version: 66.04
glider: 5
mission: 7
dive: 165
start: 9 26 109 10 33 8
data:
$ID,5
$MISSION,7
$DIVE,165
$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,-103327.95
$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,26
$R_STBD_OVSHOOT,28
$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
$GPS1,101925,6356.098,-1327.809,41,1.6,41,-12.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-52.3
$GPS2,103219,6356.089,-1327.644,15,1.5,15,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.203,0.138
$KALMAN_X,-40030.7,-156.9,-870.6,-212344.7,7440.5
$KALMAN_Y,-11614.1,240.6,-186.0,269862.9,749.6
$MHEAD_RNG_PITCHd_Wd,317.0,7491,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.43,0.000,2,0.000,0.000,418,2130,2526
$GC,123,-1.22,-146.6,2.4,-1.5,5,174,11.60,2.53,-31.12,0.000,4,0.167,0.065,2472,720,3429
$GC,198,-1.13,-146.6,11.8,-17.7,8,203,0.12,2.50,0.00,0.000,6,0.116,0.047,2496,2127,3429
$GC,515,-1.13,-146.6,50.6,-13.2,23,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2128,3428
$GC,823,-1.13,-146.6,88.4,-10.5,38,827,0.00,2.55,0.00,0.000,4,0.000,0.064,2496,3535,3429
$GC,924,-1.13,-146.6,100.8,-11.7,42,930,0.00,2.47,0.00,0.000,6,0.000,0.046,2496,2140,3428
$GC,1240,-1.13,-146.6,134.8,-10.7,58,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2123,3428
$GC,1561,-1.13,-146.6,167.8,-9.8,76,1565,0.00,2.58,0.00,0.000,4,0.000,0.065,2496,3534,3428
$GC,1613,-1.13,-146.6,173.1,-9.8,79,1617,0.00,2.47,0.00,0.000,6,0.000,0.049,2496,2145,3428
$GC,1932,-1.13,-146.6,205.8,-10.6,99,1936,0.00,2.58,0.00,0.000,4,0.000,0.065,2496,3541,3428
$GC,1994,-1.13,-146.6,212.6,-10.7,103,1998,0.00,2.47,0.00,0.000,6,0.000,0.051,2496,2154,3428
$GC,2318,-1.13,-146.6,245.9,-10.3,124,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2142,3428
$GC,2630,-1.13,-146.6,279.4,-11.1,144,2634,0.00,2.55,0.00,0.000,4,0.000,0.060,2496,718,3427
$GC,2675,-1.13,-146.6,284.7,-12.0,147,2680,0.00,2.58,0.00,0.000,6,0.000,0.050,2496,2171,3428
$GC,2999,-1.13,-146.6,320.0,-10.9,168,3004,0.00,2.65,0.00,0.000,4,0.000,0.063,2496,715,3427
$GC,3084,-1.13,-146.6,329.7,-11.9,173,3088,0.00,2.55,0.00,0.000,6,0.000,0.050,2496,2152,3428
$GC,3409,-1.13,-146.6,364.0,-9.9,194,3413,0.00,2.60,0.00,0.000,4,0.000,0.063,2496,720,3427
$GC,3475,-1.13,-146.6,371.9,-11.1,198,3479,0.00,2.53,0.00,0.000,6,0.000,0.051,2496,2141,3427
$GC,3794,-1.13,-146.6,400.5,-8.2,218,3799,0.00,2.58,0.00,0.000,4,0.000,0.061,2496,718,3427
$GC,3833,-1.13,-146.6,404.3,-10.1,220,3840,0.00,2.53,0.00,0.000,6,0.000,0.051,2496,2141,3427
$GC,4153,-1.13,-146.6,434.7,-10.4,241,4157,0.00,2.58,0.00,0.000,4,0.000,0.061,2496,717,3427
$GC,4249,-1.13,-146.6,444.8,-11.0,247,4257,0.00,2.50,0.00,0.000,6,0.000,0.051,2496,2126,3427
$GC,4582,-1.13,-146.6,479.6,-10.4,268,4586,0.00,2.55,0.00,0.000,4,0.000,0.064,2496,723,3426
$GC,4665,-1.13,-146.6,488.3,-9.9,273,4670,0.00,2.47,0.00,0.000,6,0.000,0.051,2496,2117,3427
$GC,4984,-1.13,-146.6,517.3,-9.2,293,4989,0.00,2.53,0.00,0.000,4,0.000,0.064,2496,722,3426
$GC,5086,-1.13,-146.6,527.0,-10.0,299,5090,0.00,2.45,0.00,0.000,6,0.000,0.053,2496,2101,3426
$GC,5405,-1.13,-146.6,557.7,-9.7,319,5409,0.00,2.50,0.00,0.000,4,0.000,0.064,2496,724,3426
$GC,5455,-1.13,-146.6,562.9,-10.7,322,5459,0.00,2.40,0.00,0.000,6,0.000,0.053,2496,2078,3426
$GC,5780,-1.13,-146.6,594.7,-8.9,343,5784,0.00,2.50,0.00,0.000,4,0.000,0.068,2496,717,3425
$GC,5874,-1.13,-146.6,604.0,-10.6,348,5880,0.00,2.40,0.00,0.000,6,0.000,0.054,2496,2056,3425
$GC,6193,-1.13,-146.6,632.1,-8.2,369,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2056,3425
$GC,6506,-1.13,-146.6,662.0,-10.5,389,6510,0.00,2.45,0.00,0.000,4,0.000,0.071,2496,718,3424
$GC,6550,-1.13,-146.6,666.5,-9.5,391,6556,0.00,2.40,0.00,0.000,6,0.000,0.057,2496,2050,3424
$GC,6869,-1.13,-146.6,698.0,-11.2,412,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2051,3423
$GC,7183,-1.13,-146.6,726.9,-8.2,432,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2051,3422
$GC,7495,-1.16,-146.6,753.7,-7.5,452,7499,0.00,2.75,0.00,0.000,4,0.000,0.081,2496,3538,3422
$GC,7541,-1.16,-146.6,756.4,-5.4,455,7545,0.00,2.72,0.00,0.000,6,0.000,0.069,2496,2063,3422
$GC,7866,-1.44,-146.6,766.4,-0.0,476,7871,0.28,2.78,0.00,0.000,4,0.058,0.080,2420,3533,3421
$STATE,8053,end dive,NO_VERTICAL_VELOCITY
$STATE,8054,begin apogee
$GC,8064,-0.33,0.0,766.4,0.0,487,8197,1.10,0.00,129.38,1.362,6,0.062,0.000,2671,1846,2832
$STATE,8198,end apogee,CONTROL_FINISHED_OK
$STATE,8198,begin climb
$GC,8201,1.22,146.6,764.5,0.0,496,8342,1.50,2.70,131.45,1.312,4,0.045,0.076,3016,435,2232
$GC,8553,1.03,146.6,728.4,12.8,517,8558,0.22,2.58,0.00,0.000,6,0.095,0.057,2973,1851,2232
$GC,8873,1.04,152.7,699.0,7.8,537,8889,0.00,2.65,6.90,1.031,4,0.000,0.070,2974,3261,2208
$GC,8924,1.06,161.9,694.8,7.7,540,8941,0.00,2.62,9.50,1.113,6,0.000,0.067,2973,1849,2171
$GC,9256,1.14,210.8,671.4,6.2,561,9307,0.00,2.70,44.30,1.269,4,0.000,0.075,2973,439,1971
$GC,9347,1.14,210.8,660.2,9.5,566,9354,0.00,2.58,0.00,0.000,6,0.000,0.058,2973,1847,1971
$GC,9668,1.26,266.5,636.0,6.0,587,9728,0.22,2.67,49.30,1.256,4,0.052,0.070,3026,3255,1744
$GC,9773,1.23,266.5,626.6,10.5,593,9779,0.00,2.67,0.00,0.000,6,0.000,0.067,3026,1827,1744
$GC,10093,1.15,266.5,597.4,9.4,614,10098,0.15,2.67,0.00,0.000,4,0.096,0.068,2997,3260,1744
$GC,10133,1.19,266.5,593.7,9.9,616,10139,0.00,2.62,0.00,0.000,6,0.000,0.065,2997,1843,1744
$GC,10452,1.21,279.7,567.3,7.5,637,10471,0.00,2.67,13.02,1.145,4,0.000,0.074,2997,439,1690
$GC,10563,1.21,279.7,557.7,9.3,643,10569,0.00,2.53,0.00,0.000,6,0.000,0.055,2997,1832,1690
$GC,10882,1.21,279.7,523.6,11.1,664,10886,0.00,2.60,0.00,0.000,4,0.000,0.072,2997,430,1689
$GC,10910,1.21,279.7,520.4,11.6,666,10914,0.00,2.53,0.00,0.000,6,0.000,0.056,2997,1827,1690
$GC,11241,1.21,279.7,486.6,10.6,687,11245,0.00,2.60,0.00,0.000,4,0.000,0.067,2997,3262,1690
$GC,11304,1.27,294.3,481.6,7.5,691,11324,0.12,2.65,13.90,1.104,6,0.061,0.061,3028,1809,1631
$GC,11651,1.22,294.3,441.9,11.6,713,11655,0.00,2.50,0.00,0.000,4,0.000,0.071,3028,433,1631
$GC,11690,1.14,294.3,436.5,13.2,715,11698,0.17,2.50,0.00,0.000,6,0.092,0.054,2994,1825,1631
$GC,12010,1.14,294.3,400.6,11.6,736,12014,0.00,2.58,0.00,0.000,4,0.000,0.064,2994,3253,1631
$GC,12089,1.20,294.3,391.3,11.8,741,12094,0.00,2.60,0.00,0.000,6,0.000,0.060,2995,1827,1631
$GC,12414,1.20,294.3,355.7,10.8,762,12418,0.00,2.53,0.00,0.000,4,0.000,0.071,2995,433,1631
$GC,12459,1.20,294.3,350.5,11.5,765,12464,0.00,2.50,0.00,0.000,6,0.000,0.052,2994,1834,1631
$GC,12785,1.20,294.3,318.6,9.7,786,12789,0.00,2.55,0.00,0.000,4,0.000,0.063,2995,3255,1631
$GC,12835,1.29,294.3,313.8,9.8,789,12840,0.15,2.60,0.00,0.000,6,0.054,0.059,3033,1825,1632
$GC,13157,1.23,294.3,273.4,12.4,809,13161,0.00,2.50,0.00,0.000,4,0.000,0.069,3033,436,1631
$GC,13202,1.15,294.3,267.2,12.7,812,13207,0.20,2.47,0.00,0.000,6,0.087,0.051,2993,1827,1632
$GC,13530,1.18,294.3,236.7,10.0,833,13534,0.00,2.55,0.00,0.000,4,0.000,0.061,2993,3255,1632
$GC,13558,1.24,294.3,233.5,10.1,835,13564,0.10,2.60,0.00,0.000,6,0.061,0.055,3021,1810,1632
$GC,13886,1.24,294.3,195.2,11.4,856,13890,0.00,2.62,0.00,0.000,4,0.000,0.060,3021,3255,1632
$GC,13919,1.24,294.3,191.1,10.6,858,13923,0.00,2.58,0.00,0.000,6,0.000,0.054,3021,1822,1632
$GC,14238,1.24,294.3,156.4,10.8,878,14242,0.00,2.60,0.00,0.000,4,0.000,0.059,3021,3255,1632
$GC,14290,1.24,294.3,150.6,10.6,881,14294,0.00,2.53,0.00,0.000,6,0.000,0.051,3021,1843,1632
$GC,14606,1.24,294.3,116.6,10.6,896,14610,0.00,2.58,0.00,0.000,4,0.000,0.058,3021,3264,1633
$GC,14650,1.24,294.3,111.7,11.1,898,14654,0.00,2.50,0.00,0.000,6,0.000,0.051,3021,1852,1633
$GC,14972,1.24,294.3,78.5,9.9,914,14976,0.00,2.53,0.00,0.000,4,0.000,0.064,3021,437,1633
$GC,15044,1.24,294.3,70.1,12.2,917,15048,0.00,2.50,0.00,0.000,6,0.000,0.047,3021,1857,1633
$GC,15362,1.24,294.3,36.6,11.6,932,15366,0.00,2.47,0.00,0.000,4,0.000,0.057,3021,3258,1633
$GC,15402,1.28,294.3,32.3,9.6,934,15407,0.00,2.50,0.00,0.000,6,0.000,0.048,3021,1846,1634
$STATE,15707,end climb,SURFACE_DEPTH_REACHED
$STATE,15707,begin surface coast
$FINISH,0.6,1.027031
$STATE,15729,end surface coast,CONTROL_FINISHED_OK
$STATE,15729,begin surface
$SM_CCo,15752,3.85,0.528,0,0,1607,300.00
$SM_GC,2.68,0.00,0.00,3.85,0.000,0.000,0.528,423,2154,1607,-10.68,0.68,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1835
$TCM_TEMP,17.20
$XPDR_PINGS,38
$24V_AH,23.8,29.793
$10V_AH,10.1,13.491
$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,27.300,180.225,397.750,3.850,0.000,75.523,65.517,431.287,16.250,0.000,0.000,14.993,1705.335,11253.332,581.998,2077.184,909.652,33.370,1645.417,0.000,2024.319,0.000,46.999,0.000
$DEVICE_MAMPS,167.206,80.535,1362.192,528.463,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,651.543,695.257,513.122,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50674,950
$CAP_FILE_SIZE,144143,0
$CFSIZE,254472192,242454528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,260909,145707,6357.308,-1334.524,42,0.9,42,-12.7