version: 66.04
glider: 5
mission: 7
dive: 131
start: 9 20 109 14 33 21
data:
$ID,5
$MISSION,7
$DIVE,131
$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,-102669.71
$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,20
$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
$GPS1,142325,6329.889,-1317.865,42,1.5,42,-12.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-50.8
$GPS2,143232,6329.883,-1318.051,14,1.4,14,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,JW
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.030,0.244
$KALMAN_X,-94268.1,-165.8,-494.9,-150055.4,3072.5
$KALMAN_Y,-11725.1,688.6,-804.2,221609.3,2179.1
$MHEAD_RNG_PITCHd_Wd,5.4,9805,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.68,0.000,2,0.000,0.000,417,2143,2536
$GC,123,-1.22,-146.6,2.4,-1.6,5,177,11.57,2.53,-35.38,0.000,4,0.170,0.076,2474,3536,3429
$GC,386,-1.14,-146.6,32.6,-13.9,17,392,0.10,2.50,0.00,0.000,6,0.119,0.044,2492,2116,3429
$GC,714,-1.10,-146.6,75.3,-13.2,33,719,0.00,2.60,0.00,0.000,4,0.000,0.062,2492,3537,3429
$GC,782,-1.06,-146.6,84.3,-12.7,36,787,0.10,2.47,0.00,0.000,6,0.101,0.045,2514,2136,3429
$GC,1105,-1.06,-146.6,118.8,-9.8,52,1109,0.00,2.50,0.00,0.000,4,0.000,0.058,2514,723,3429
$GC,1133,-1.09,-146.6,121.7,-9.5,53,1137,0.00,2.47,0.00,0.000,6,0.000,0.046,2514,2127,3429
$GC,1450,-1.09,-146.6,144.9,-6.4,68,1457,0.00,2.53,0.00,0.000,4,0.000,0.059,2514,727,3429
$GC,1492,-1.14,-146.6,147.7,-6.5,69,1499,0.00,2.47,0.00,0.000,6,0.000,0.048,2514,2127,3429
$GC,1809,-1.14,-146.6,168.4,-6.7,85,1813,0.00,2.55,0.00,0.000,4,0.000,0.066,2514,3537,3429
$GC,1876,-1.14,-146.6,173.4,-7.0,88,1880,0.00,2.53,0.00,0.000,6,0.000,0.050,2514,2118,3429
$GC,2196,-1.14,-146.6,200.9,-9.0,104,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2104,3429
$GC,2506,-1.14,-146.6,230.4,-10.2,119,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2104,3429
$GC,2815,-1.14,-146.6,262.2,-9.9,134,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2104,3429
$GC,3125,-1.14,-146.6,297.4,-11.5,149,3129,0.00,2.62,0.00,0.000,4,0.000,0.068,2514,3540,3428
$GC,3169,-1.14,-146.6,303.0,-13.0,151,3174,0.00,2.55,0.00,0.000,6,0.000,0.053,2514,2113,3428
$GC,3491,-1.14,-146.6,343.1,-12.2,167,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2101,3428
$GC,3800,-1.14,-146.6,379.4,-11.5,182,3804,0.00,2.62,0.00,0.000,4,0.000,0.069,2514,3540,3428
$GC,3839,-1.14,-146.6,383.7,-11.0,184,3844,0.00,2.58,0.00,0.000,6,0.000,0.054,2514,2107,3427
$GC,4166,-1.14,-146.6,416.8,-10.0,200,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2087,3428
$GC,4476,-1.14,-146.6,448.4,-10.3,215,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2087,3427
$GC,4785,-1.14,-146.6,480.3,-10.2,230,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2087,3427
$GC,5094,-1.14,-146.6,511.1,-9.8,245,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2087,3427
$GC,5403,-1.14,-146.6,544.2,-11.0,260,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2087,3426
$GC,5713,-1.17,-146.6,576.4,-9.9,275,5719,0.12,2.65,0.00,0.000,4,0.056,0.068,2476,3540,3427
$GC,5754,-1.12,-146.6,581.2,-12.5,277,5759,0.12,2.55,0.00,0.000,6,0.094,0.056,2501,2124,3427
$GC,6081,-1.12,-146.6,611.7,-8.3,293,6085,0.00,2.50,0.00,0.000,4,0.000,0.064,2502,720,3427
$GC,6154,-1.12,-146.6,617.7,-7.7,296,6158,0.00,2.47,0.00,0.000,6,0.000,0.054,2501,2120,3427
$GC,6471,-1.12,-146.6,641.6,-7.3,311,6475,0.00,2.58,0.00,0.000,4,0.000,0.069,2502,3538,3426
$GC,6521,-1.12,-146.6,645.9,-8.5,313,6525,0.00,2.55,0.00,0.000,6,0.000,0.057,2501,2109,3426
$GC,6836,-1.12,-146.6,676.4,-10.3,328,6841,0.00,2.62,0.00,0.000,4,0.000,0.070,2502,3537,3426
$GC,6870,-1.12,-146.6,680.1,-11.4,329,6876,0.00,2.55,0.00,0.000,6,0.000,0.057,2502,2117,3426
$GC,7186,-1.12,-146.6,712.6,-10.3,345,7187,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2105,3426
$GC,7496,-1.12,-146.6,745.3,-11.2,360,7500,0.00,2.50,0.00,0.000,4,0.000,0.064,2501,717,3425
$GC,7540,-1.16,-146.6,752.6,-16.1,362,7544,0.00,2.47,0.00,0.000,6,0.000,0.052,2502,2112,3425
$GC,7865,-1.16,-146.6,796.1,-12.2,378,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2113,3425
$GC,8171,-1.16,-146.6,825.8,-12.3,393,8175,0.00,2.60,0.00,0.000,4,0.000,0.074,2502,3537,3424
$STATE,8179,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8179,begin apogee
$GC,8189,-0.33,0.0,827.0,12.9,393,8323,0.75,0.00,130.88,1.372,6,0.074,0.000,2668,1844,2831
$STATE,8324,end apogee,CONTROL_FINISHED_OK
$STATE,8324,begin climb
$GC,8327,1.22,146.6,832.4,0.0,400,8475,1.55,2.70,133.55,1.332,4,0.059,0.071,3009,439,2233
$GC,8560,1.07,146.6,821.2,9.3,410,8567,0.15,2.55,0.00,0.000,6,0.095,0.052,2981,1855,2233
$GC,8877,1.08,189.4,797.2,6.4,426,8922,0.00,2.60,39.60,1.279,4,0.000,0.064,2981,3253,2058
$GC,9009,1.13,218.6,789.0,6.9,432,9043,0.00,2.58,27.67,1.256,6,0.000,0.062,2981,1853,1939
$GC,9361,1.13,218.6,763.4,9.2,449,9365,0.00,2.60,0.00,0.000,4,0.000,0.074,2981,437,1938
$GC,9440,1.08,218.6,755.4,10.1,452,9447,0.00,2.58,0.00,0.000,6,0.000,0.052,2980,1867,1938
$GC,9757,1.09,225.7,727.2,7.7,468,9767,0.00,0.00,7.85,1.081,6,0.000,0.000,2980,1882,1910
$GC,10066,1.18,278.9,710.5,6.1,483,10116,0.00,0.00,48.78,1.279,6,0.000,0.000,2981,1882,1693
$GC,10416,1.22,278.9,679.2,11.1,500,10420,0.12,2.53,0.00,0.000,4,0.058,0.064,3014,3261,1693
$GC,10460,1.22,278.9,673.1,13.8,502,10464,0.00,2.60,0.00,0.000,6,0.000,0.060,3014,1843,1693
$GC,10781,1.18,278.9,625.2,15.2,518,10786,0.00,2.55,0.00,0.000,4,0.000,0.069,3014,435,1694
$GC,10815,1.12,278.9,619.4,16.2,519,10822,0.15,2.55,0.00,0.000,6,0.091,0.051,2985,1860,1694
$GC,11132,1.15,278.9,577.3,12.8,535,11133,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1875,1693
$GC,11441,1.18,278.9,544.8,10.0,550,11442,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1875,1693
$GC,11751,1.23,288.3,519.3,7.7,565,11763,0.12,0.00,9.82,1.030,6,0.056,0.000,3020,1875,1655
$GC,12059,1.19,288.3,490.7,9.1,580,12063,0.00,2.60,0.00,0.000,4,0.000,0.065,3019,435,1655
$GC,12087,1.11,288.3,487.8,10.0,581,12092,0.17,2.53,0.00,0.000,6,0.091,0.049,2986,1855,1656
$GC,12404,1.18,307.0,464.4,7.3,596,12423,0.00,0.00,17.60,1.070,6,0.000,0.000,2986,1870,1579
$GC,12733,1.25,321.6,441.6,7.5,612,12752,0.12,0.00,14.18,1.032,6,0.055,0.000,3021,1871,1519
$GC,13062,1.25,321.6,407.7,10.6,628,13063,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1870,1518
$GC,13371,1.25,321.6,373.3,12.2,643,13372,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1871,1518
$GC,13680,1.25,321.6,329.9,14.6,658,13684,0.00,2.60,0.00,0.000,4,0.000,0.064,3021,435,1519
$GC,13714,1.20,321.6,324.6,16.1,659,13718,0.00,2.50,0.00,0.000,6,0.000,0.048,3021,1845,1519
$GC,14030,1.20,321.6,277.2,15.1,674,14034,0.00,2.50,0.00,0.000,4,0.000,0.060,3021,3255,1519
$GC,14053,1.20,321.6,273.7,15.0,675,14057,0.00,2.55,0.00,0.000,6,0.000,0.053,3021,1833,1519
$GC,14380,1.20,321.6,227.3,13.9,691,14381,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1833,1519
$GC,14689,1.20,321.6,189.5,11.2,706,14693,0.00,2.58,0.00,0.000,4,0.000,0.058,3021,3255,1519
$GC,14733,1.20,321.6,184.8,10.6,708,14737,0.00,2.53,0.00,0.000,6,0.000,0.051,3021,1841,1519
$GC,15054,1.20,321.6,151.2,10.4,724,15055,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1841,1519
$GC,15364,1.20,321.6,120.9,9.5,739,15368,0.00,2.55,0.00,0.000,4,0.000,0.058,3021,3253,1519
$GC,15404,1.24,321.6,117.3,8.7,741,15409,0.00,2.50,0.00,0.000,6,0.000,0.050,3021,1848,1519
$GC,15732,1.24,321.6,86.8,8.7,757,15733,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1847,1520
$GC,16041,1.24,321.6,57.8,11.2,772,16042,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1847,1520
$GC,16350,1.24,321.6,23.8,10.0,787,16351,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1847,1520
$STATE,16554,end climb,SURFACE_DEPTH_REACHED
$STATE,16554,begin surface coast
$FINISH,0.4,1.003422
$STATE,16575,end surface coast,CONTROL_FINISHED_OK
$STATE,16575,begin surface
$SM_CCo,16660,0.00,0.000,0,0,1519,321.83
$SM_GC,1.19,11.20,0.00,0.00,0.036,0.000,0.000,423,2168,1519,-10.59,1.07,321.83
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1840
$TCM_TEMP,17.60
$XPDR_PINGS,34
$ALTIM_BOTTOM_PING,796.1,40.6
$24V_AH,23.8,24.347
$10V_AH,10.1,10.935
$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,26.375,118.425,429.925,0.000,0.000,75.524,63.812,225.614,16.000,0.000,0.000,13.982,1430.105,12863.383,592.060,1666.808,653.263,33.356,1444.342,0.000,1626.891,0.000,53.349,0.000
$DEVICE_MAMPS,170.274,75.933,1372.163,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,546.251,597.899,472.944,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41106,798
$CAP_FILE_SIZE,120951,0
$CFSIZE,254472192,244469760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,200909,191207,6332.205,-1322.743,29,1.2,29,-12.5