version: 66.04
glider: 5
mission: 7
dive: 164
start: 9 26 109 5 59 51
data:
$ID,5
$MISSION,7
$DIVE,164
$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,598.77728
$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,-103312.32
$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,29
$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
$GPS1,054100,6355.140,-1323.316,43,1.0,43,-12.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-51.1
$GPS2,055902,6355.179,-1322.747,15,1.8,15,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.236,0.068
$KALMAN_X,-42429.0,-108.1,208.1,-206778.5,5057.3
$KALMAN_Y,-12558.2,666.0,281.9,268218.1,-607.9
$MHEAD_RNG_PITCHd_Wd,298.8,10696,-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,-146.6,0.0,0.0,0,61,0.00,0.00,-41.08,0.000,2,0.000,0.000,423,2149,2458
$GC,65,-1.22,-146.6,2.0,-3.4,2,117,11.43,2.58,-34.62,0.000,4,0.161,0.067,2470,717,3430
$GC,268,-1.12,-146.6,26.3,-17.0,11,273,0.15,2.50,0.00,0.000,6,0.114,0.047,2498,2125,3430
$GC,585,-1.12,-146.6,59.7,-10.5,26,589,0.00,2.58,0.00,0.000,4,0.000,0.065,2498,3544,3430
$GC,685,-1.12,-146.6,70.2,-9.1,30,692,0.00,2.50,0.00,0.000,6,0.000,0.048,2498,2138,3430
$GC,1001,-1.12,-146.6,99.9,-10.1,46,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2124,3431
$GC,1311,-1.12,-146.6,131.7,-10.7,61,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2124,3431
$GC,1621,-1.12,-146.6,165.7,-10.9,78,1625,0.00,2.53,0.00,0.000,4,0.000,0.060,2498,715,3431
$GC,1643,-1.12,-146.6,168.4,-11.6,79,1649,0.00,2.55,0.00,0.000,6,0.000,0.048,2498,2154,3431
$GC,1962,-1.12,-146.6,202.5,-10.6,100,1967,0.00,2.60,0.00,0.000,4,0.000,0.059,2498,714,3431
$GC,2008,-1.12,-146.6,207.6,-10.9,103,2013,0.00,2.53,0.00,0.000,6,0.000,0.049,2498,2139,3431
$GC,2333,-1.12,-146.6,242.7,-10.9,124,2337,0.00,2.58,0.00,0.000,4,0.000,0.059,2498,712,3431
$GC,2362,-1.12,-146.6,245.9,-11.5,126,2366,0.00,2.53,0.00,0.000,6,0.000,0.049,2498,2131,3431
$GC,2686,-1.12,-146.6,282.4,-11.2,147,2690,0.00,2.55,0.00,0.000,4,0.000,0.060,2498,715,3431
$GC,2731,-1.12,-146.6,287.9,-11.6,149,2737,0.00,2.50,0.00,0.000,6,0.000,0.050,2498,2126,3430
$GC,3050,-1.12,-146.6,322.1,-10.4,170,3055,0.00,2.55,0.00,0.000,4,0.000,0.063,2498,718,3430
$GC,3089,-1.12,-146.6,326.4,-10.9,172,3095,0.00,2.50,0.00,0.000,6,0.000,0.051,2498,2127,3430
$GC,3408,-1.12,-146.6,360.0,-10.4,193,3413,0.00,2.55,0.00,0.000,4,0.000,0.063,2498,722,3430
$GC,3448,-1.12,-146.6,364.3,-10.8,195,3454,0.00,2.47,0.00,0.000,6,0.000,0.051,2498,2115,3430
$GC,3769,-1.12,-146.6,396.7,-10.0,216,3773,0.00,2.53,0.00,0.000,4,0.000,0.061,2498,717,3430
$GC,3814,-1.12,-146.6,401.4,-9.8,219,3818,0.00,2.45,0.00,0.000,6,0.000,0.051,2498,2099,3430
$GC,4138,-1.12,-146.6,432.9,-9.4,240,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2098,3430
$GC,4450,-1.12,-146.6,462.0,-9.3,260,4454,0.00,2.50,0.00,0.000,4,0.000,0.062,2498,715,3429
$GC,4502,-1.12,-146.6,467.2,-10.3,263,4507,0.00,2.45,0.00,0.000,6,0.000,0.051,2498,2094,3429
$GC,4821,-1.12,-146.6,496.8,-9.7,283,4826,0.00,2.50,0.00,0.000,4,0.000,0.064,2499,718,3429
$GC,4884,-1.12,-146.6,503.4,-10.9,287,4888,0.00,2.45,0.00,0.000,6,0.000,0.051,2498,2096,3429
$GC,5208,-1.12,-146.6,533.3,-9.6,308,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2096,3429
$GC,5520,-1.12,-146.6,563.2,-9.6,328,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2095,3428
$GC,5833,-1.12,-146.6,592.5,-9.8,348,5837,0.00,2.50,0.00,0.000,4,0.000,0.064,2498,715,3428
$GC,5873,-1.12,-146.6,597.4,-13.0,350,5878,0.00,2.45,0.00,0.000,6,0.000,0.053,2498,2090,3428
$GC,6192,-1.12,-146.6,627.3,-9.2,370,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2092,3427
$GC,6505,-1.12,-146.6,651.6,-9.3,390,6506,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2092,3427
$GC,6817,-1.12,-146.6,679.5,-9.1,410,6821,0.00,2.50,0.00,0.000,4,0.000,0.067,2498,719,3427
$GC,6839,-1.12,-146.6,681.5,-8.5,411,6845,0.00,2.45,0.00,0.000,6,0.000,0.055,2498,2090,3427
$GC,7158,-1.12,-146.6,708.3,-5.9,432,7162,0.00,2.50,0.00,0.000,4,0.000,0.067,2498,720,3427
$GC,7347,-1.12,-146.6,725.5,-12.5,443,7351,0.00,2.42,0.00,0.000,6,0.000,0.058,2498,2068,3426
$STATE,7377,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7377,begin apogee
$GC,7385,-0.33,0.0,729.9,12.8,445,7518,0.82,0.00,129.38,1.320,6,0.082,0.000,2674,1834,2831
$STATE,7519,end apogee,CONTROL_FINISHED_OK
$STATE,7519,begin climb
$GC,7522,1.22,146.6,733.2,0.0,454,7657,1.58,0.00,130.15,1.279,6,0.061,0.000,3014,1834,2234
$GC,7964,1.14,158.9,707.3,7.6,483,7982,0.00,2.62,12.23,1.134,4,0.000,0.074,3013,443,2183
$GC,8072,0.99,158.9,697.8,8.7,489,8077,0.28,2.53,0.00,0.000,6,0.092,0.056,2961,1834,2183
$GC,8392,1.08,215.8,678.3,5.9,509,8445,0.00,0.00,50.80,1.259,6,0.000,0.000,2961,1848,1951
$GC,8749,1.22,269.1,658.2,6.1,532,8799,0.22,0.00,47.25,1.248,6,0.051,0.000,3016,1850,1734
$GC,9109,1.16,269.1,625.0,9.9,555,9113,0.00,2.60,0.00,0.000,4,0.000,0.068,3016,3259,1734
$GC,9198,1.16,269.1,615.1,10.7,560,9205,0.00,2.62,0.00,0.000,6,0.000,0.065,3016,1842,1734
$GC,9520,1.12,269.1,578.8,11.0,581,9525,0.15,2.62,0.00,0.000,4,0.093,0.066,2988,3256,1734
$GC,9576,1.19,269.1,573.0,9.8,584,9582,0.00,2.60,0.00,0.000,6,0.000,0.062,2987,1841,1734
$GC,9894,1.19,269.1,543.6,9.5,605,9899,0.00,2.58,0.00,0.000,4,0.000,0.074,2987,430,1734
$GC,9951,1.19,269.1,538.4,8.8,608,9957,0.00,2.58,0.00,0.000,6,0.000,0.054,2987,1863,1734
$GC,10270,1.22,269.1,512.4,8.3,629,10275,0.10,2.65,0.00,0.000,4,0.063,0.071,3014,438,1733
$GC,10300,1.18,269.1,509.4,10.9,631,10304,0.00,2.53,0.00,0.000,6,0.000,0.054,3014,1844,1733
$GC,10625,1.14,269.1,473.4,11.2,652,10629,0.00,2.55,0.00,0.000,4,0.000,0.064,3014,3260,1733
$GC,10697,1.14,269.1,465.4,10.7,656,10704,0.00,2.55,0.00,0.000,6,0.000,0.058,3014,1848,1733
$GC,11016,1.14,269.1,432.7,10.5,677,11021,0.00,2.55,0.00,0.000,4,0.000,0.069,3014,436,1733
$GC,11106,1.08,269.1,422.4,11.7,682,11113,0.17,2.53,0.00,0.000,6,0.087,0.051,2980,1852,1733
$GC,11429,1.15,281.9,398.6,7.5,703,11443,0.00,0.00,12.32,1.015,6,0.000,0.000,2979,1868,1681
$GC,11753,1.21,281.9,373.1,8.5,724,11758,0.12,2.60,0.00,0.000,4,0.057,0.067,3013,441,1681
$GC,11782,1.21,281.9,370.1,10.6,726,11786,0.00,2.50,0.00,0.000,6,0.000,0.051,3013,1845,1681
$GC,12106,1.21,281.9,334.7,10.8,747,12110,0.00,2.53,0.00,0.000,4,0.000,0.062,3014,3258,1681
$GC,12145,1.21,281.9,330.1,12.0,749,12150,0.00,2.55,0.00,0.000,6,0.000,0.054,3013,1834,1681
$GC,12464,1.21,281.9,294.8,11.0,769,12466,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1834,1681
$GC,12777,1.21,281.9,261.8,10.5,789,12781,0.00,2.58,0.00,0.000,4,0.000,0.060,3013,3262,1681
$GC,12839,1.25,281.9,255.1,11.0,793,12844,0.00,2.55,0.00,0.000,6,0.000,0.053,3013,1839,1682
$GC,13164,1.25,281.9,221.3,10.3,814,13166,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1839,1682
$GC,13476,1.25,281.9,189.5,10.1,834,13481,0.00,2.58,0.00,0.000,4,0.000,0.059,3013,3261,1683
$GC,13544,1.28,281.9,182.6,10.3,838,13548,0.00,2.53,0.00,0.000,6,0.000,0.051,3013,1845,1683
$GC,13863,1.28,281.9,150.2,10.8,858,13868,0.00,2.58,0.00,0.000,4,0.000,0.058,3013,3267,1683
$GC,13914,1.32,281.9,144.5,10.2,861,13918,0.00,2.47,0.00,0.000,6,0.000,0.050,3013,1867,1683
$GC,14231,1.32,281.9,113.1,9.1,876,14235,0.00,2.53,0.00,0.000,4,0.000,0.058,3014,3264,1683
$GC,14264,1.35,281.9,110.0,8.5,877,14271,0.12,2.45,0.00,0.000,6,0.055,0.050,3049,1881,1683
$GC,14583,1.29,281.9,71.8,13.4,893,14588,0.12,2.50,0.00,0.000,4,0.090,0.057,3024,3265,1683
$GC,14648,1.29,281.9,64.6,9.5,896,14652,0.00,2.42,0.00,0.000,6,0.000,0.047,3025,1894,1684
$GC,14975,1.29,281.9,35.7,9.8,912,14979,0.00,2.58,0.00,0.000,4,0.000,0.062,3024,446,1684
$GC,15007,1.29,281.9,31.5,12.7,913,15014,0.00,2.55,0.00,0.000,6,0.000,0.046,3024,1903,1684
$STATE,15279,end climb,SURFACE_DEPTH_REACHED
$STATE,15279,begin surface coast
$FINISH,0.5,1.026940
$STATE,15301,end surface coast,CONTROL_FINISHED_OK
$STATE,15301,begin surface
$SM_CCo,15325,166.75,0.773,0,0,390,598.78
$SM_GC,1.05,0.00,0.00,166.75,0.000,0.000,0.773,418,2147,390,-10.70,0.48,598.78
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1788
$TCM_TEMP,17.40
$XPDR_PINGS,39
$ALTIM_BOTTOM_PING,696.1,43.8
$24V_AH,23.8,29.612
$10V_AH,10.1,13.401
$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,26.500,147.600,382.125,166.750,0.000,191.196,285.826,215.210,16.000,0.000,0.000,15.228,1640.706,11323.859,703.576,1880.683,1022.525,33.365,1631.996,0.000,1839.377,0.000,45.056,0.000
$DEVICE_MAMPS,161.070,73.632,1320.007,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,635.503,681.416,510.773,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47420,928
$CAP_FILE_SIZE,130359,0
$CFSIZE,254472192,242515968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260909,101925,6356.098,-1327.809,41,1.6,41,-12.7