.7,-829.9,-166213.9,28467.4
$KALMAN_Y,-20365.5,-704.8,-155.7,286387.5,4201.9
$MHEAD_RNG_PITCHd_Wd,246.8,18284,-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,16,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.40,0.000,2,0.000,0.000,417,2149,2488
$GC,63,-1.22,-146.6,2.3,-4.0,2,125,11.27,0.00,-43.50,0.000,6,0.156,0.000,2471,2141,3430
$GC,436,-1.14,-146.6,45.2,-13.4,20,441,0.12,2.50,0.00,0.000,4,0.110,0.063,2497,3522,3430
$GC,522,-1.10,-146.6,55.1,-10.8,24,526,0.00,2.47,0.00,0.000,6,0.000,0.045,2497,2124,3430
$GC,849,-1.10,-146.6,83.6,-9.2,40,853,0.00,2.47,0.00,0.000,4,0.000,0.058,2497,723,3430
$GC,928,-1.10,-146.6,92.3,-11.2,43,934,0.00,2.45,0.00,0.000,6,0.000,0.046,2497,2109,3431
$GC,1244,-1.10,-146.6,132.8,-13.9,59,1248,0.00,2.50,0.00,0.000,4,0.000,0.058,2497,721,3431
$GC,1277,-1.10,-146.6,137.6,-14.1,60,1284,0.00,2.47,0.00,0.000,6,0.000,0.048,2497,2123,3431
$GC,1606,-1.10,-146.6,178.0,-10.9,80,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2122,3431
$GC,1918,-1.10,-146.6,207.3,-8.9,100,1922,0.00,2.53,0.00,0.000,4,0.000,0.060,2497,721,3431
$GC,1957,-1.10,-146.6,211.0,-8.9,102,1963,0.00,2.45,0.00,0.000,6,0.000,0.048,2497,2108,3431
$GC,2276,-1.10,-146.6,241.3,-9.6,123,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2108,3431
$GC,2588,-1.10,-146.6,272.6,-10.3,143,2593,0.00,2.50,0.00,0.000,4,0.000,0.061,2497,722,3431
$GC,2619,-1.10,-146.6,275.7,-11.0,145,2623,0.00,2.42,0.00,0.000,6,0.000,0.050,2497,2091,3431
$GC,2943,-1.10,-146.6,309.4,-10.2,166,2948,0.00,2.62,0.00,0.000,4,0.000,0.067,2497,3539,3430
$GC,2977,-1.10,-146.6,313.0,-10.5,168,2981,0.00,2.60,0.00,0.000,6,0.000,0.055,2497,2090,3431
$GC,3296,-1.10,-146.6,343.9,-9.2,188,3300,0.00,2.67,0.00,0.000,4,0.000,0.068,2497,3538,3431
$GC,3335,-1.10,-146.6,347.7,-10.3,190,3341,0.00,2.58,0.00,0.000,6,0.000,0.056,2497,2103,3430
$GC,3654,-1.10,-146.6,375.9,-8.6,211,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2097,3430
$GC,3966,-1.10,-146.6,403.3,-8.7,231,3971,0.00,2.65,0.00,0.000,4,0.000,0.070,2497,3534,3430
$GC,4030,-1.10,-146.6,409.2,-9.0,235,4035,0.00,2.58,0.00,0.000,6,0.000,0.056,2497,2104,3430
$GC,4356,-1.10,-146.6,443.2,-10.9,256,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2090,3430
$GC,4669,-1.10,-146.6,476.3,-10.6,276,4673,0.00,2.65,0.00,0.000,4,0.000,0.071,2497,3536,3429
$GC,4736,-1.10,-146.6,484.0,-10.3,280,4741,0.00,2.55,0.00,0.000,6,0.000,0.056,2497,2114,3429
$GC,5056,-1.10,-146.6,514.2,-8.7,300,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2090,3429
$GC,5367,-1.10,-146.6,542.7,-9.2,320,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2090,3429
$GC,5680,-1.10,-146.6,572.5,-9.4,340,5685,0.00,2.65,0.00,0.000,4,0.000,0.072,2497,3541,3428
$GC,5736,-1.10,-146.6,578.0,-10.3,343,5742,0.00,2.58,0.00,0.000,6,0.000,0.060,2497,2117,3428
$GC,6055,-1.10,-146.6,606.4,-8.8,364,6059,0.00,2.62,0.00,0.000,4,0.000,0.073,2497,3531,3428
$GC,6155,-1.10,-146.6,615.8,-9.8,370,6160,0.00,2.53,0.00,0.000,6,0.000,0.059,2497,2135,3427
$GC,6475,-1.10,-146.6,643.8,-8.1,390,6479,0.00,2.62,0.00,0.000,4,0.000,0.075,2497,3540,3427
$GC,6524,-1.10,-146.6,648.3,-9.6,393,6528,0.00,2.53,0.00,0.000,6,0.000,0.061,2497,2148,3427
$STATE,6731,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6731,begin apogee
$GC,6739,-0.33,0.0,667.8,9.2,406,6872,0.82,0.00,130.07,1.270,6,0.079,0.000,2674,1845,2831
$STATE,6873,end apogee,CONTROL_FINISHED_OK
$STATE,6873,begin climb
$GC,6877,1.22,146.6,672.2,0.0,415,7012,1.52,0.00,130.70,1.229,6,0.061,0.000,3006,1845,2233
$GC,7318,1.19,179.7,646.5,6.8,444,7354,0.00,2.67,30.27,1.181,4,0.000,0.068,3006,3252,2098
$GC,7471,1.15,179.7,634.6,8.5,453,7476,0.00,2.58,0.00,0.000,6,0.000,0.066,3006,1862,2098
$GC,7796,1.09,179.7,609.5,9.1,474,7801,0.12,2.60,0.00,0.000,4,0.099,0.068,2983,3253,2097
$GC,7847,1.09,179.7,605.0,8.4,477,7851,0.00,2.55,0.00,0.000,6,0.000,0.067,2984,1867,2096
$GC,8167,1.11,212.0,583.9,6.8,497,8202,0.00,2.65,29.23,1.198,4,0.000,0.067,2983,3249,1966
$GC,8300,1.19,266.0,575.2,6.0,505,8355,0.00,2.50,47.80,1.207,6,0.000,0.065,2984,1898,1747
$GC,8675,1.23,286.7,555.2,7.3,529,8700,0.12,2.58,19.23,1.148,4,0.060,0.067,3016,3257,1662
$GC,8747,1.23,286.7,547.4,13.0,533,8751,0.00,2.47,0.00,0.000,6,0.000,0.064,3016,1921,1662
$GC,9067,1.19,295.3,510.5,7.7,553,9083,0.00,2.78,9.45,1.038,4,0.000,0.073,3016,436,1627
$GC,9206,1.20,329.1,499.1,6.8,561,9242,0.00,2.62,30.15,1.145,6,0.000,0.054,3016,1907,1489
$GC,9565,1.20,329.1,470.5,10.4,584,9569,0.00,2.72,0.00,0.000,4,0.000,0.071,3016,433,1489
$GC,9595,1.15,329.1,466.8,12.2,586,9599,0.00,2.60,0.00,0.000,6,0.000,0.053,3016,1879,1489
$GC,9919,1.15,329.1,430.5,11.3,607,9923,0.00,2.67,0.00,0.000,4,0.000,0.070,3016,439,1489
$GC,9982,1.12,329.1,422.7,12.5,611,9987,0.15,2.55,0.00,0.000,6,0.090,0.051,2986,1861,1490
$GC,10309,1.18,329.1,390.1,9.6,632,10314,0.00,2.62,0.00,0.000,4,0.000,0.069,2986,442,1490
$GC,10355,1.22,329.1,385.3,9.8,635,10360,0.10,2.50,0.00,0.000,6,0.061,0.051,3014,1843,1490
$GC,10681,1.22,329.1,348.5,11.1,656,10685,0.00,2.55,0.00,0.000,4,0.000,0.063,3014,3262,1490
$GC,10720,1.27,329.1,344.1,10.6,658,10725,0.00,2.58,0.00,0.000,6,0.000,0.058,3014,1846,1490
$GC,11041,1.27,329.1,312.0,9.4,678,11042,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1846,1490
$GC,11352,1.27,329.1,284.0,9.1,698,11356,0.00,2.58,0.00,0.000,4,0.000,0.060,3014,3261,1490
$GC,11373,1.27,329.1,281.7,9.9,699,11378,0.00,2.55,0.00,0.000,6,0.000,0.055,3015,1848,1490
$GC,11692,1.27,329.1,250.8,9.8,719,11694,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1848,1491
$GC,12005,1.27,329.1,219.9,9.7,739,12009,0.00,2.58,0.00,0.000,4,0.000,0.059,3015,3264,1491
$GC,12038,1.31,329.1,216.5,9.7,741,12043,0.00,2.55,0.00,0.000,6,0.000,0.054,3014,1845,1491
$GC,12358,1.31,329.1,187.2,9.1,761,12359,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1845,1491
$GC,12670,1.31,329.1,155.2,10.8,781,12674,0.00,2.58,0.00,0.000,4,0.000,0.058,3014,3265,1491
$GC,12709,1.37,329.1,150.7,11.8,783,12715,0.12,2.50,0.00,0.000,6,0.054,0.052,3050,1867,1491
$GC,13042,1.31,329.1,108.2,12.4,800,13043,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1866,1492
$GC,13350,1.25,329.1,71.6,11.7,815,13352,0.17,0.00,0.00,0.000,6,0.087,0.000,3016,1867,1492
$GC,13659,1.25,329.1,44.5,8.5,830,13663,0.00,2.58,0.00,0.000,4,0.000,0.066,3015,430,1492
$GC,13732,1.25,329.1,38.0,8.1,833,13736,0.00,2.53,0.00,0.000,6,0.000,0.048,3015,1864,1493
$GC,14050,1.29,329.1,11.4,9.2,848,14054,0.00,2.45,0.00,0.000,4,0.000,0.058,3015,3258,1493
$STATE,14125,end climb,SURFACE_DEPTH_REACHED
$STATE,14125,begin surface coast
$FINISH,1.9,1.026943
$STATE,14133,end surface coast,CONTROL_FINISHED_OK
$STATE,14133,begin surface
$SM_CCo,14219,0.00,0.000,0,0,1492,328.46
$SM_GC,1.31,11.15,0.00,0.00,0.033,0.000,0.000,417,2098,1492,-10.61,-0.90,328.46
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1825
$TCM_TEMP,17.30
$XPDR_PINGS,39
$ALTIM_BOTTOM_PING,645.3,31.5
$24V_AH,23.8,27.594
$10V_AH,10.1,12.371
$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,25.700,133.450,426.900,0.000,0.000,37.762,32.748,150.895,15.750,0.000,0.000,14.171,1509.020,10246.509,539.204,1757.982,512.595,33.397,1428.387,0.000,1717.381,0.000,42.611,0.000
$DEVICE_MAMPS,156.468,75.166,1270.152,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,583.744,623.463,474.535,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44324,852
$CAP_FILE_SIZE,116490,0
$CFSIZE,254472192,243339264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,240909,022831,6359.654,-1302.751,38,1.5,38,-12.5