version: 66.04
glider: 5
mission: 7
dive: 163
start: 9 26 109 0 51 49
data:
$ID,5
$MISSION,7
$DIVE,163
$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,-103296.47
$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,23
$R_STBD_OVSHOOT,24
$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
$GPS1,004401,6353.340,-1321.715,40,1.8,40,-12.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-52.6
$GPS2,005101,6353.380,-1321.348,34,1.9,34,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.239,0.055
$KALMAN_X,-45993.2,-477.3,-460.4,-200910.4,5277.3
$KALMAN_Y,-13863.8,158.9,-34.4,267046.8,-332.3
$MHEAD_RNG_PITCHd_Wd,295.5,14130,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.65,0.000,2,0.000,0.000,419,2153,2497
$GC,63,-1.22,-146.6,2.2,-1.8,2,135,11.50,2.65,-52.17,0.000,4,0.163,0.068,2470,712,3429
$GC,149,-1.08,-146.6,3.7,-10.1,6,154,0.17,2.53,0.00,0.000,6,0.103,0.048,2505,2133,3429
$GC,476,-1.04,-146.6,39.4,-11.1,22,481,0.00,2.55,0.00,0.000,4,0.000,0.055,2505,714,3429
$GC,510,-1.04,-146.6,44.3,-13.6,23,516,0.00,2.50,0.00,0.000,6,0.000,0.048,2505,2130,3429
$GC,827,-1.04,-146.6,73.3,-7.9,39,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2131,3430
$GC,1137,-1.04,-146.6,100.9,-10.0,54,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2130,3430
$GC,1445,-1.04,-146.6,137.6,-11.9,69,1449,0.00,2.55,0.00,0.000,4,0.000,0.058,2506,714,3430
$GC,1473,-1.04,-146.6,141.1,-12.7,70,1477,0.00,2.50,0.00,0.000,6,0.000,0.048,2506,2122,3430
$GC,1796,-1.04,-146.6,180.3,-12.2,89,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2123,3430
$GC,2109,-1.04,-146.6,215.8,-10.8,109,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2123,3430
$GC,2421,-1.04,-146.6,247.0,-9.6,129,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2123,3430
$GC,2734,-1.04,-146.6,277.5,-9.8,149,2738,0.00,2.55,0.00,0.000,4,0.000,0.061,2506,710,3430
$GC,2790,-1.07,-146.6,283.2,-9.6,152,2796,0.00,2.50,0.00,0.000,6,0.000,0.050,2505,2120,3430
$GC,3108,-1.07,-146.6,312.9,-9.3,173,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2119,3430
$GC,3421,-1.07,-146.6,341.1,-8.9,193,3425,0.00,2.53,0.00,0.000,4,0.000,0.061,2506,718,3430
$GC,3484,-1.10,-146.6,347.0,-9.8,197,3488,0.00,2.47,0.00,0.000,6,0.000,0.050,2506,2117,3430
$GC,3808,-1.10,-146.6,376.8,-9.1,218,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2117,3429
$GC,4120,-1.10,-146.6,405.6,-9.4,238,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2117,3429
$GC,4432,-1.10,-146.6,436.2,-9.9,258,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2117,3429
$GC,4745,-1.10,-146.6,467.4,-10.2,278,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2116,3429
$GC,5057,-1.10,-146.6,498.7,-10.0,298,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2117,3429
$GC,5370,-1.10,-146.6,528.5,-9.6,318,5374,0.00,2.53,0.00,0.000,4,0.000,0.062,2506,718,3429
$GC,5398,-1.10,-146.6,531.4,-10.3,320,5402,0.00,2.47,0.00,0.000,6,0.000,0.052,2505,2115,3429
$GC,5722,-1.10,-146.6,562.8,-9.3,341,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2115,3428
$GC,6035,-1.10,-146.6,590.5,-8.5,361,6039,0.00,2.53,0.00,0.000,4,0.000,0.062,2506,711,3428
$GC,6091,-1.14,-146.6,595.8,-9.2,364,6095,0.00,2.47,0.00,0.000,6,0.000,0.051,2505,2107,3428
$GC,6410,-1.14,-146.6,625.8,-10.0,384,6414,0.00,2.50,0.00,0.000,4,0.000,0.064,2505,718,3428
$GC,6446,-1.18,-146.6,629.2,-9.8,386,6450,0.00,2.47,0.00,0.000,6,0.000,0.053,2506,2107,3428
$GC,6776,-1.18,-146.6,658.7,-8.6,407,6780,0.00,2.53,0.00,0.000,4,0.000,0.067,2505,718,3428
$GC,6918,-1.21,-146.6,672.4,-9.7,415,6925,0.10,2.42,0.00,0.000,6,0.067,0.053,2476,2084,3428
$GC,7240,-1.18,-146.6,705.8,-10.7,436,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2084,3427
$GC,7551,-1.14,-146.6,738.0,-10.2,456,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2084,3427
$GC,7867,-1.11,-146.6,770.2,-10.3,476,7869,0.12,0.00,0.00,0.000,6,0.102,0.000,2501,2084,3427
$STATE,8017,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8017,begin apogee
$GC,8025,-0.33,0.0,784.6,8.7,486,8158,0.80,0.00,128.93,1.362,6,0.078,0.000,2674,1846,2831
$STATE,8158,end apogee,CONTROL_FINISHED_OK
$STATE,8159,begin climb
$GC,8162,1.22,146.6,790.0,0.0,495,8305,1.52,2.72,128.88,1.320,4,0.058,0.066,3009,3257,2232
$GC,8362,1.16,146.6,778.2,8.4,507,8367,0.00,2.62,0.00,0.000,6,0.000,0.064,3009,1847,2232
$GC,8682,1.06,146.6,751.5,9.2,527,8684,0.17,0.00,0.00,0.000,6,0.097,0.000,2977,1848,2232
$GC,8994,1.08,159.7,727.7,7.5,547,9014,0.00,2.70,12.77,1.181,4,0.000,0.067,2977,3251,2179
$GC,9082,1.08,159.7,720.4,8.9,552,9087,0.00,2.58,0.00,0.000,6,0.000,0.064,2977,1859,2179
$GC,9401,1.10,170.1,695.8,7.6,572,9417,0.00,0.00,10.50,1.156,6,0.000,0.000,2977,1859,2137
$GC,9731,1.10,170.1,667.7,8.4,593,9735,0.00,2.60,0.00,0.000,4,0.000,0.068,2977,3257,2136
$GC,9803,1.10,170.1,660.9,9.5,597,9809,0.00,2.53,0.00,0.000,6,0.000,0.064,2977,1886,2137
$GC,10123,1.12,183.6,635.5,7.5,618,10142,0.00,2.75,13.10,1.180,4,0.000,0.073,2977,435,2082
$GC,10241,1.08,183.6,625.0,9.4,625,10245,0.00,2.60,0.00,0.000,6,0.000,0.055,2977,1870,2081
$GC,10565,1.08,183.6,597.0,9.3,646,10570,0.00,2.67,0.00,0.000,4,0.000,0.073,2976,436,2081
$GC,10639,1.04,183.6,589.4,10.5,650,10645,0.00,2.60,0.00,0.000,6,0.000,0.055,2977,1881,2081
$GC,10959,1.05,185.4,564.9,7.9,671,10963,0.00,2.47,0.00,0.000,4,0.000,0.065,2977,3254,2081
$GC,10993,1.08,185.4,561.8,8.8,673,10997,0.00,2.55,0.00,0.000,6,0.000,0.060,2977,1855,2081
$GC,11312,1.08,185.4,536.9,8.7,693,11316,0.00,2.58,0.00,0.000,4,0.000,0.064,2977,3256,2081
$GC,11345,1.14,222.7,534.5,6.6,695,11387,0.00,2.50,34.10,1.187,6,0.000,0.058,2977,1878,1922
$GC,11703,1.17,222.7,502.0,9.3,718,11705,0.10,0.00,0.00,0.000,6,0.061,0.000,3005,1879,1923
$GC,12012,1.17,222.7,470.6,10.3,738,12013,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1878,1923
$GC,12325,1.17,222.7,441.2,9.6,758,12326,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1879,1923
$GC,12637,1.17,222.7,412.0,9.4,778,12638,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1878,1923
$GC,12950,1.17,222.7,382.4,9.5,798,12951,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1878,1923
$GC,13262,1.17,222.7,353.3,9.1,818,13263,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1878,1923
$GC,13574,1.17,222.7,325.9,8.4,838,13578,0.00,2.50,0.00,0.000,4,0.000,0.060,3005,3255,1924
$GC,13620,1.17,222.7,322.0,8.5,841,13625,0.00,2.45,0.00,0.000,6,0.000,0.053,3005,1883,1924
$GC,13944,1.17,222.7,295.2,8.2,862,13945,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1883,1924
$GC,14256,1.17,222.7,269.0,8.8,882,14257,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1883,1924
$GC,14569,1.17,222.7,242.3,8.4,902,14570,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1883,1925
$GC,14881,1.17,222.7,216.4,8.3,922,14885,0.00,2.50,0.00,0.000,4,0.000,0.059,3005,3264,1925
$GC,14926,1.17,222.7,212.3,8.3,925,14930,0.00,2.45,0.00,0.000,6,0.000,0.051,3005,1880,1925
$GC,15251,1.19,230.6,186.1,7.7,946,15264,0.00,0.00,8.90,0.828,6,0.000,0.000,3005,1880,1890
$GC,15577,1.19,230.6,156.8,9.5,967,15579,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1879,1890
$GC,15904,1.19,230.6,125.1,9.5,984,15908,0.00,2.50,0.00,0.000,4,0.000,0.058,3005,3261,1890
$GC,15937,1.19,230.6,121.8,9.5,985,15943,0.00,2.42,0.00,0.000,6,0.000,0.051,3005,1898,1890
$GC,16254,1.19,230.6,89.7,10.8,1001,16259,0.00,2.60,0.00,0.000,4,0.000,0.064,3005,442,1890
$GC,16300,1.15,230.6,84.2,11.3,1003,16304,0.00,2.58,0.00,0.000,6,0.000,0.048,3005,1900,1890
$GC,16621,1.15,230.6,48.4,10.2,1019,16622,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1915,1890
$GC,16931,1.21,272.1,28.0,6.5,1034,16973,0.00,2.47,34.38,0.818,4,0.000,0.057,3005,3247,1721
$GC,17053,1.28,272.1,15.6,10.2,1039,17057,0.00,2.45,0.00,0.000,6,0.000,0.051,3005,1884,1721
$STATE,17206,end climb,SURFACE_DEPTH_REACHED
$STATE,17206,begin surface coast
$FINISH,0.7,1.027025
$STATE,17229,end surface coast,CONTROL_FINISHED_OK
$STATE,17229,begin surface
$SM_CCo,17252,14.60,0.758,0,0,1608,300.00
$SM_GC,1.28,0.00,0.00,14.60,0.000,0.000,0.758,424,2150,1608,-10.68,0.57,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1821
$TCM_TEMP,16.30
$XPDR_PINGS,54
$ALTIM_BOTTOM_PING,770.2,23.7
$24V_AH,23.8,29.404
$10V_AH,10.1,13.312
$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,25.725,107.550,371.550,14.600,0.000,37.763,34.612,191.894,20.500,0.000,0.000,34.064,1780.157,12788.675,498.233,2034.031,579.477,33.364,1490.543,0.000,1970.984,0.000,47.629,0.000
$DEVICE_MAMPS,163.371,72.865,1362.192,757.796,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,718.240,763.028,567.270,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53704,1048
$CAP_FILE_SIZE,127811,0
$CFSIZE,254472192,242593792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,260909,054100,6355.140,-1323.316,43,1.0,43,-12.6