version: 66.04
glider: 5
mission: 7
dive: 134
start: 9 21 109 4 20 50
data:
$ID,5
$MISSION,7
$DIVE,134
$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,-102737.38
$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,24
$R_STBD_OVSHOOT,30
$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
$GPS1,041436,6335.814,-1313.072,40,1.8,46,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-62.9
$GPS2,042001,6335.763,-1313.215,16,1.8,16,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.014,0.246
$KALMAN_X,-97429.5,219.4,-833.3,-142681.5,1091.5
$KALMAN_Y,-15034.3,-466.4,-994.4,237178.5,803.1
$MHEAD_RNG_PITCHd_Wd,9.1,26497,-14.7,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.22,-146.6,0.0,0.0,0,81,0.00,0.00,-61.33,0.000,2,0.000,0.000,419,2140,2846
$GC,84,-1.22,-146.6,2.6,-3.2,3,121,11.43,2.55,-19.05,0.000,4,0.164,0.071,2471,718,3428
$GC,363,-1.15,-146.6,38.3,-11.0,14,370,0.10,2.47,0.00,0.000,6,0.108,0.046,2490,2126,3430
$GC,679,-1.12,-146.6,75.7,-12.2,30,684,0.00,2.55,0.00,0.000,4,0.000,0.064,2490,3538,3430
$GC,769,-1.12,-146.6,86.6,-11.8,34,774,0.00,2.47,0.00,0.000,6,0.000,0.046,2490,2140,3430
$GC,1091,-1.12,-146.6,125.0,-11.9,50,1096,0.00,2.55,0.00,0.000,4,0.000,0.063,2490,3540,3430
$GC,1120,-1.08,-146.6,128.9,-13.4,51,1124,0.00,2.45,0.00,0.000,6,0.000,0.048,2490,2156,3430
$GC,1441,-1.08,-146.6,159.9,-8.1,67,1445,0.00,2.53,0.00,0.000,4,0.000,0.058,2490,717,3430
$GC,1487,-1.08,-146.6,163.5,-8.0,69,1491,0.00,2.53,0.00,0.000,6,0.000,0.048,2490,2161,3430
$GC,1814,-1.08,-146.6,191.6,-8.4,85,1818,0.00,2.60,0.00,0.000,4,0.000,0.059,2490,715,3430
$GC,1898,-1.08,-146.6,199.4,-9.6,89,1902,0.00,2.53,0.00,0.000,6,0.000,0.048,2490,2145,3430
$GC,2225,-1.08,-146.6,224.3,-7.5,105,2229,0.00,2.58,0.00,0.000,4,0.000,0.059,2490,713,3430
$GC,2258,-1.08,-146.6,227.0,-8.1,106,2264,0.00,2.53,0.00,0.000,6,0.000,0.048,2490,2141,3430
$GC,2574,-1.08,-146.6,255.6,-10.1,122,2578,0.00,2.55,0.00,0.000,4,0.000,0.059,2490,722,3430
$GC,2635,-1.08,-146.6,262.3,-10.6,124,2641,0.00,2.50,0.00,0.000,6,0.000,0.049,2490,2138,3430
$GC,2952,-1.08,-146.6,295.9,-11.0,140,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2138,3430
$GC,3260,-1.08,-146.6,329.4,-10.8,155,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2138,3430
$GC,3569,-1.08,-146.6,364.8,-11.7,170,3573,0.00,2.55,0.00,0.000,4,0.000,0.061,2490,722,3430
$GC,3602,-1.08,-146.6,368.9,-12.0,171,3608,0.00,2.50,0.00,0.000,6,0.000,0.050,2490,2137,3430
$GC,3918,-1.08,-146.6,407.0,-12.5,187,3922,0.00,2.55,0.00,0.000,4,0.000,0.061,2490,720,3430
$GC,3951,-1.08,-146.6,411.6,-13.2,188,3957,0.00,2.47,0.00,0.000,6,0.000,0.050,2490,2120,3430
$GC,4267,-1.08,-146.6,451.1,-12.2,204,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2120,3430
$GC,4576,-1.08,-146.6,487.2,-11.2,219,4580,0.00,2.53,0.00,0.000,4,0.000,0.062,2490,721,3429
$GC,4616,-1.08,-146.6,491.4,-10.4,221,4620,0.00,2.47,0.00,0.000,6,0.000,0.054,2490,2119,3429
$GC,4943,-1.08,-146.6,527.5,-11.4,237,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2119,3429
$GC,5252,-1.08,-146.6,564.2,-12.2,252,5256,0.00,2.53,0.00,0.000,4,0.000,0.062,2490,719,3429
$GC,5279,-1.08,-146.6,567.5,-11.7,253,5283,0.00,2.47,0.00,0.000,6,0.000,0.051,2490,2118,3428
$GC,5595,-1.08,-146.6,598.3,-9.4,268,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2118,3428
$GC,5904,-1.08,-146.6,625.2,-8.3,283,5908,0.00,2.53,0.00,0.000,4,0.000,0.063,2490,720,3428
$GC,5976,-1.08,-146.6,631.8,-9.6,286,5980,0.00,2.47,0.00,0.000,6,0.000,0.050,2490,2120,3428
$GC,6293,-1.08,-146.6,662.9,-7.9,301,6297,0.00,2.53,0.00,0.000,4,0.000,0.063,2490,721,3428
$GC,6349,-1.08,-146.6,665.4,-4.1,303,6355,0.00,2.45,0.00,0.000,6,0.000,0.051,2490,2106,3428
$GC,6665,-1.08,-146.6,682.9,-8.8,319,6669,0.00,2.53,0.00,0.000,4,0.000,0.067,2491,719,3427
$GC,6720,-1.08,-146.6,688.9,-11.7,321,6726,0.00,2.45,0.00,0.000,6,0.000,0.052,2490,2100,3427
$GC,7036,-1.08,-146.6,727.9,-9.8,337,7037,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2101,3427
$STATE,7281,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7281,begin apogee
$GC,7288,-0.33,0.0,745.5,7.6,349,7424,0.82,0.00,131.30,1.307,6,0.076,0.000,2669,1846,2831
$STATE,7425,end apogee,CONTROL_FINISHED_OK
$STATE,7425,begin climb
$GC,7428,1.22,146.6,750.8,0.0,356,7565,1.58,0.00,132.82,1.270,6,0.059,0.000,3011,1846,2233
$GC,7876,1.13,151.2,731.7,7.8,378,7887,0.00,2.65,5.80,0.940,4,0.000,0.065,3011,3258,2214
$GC,7917,1.05,151.2,727.7,9.3,380,7922,0.20,2.60,0.00,0.000,6,0.095,0.062,2974,1851,2214
$GC,8244,1.05,151.2,699.3,10.3,396,8249,0.00,2.60,0.00,0.000,4,0.000,0.067,2974,3259,2213
$GC,8300,1.05,151.2,693.0,11.1,398,8306,0.00,2.60,0.00,0.000,6,0.000,0.061,2974,1844,2213
$GC,8616,1.05,154.8,663.5,7.9,414,8626,0.00,2.62,4.60,0.859,4,0.000,0.065,2974,3260,2200
$GC,8688,1.23,263.4,659.4,4.1,417,8791,0.17,2.55,96.12,1.249,6,0.054,0.061,3017,1870,1757
$GC,9108,1.18,269.7,630.9,7.8,438,9122,0.00,2.67,7.43,1.012,4,0.000,0.071,3017,445,1731
$GC,9180,1.12,284.8,625.3,7.5,441,9200,0.15,2.58,14.32,1.131,6,0.091,0.052,2989,1887,1670
$GC,9530,1.12,284.8,594.5,9.9,458,9531,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1888,1671
$GC,9836,1.12,284.8,565.1,8.5,473,9837,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1888,1670
$GC,10146,1.16,309.3,542.9,7.1,488,10176,0.00,2.75,22.85,1.138,4,0.000,0.067,2988,442,1570
$GC,10199,1.16,309.3,538.4,8.2,490,10203,0.00,2.55,0.00,0.000,6,0.000,0.051,2989,1855,1570
$GC,10515,1.27,353.2,517.0,6.4,505,10561,0.15,2.60,38.60,1.141,4,0.052,0.061,3029,3250,1391
$GC,10596,1.27,354.8,510.4,7.9,508,10602,0.00,2.55,0.00,0.000,6,0.000,0.056,3028,1855,1391
$GC,10912,1.27,354.8,481.6,9.9,524,10913,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1856,1392
$GC,11221,1.27,354.8,450.5,10.5,539,11225,0.00,2.55,0.00,0.000,4,0.000,0.061,3028,3254,1392
$GC,11277,1.27,354.8,444.7,10.7,541,11282,0.00,2.50,0.00,0.000,6,0.000,0.054,3028,1870,1392
$GC,11594,1.27,354.8,410.7,10.7,556,11595,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1870,1392
$GC,11903,1.27,354.8,373.8,12.3,571,11908,0.00,0.00,3.80,0.661,6,0.000,0.000,3028,1870,1384
$GC,12212,1.27,354.8,338.8,10.7,586,12214,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1870,1384
$GC,12521,1.27,354.8,311.1,8.6,601,12522,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1870,1384
$GC,12831,1.27,354.8,279.2,11.5,616,12834,0.00,2.50,0.00,0.000,4,0.000,0.060,3029,3255,1384
$GC,12870,1.27,354.8,274.2,11.6,617,12876,0.00,2.47,0.00,0.000,6,0.000,0.053,3028,1870,1384
$GC,13186,1.27,354.8,231.6,14.2,633,13187,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1870,1385
$GC,13495,1.27,354.8,186.7,14.8,648,13499,0.00,2.50,0.00,0.000,4,0.000,0.060,3028,3259,1385
$GC,13522,1.27,354.8,182.4,14.7,649,13527,0.00,2.45,0.00,0.000,6,0.000,0.051,3028,1883,1385
$GC,13839,1.27,354.8,138.6,13.4,664,13840,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1883,1385
$GC,14148,1.27,354.8,100.8,11.5,679,14152,0.00,2.47,0.00,0.000,4,0.000,0.058,3028,3256,1385
$GC,14189,1.30,354.8,96.5,10.5,681,14193,0.00,2.42,0.00,0.000,6,0.000,0.049,3028,1889,1385
$GC,14516,1.30,354.8,65.7,8.5,697,14517,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1889,1385
$GC,14825,1.30,354.8,34.9,10.9,712,14830,0.00,2.58,0.00,0.000,4,0.000,0.062,3028,440,1385
$GC,14866,1.30,354.8,30.0,11.3,714,14870,0.00,2.58,0.00,0.000,6,0.000,0.049,3028,1905,1385
$STATE,15107,end climb,SURFACE_DEPTH_REACHED
$STATE,15108,begin surface coast
$FINISH,0.5,1.013821
$STATE,15130,end surface coast,CONTROL_FINISHED_OK
$STATE,15130,begin surface
$SM_CCo,15213,0.00,0.000,0,0,1384,354.70
$SM_GC,1.26,11.25,0.00,0.00,0.035,0.000,0.000,419,2175,1384,-10.59,1.24,354.70
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1820
$TCM_TEMP,17.40
$XPDR_PINGS,45
$ALTIM_BOTTOM_PING,697.2,58.2
$24V_AH,23.8,24.846
$10V_AH,10.1,11.153
$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,25.850,127.575,457.650,0.000,0.000,37.764,28.072,136.266,17.500,0.000,0.000,16.544,1319.783,11579.603,572.242,1581.389,482.583,33.356,1390.385,0.000,1544.250,0.000,42.969,0.000
$DEVICE_MAMPS,164.138,71.331,1306.968,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,496.681,540.591,426.427,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38026,727
$CAP_FILE_SIZE,110078,0
$CFSIZE,254472192,244310016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,210909,083537,6337.880,-1316.822,37,1.4,37,-12.4