version: 66.04
glider: 5
mission: 7
dive: 133
start: 9 20 109 23 59 0
data:
$ID,5
$MISSION,7
$DIVE,133
$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,-102720.2
$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,32
$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
$GPS1,235206,6335.350,-1315.920,39,1.1,39,-12.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-63.8
$GPS2,235810,6335.320,-1315.822,13,2.1,32,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.162,0.184
$KALMAN_X,-97580.5,44.2,1069.0,-146565.5,-3124.8
$KALMAN_Y,-12216.0,-610.7,408.6,232241.2,174.3
$MHEAD_RNG_PITCHd_Wd,53.8,27599,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.35,0.000,2,0.000,0.000,419,2149,2714
$GC,82,-1.22,-146.6,2.5,-3.0,3,127,11.25,2.65,-26.73,0.000,4,0.159,0.067,2470,711,3430
$GC,380,-1.15,-146.6,41.0,-14.7,16,385,0.12,2.50,0.00,0.000,6,0.107,0.045,2494,2128,3430
$GC,704,-1.11,-146.6,84.9,-13.8,32,708,0.00,2.55,0.00,0.000,4,0.000,0.058,2494,713,3430
$GC,833,-1.11,-146.6,100.6,-12.3,38,838,0.00,2.50,0.00,0.000,6,0.000,0.045,2494,2133,3430
$GC,1161,-1.11,-146.6,125.9,-6.4,54,1166,0.00,2.55,0.00,0.000,4,0.000,0.057,2495,713,3431
$GC,1195,-1.11,-146.6,128.5,-7.5,55,1202,0.00,2.53,0.00,0.000,6,0.000,0.047,2495,2147,3431
$GC,1512,-1.11,-146.6,159.5,-11.8,71,1516,0.00,2.58,0.00,0.000,4,0.000,0.060,2495,719,3431
$GC,1556,-1.11,-146.6,165.4,-12.9,73,1560,0.00,2.50,0.00,0.000,6,0.000,0.048,2495,2136,3431
$GC,1877,-1.11,-146.6,206.0,-12.6,89,1881,0.00,2.55,0.00,0.000,4,0.000,0.059,2494,718,3431
$GC,1933,-1.11,-146.6,213.4,-13.2,91,1938,0.00,2.47,0.00,0.000,6,0.000,0.048,2495,2119,3431
$GC,2250,-1.11,-146.6,251.5,-11.5,106,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2119,3430
$GC,2560,-1.11,-146.6,285.8,-11.1,121,2564,0.00,2.53,0.00,0.000,4,0.000,0.061,2495,718,3431
$GC,2604,-1.11,-146.6,291.1,-11.2,123,2608,0.00,2.47,0.00,0.000,6,0.000,0.049,2495,2117,3431
$GC,2925,-1.11,-146.6,328.2,-11.8,139,2929,0.00,2.53,0.00,0.000,4,0.000,0.061,2495,715,3431
$GC,2969,-1.11,-146.6,333.8,-12.6,141,2973,0.00,2.47,0.00,0.000,6,0.000,0.048,2495,2113,3430
$GC,3291,-1.11,-146.6,370.3,-10.9,157,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2114,3431
$GC,3600,-1.11,-146.6,403.4,-10.9,172,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2114,3430
$GC,3908,-1.11,-146.6,435.9,-10.6,187,3912,0.00,2.53,0.00,0.000,4,0.000,0.061,2494,715,3430
$GC,3977,-1.11,-146.6,443.1,-10.3,190,3981,0.00,2.45,0.00,0.000,6,0.000,0.050,2495,2101,3430
$GC,4304,-1.11,-146.6,473.3,-8.6,206,4308,0.00,2.50,0.00,0.000,4,0.000,0.063,2495,718,3430
$GC,4372,-1.11,-146.6,479.1,-8.4,209,4376,0.00,2.42,0.00,0.000,6,0.000,0.050,2495,2090,3429
$GC,4693,-1.11,-146.6,501.7,-6.9,225,4697,0.00,2.47,0.00,0.000,4,0.000,0.061,2495,718,3429
$GC,4727,-1.11,-146.6,504.4,-7.6,226,4733,0.00,2.40,0.00,0.000,6,0.000,0.053,2495,2071,3429
$GC,5043,-1.11,-146.6,543.7,-15.7,242,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2071,3429
$GC,5352,-1.11,-146.6,581.0,-8.9,257,5357,0.00,2.65,0.00,0.000,4,0.000,0.068,2495,3536,3429
$GC,5393,-1.11,-146.6,584.2,-7.4,259,5398,0.00,2.62,0.00,0.000,6,0.000,0.057,2495,2072,3428
$GC,5720,-1.11,-146.6,607.0,-8.3,275,5724,0.00,2.42,0.00,0.000,4,0.000,0.064,2495,714,3428
$GC,5760,-1.11,-146.6,610.1,-8.2,277,5764,0.00,2.42,0.00,0.000,6,0.000,0.050,2495,2086,3428
$GC,6087,-1.11,-146.6,629.4,-8.5,293,6091,0.00,2.62,0.00,0.000,4,0.000,0.069,2495,3531,3428
$GC,6149,-1.11,-146.6,634.5,-8.4,296,6154,0.00,2.58,0.00,0.000,6,0.000,0.057,2495,2087,3428
$GC,6477,-1.11,-146.6,659.0,-7.2,312,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2067,3428
$GC,6786,-1.11,-146.6,689.8,-7.4,327,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2065,3428
$GC,7095,-1.15,-146.6,725.8,-11.9,342,7099,0.00,2.45,0.00,0.000,4,0.000,0.068,2495,720,3427
$STATE,7132,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7132,begin apogee
$GC,7142,-0.33,0.0,729.7,9.3,344,7276,0.82,0.00,130.07,1.302,6,0.076,0.000,2673,1868,2831
$STATE,7276,end apogee,CONTROL_FINISHED_OK
$STATE,7276,begin climb
$GC,7279,1.22,146.6,734.5,0.0,351,7420,1.55,2.75,130.90,1.264,4,0.059,0.070,3009,443,2233
$GC,7496,1.08,158.8,722.2,7.6,361,7517,0.15,2.55,12.32,1.112,6,0.099,0.053,2981,1867,2183
$GC,7841,1.04,158.8,697.1,8.6,378,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1868,2182
$GC,8148,1.07,177.8,674.7,7.3,393,8168,0.00,0.00,18.05,1.177,6,0.000,0.000,2981,1869,2106
$GC,8477,1.15,230.6,656.9,6.1,409,8526,0.00,0.00,46.95,1.239,6,0.000,0.000,2981,1869,1891
$GC,8827,1.15,230.6,632.3,8.0,426,8831,0.00,2.62,0.00,0.000,4,0.000,0.072,2981,445,1891
$GC,8890,1.14,241.9,627.4,7.6,429,8911,0.00,2.55,11.90,1.124,6,0.000,0.053,2981,1873,1844
$GC,9221,1.21,284.8,603.2,6.4,445,9261,0.12,0.00,38.12,1.208,6,0.057,0.000,3014,1874,1670
$GC,9570,1.18,284.8,574.4,8.6,462,9575,0.00,2.62,0.00,0.000,4,0.000,0.068,3014,442,1669
$GC,9598,1.12,284.8,571.7,9.9,463,9604,0.15,2.53,0.00,0.000,6,0.093,0.051,2986,1851,1669
$GC,9914,1.12,284.8,545.5,8.2,478,9918,0.00,2.53,0.00,0.000,4,0.000,0.062,2986,3264,1670
$GC,9948,1.19,284.8,542.6,8.4,479,9954,0.00,2.55,0.00,0.000,6,0.000,0.058,2986,1863,1670
$GC,10264,1.19,284.8,514.7,8.8,495,10265,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1863,1670
$GC,10573,1.22,284.8,487.2,8.7,510,10578,0.10,2.53,0.00,0.000,4,0.059,0.061,3014,3258,1670
$GC,10596,1.22,284.8,484.9,10.1,511,10600,0.00,2.53,0.00,0.000,6,0.000,0.057,3014,1864,1670
$GC,10916,1.22,284.8,453.7,9.1,527,10918,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1864,1670
$GC,11226,1.22,284.8,424.0,9.8,542,11230,0.00,2.58,0.00,0.000,4,0.000,0.067,3014,430,1670
$GC,11250,1.17,284.8,421.5,11.0,543,11254,0.00,2.55,0.00,0.000,6,0.000,0.049,3014,1868,1670
$GC,11571,1.17,284.8,388.2,10.7,559,11572,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1882,1671
$GC,11880,1.17,284.8,357.0,9.9,574,11884,0.00,2.62,0.00,0.000,4,0.000,0.066,3014,435,1670
$GC,11908,1.13,284.8,353.8,11.0,575,11913,0.12,2.53,0.00,0.000,6,0.090,0.048,2991,1861,1670
$GC,12223,1.13,284.8,324.2,9.0,590,12228,0.00,2.47,0.00,0.000,4,0.000,0.060,2991,3252,1671
$GC,12252,1.19,284.8,321.2,10.3,591,12256,0.00,2.50,0.00,0.000,6,0.000,0.053,2990,1857,1671
$GC,12569,1.23,284.8,287.5,10.2,606,12570,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1856,1671
$GC,12877,1.23,284.8,254.1,10.9,621,12881,0.00,2.55,0.00,0.000,4,0.000,0.067,2991,3262,1671
$GC,12923,1.30,284.8,248.5,12.4,623,12928,0.17,2.50,0.00,0.000,6,0.049,0.052,3037,1860,1671
$GC,13250,1.23,284.8,204.1,12.7,639,13252,0.12,0.00,0.00,0.000,6,0.091,0.000,3013,1860,1671
$GC,13559,1.23,284.8,167.4,12.4,654,13563,0.00,2.53,0.00,0.000,4,0.000,0.058,3013,3258,1671
$GC,13592,1.23,284.8,162.9,12.7,655,13598,0.00,2.47,0.00,0.000,6,0.000,0.053,3013,1867,1672
$GC,13909,1.23,284.8,123.2,12.2,671,13910,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1867,1672
$GC,14217,1.23,284.8,88.1,11.2,686,14219,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1867,1672
$GC,14527,1.23,284.8,59.7,8.8,701,14531,0.00,2.50,0.00,0.000,4,0.000,0.058,3013,3253,1672
$GC,14567,1.28,284.8,56.4,8.5,703,14572,0.00,2.47,0.00,0.000,6,0.000,0.050,3012,1860,1672
$GC,14895,1.29,290.8,30.9,7.8,719,14909,0.00,2.55,7.00,0.698,4,0.000,0.056,3012,3260,1645
$GC,14967,1.34,300.1,24.8,7.7,722,14984,0.12,2.45,9.27,0.739,6,0.054,0.048,3047,1880,1606
$STATE,15145,end climb,SURFACE_DEPTH_REACHED
$STATE,15146,begin surface coast
$FINISH,0.5,1.026993
$STATE,15169,end surface coast,CONTROL_FINISHED_OK
$STATE,15169,begin surface
$SM_CCo,15253,0.00,0.000,0,0,1606,300.74
$SM_GC,1.40,11.32,0.00,0.00,0.032,0.000,0.000,419,2153,1606,-10.59,0.65,300.74
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1831
$TCM_TEMP,17.60
$XPDR_PINGS,45
$ALTIM_BOTTOM_PING,695.8,43.3
$24V_AH,23.8,24.673
$10V_AH,10.1,11.082
$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,26.150,131.475,404.600,0.000,0.000,37.762,26.295,158.099,17.750,0.000,0.000,33.589,1350.342,11607.486,551.577,1599.275,505.282,33.362,1354.000,0.000,1541.598,0.000,45.816,0.000
$DEVICE_MAMPS,158.769,72.098,1302.366,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,500.878,544.324,443.735,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37957,732
$CAP_FILE_SIZE,113733,0
$CFSIZE,254472192,244363264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210909,041436,6335.814,-1313.072,40,1.8,46,-12.4