version: 66.04
glider: 5
mission: 7
dive: 135
start: 9 21 109 8 42 17
data:
$ID,5
$MISSION,7
$DIVE,135
$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,-102751.39
$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,55
$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
$GPS1,083537,6337.880,-1316.822,37,1.4,37,-12.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-58.5
$GPS2,084126,6337.927,-1316.698,13,1.5,13,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.176,0.171
$KALMAN_X,-101427.9,-11.1,294.4,-142621.1,-4786.8
$KALMAN_Y,-19341.0,-121.1,577.5,243568.8,-5824.5
$MHEAD_RNG_PITCHd_Wd,58.3,23019,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.22,0.000,2,0.000,0.000,419,2156,2638
$GC,82,-1.22,-146.6,2.4,-2.9,3,129,11.35,2.47,-28.23,0.000,4,0.163,0.075,2472,3502,3430
$GC,136,-1.06,-146.6,6.8,-9.5,5,141,0.20,2.47,0.00,0.000,6,0.094,0.049,2514,2117,3430
$GC,452,-1.06,-146.6,39.4,-10.1,20,456,0.00,2.47,0.00,0.000,4,0.000,0.056,2514,715,3430
$GC,709,-1.06,-146.6,68.7,-12.4,31,715,0.00,2.47,0.00,0.000,6,0.000,0.047,2514,2115,3431
$GC,1025,-1.06,-146.6,114.2,-14.6,47,1029,0.00,2.50,0.00,0.000,4,0.000,0.057,2514,718,3431
$GC,1191,-1.10,-146.6,136.5,-13.2,54,1195,0.00,2.50,0.00,0.000,6,0.000,0.047,2514,2139,3431
$GC,1507,-1.10,-146.6,169.3,-8.2,69,1511,0.00,2.53,0.00,0.000,4,0.000,0.065,2514,3536,3431
$GC,1534,-1.10,-146.6,171.5,-7.6,70,1538,0.00,2.53,0.00,0.000,6,0.000,0.050,2514,2118,3431
$GC,1850,-1.10,-146.6,197.8,-9.0,85,1855,0.00,2.60,0.00,0.000,4,0.000,0.065,2514,3541,3431
$GC,1884,-1.10,-146.6,201.1,-9.2,86,1890,0.00,2.50,0.00,0.000,6,0.000,0.051,2514,2140,3431
$GC,2199,-1.10,-146.6,229.6,-9.1,102,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2127,3431
$GC,2509,-1.10,-146.6,258.1,-9.5,117,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2127,3431
$GC,2818,-1.10,-146.6,289.0,-10.7,132,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2127,3431
$GC,3128,-1.10,-146.6,320.9,-10.3,147,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2127,3431
$GC,3437,-1.10,-146.6,351.6,-9.8,162,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2127,3431
$GC,3746,-1.10,-146.6,383.5,-10.6,177,3750,0.00,2.53,0.00,0.000,4,0.000,0.061,2514,715,3430
$GC,3779,-1.15,-146.6,387.2,-11.1,178,3786,0.00,2.50,0.00,0.000,6,0.000,0.050,2514,2130,3430
$GC,4096,-1.15,-146.6,422.8,-11.5,194,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2131,3430
$GC,4404,-1.15,-146.6,457.5,-10.9,209,4409,0.00,2.55,0.00,0.000,4,0.000,0.062,2514,718,3430
$GC,4490,-1.20,-146.6,466.8,-11.8,213,4495,0.15,2.50,0.00,0.000,6,0.054,0.050,2472,2134,3430
$GC,4820,-1.15,-146.6,505.1,-11.6,229,4825,0.10,2.55,0.00,0.000,4,0.104,0.061,2491,720,3429
$GC,4860,-1.15,-146.6,509.9,-11.3,231,4864,0.00,2.47,0.00,0.000,6,0.000,0.051,2491,2120,3429
$GC,5186,-1.15,-146.6,547.8,-12.2,247,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2120,3429
$GC,5496,-1.15,-146.6,587.8,-12.7,262,5500,0.00,2.53,0.00,0.000,4,0.000,0.062,2491,721,3429
$GC,5546,-1.15,-146.6,594.4,-12.8,264,5553,0.00,2.47,0.00,0.000,6,0.000,0.051,2491,2121,3429
$GC,5870,-1.15,-146.6,631.0,-10.0,280,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2121,3429
$GC,6179,-1.15,-146.6,663.2,-10.4,295,6183,0.00,2.53,0.00,0.000,4,0.000,0.064,2491,719,3428
$GC,6212,-1.15,-146.6,666.9,-11.1,296,6218,0.00,2.47,0.00,0.000,6,0.000,0.051,2491,2117,3428
$GC,6528,-1.15,-146.6,692.4,-7.0,312,6532,0.00,2.53,0.00,0.000,4,0.000,0.064,2491,721,3428
$GC,6572,-1.15,-146.6,696.1,-8.0,314,6577,0.00,2.42,0.00,0.000,6,0.000,0.051,2491,2090,3428
$GC,6894,-1.15,-146.6,723.0,-8.8,330,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2090,3428
$GC,7203,-1.15,-146.6,752.9,-9.0,345,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2090,3427
$GC,7512,-1.15,-146.6,779.9,-8.7,360,7516,0.00,2.50,0.00,0.000,4,0.000,0.069,2491,721,3427
$GC,7556,-1.15,-146.6,784.3,-9.8,362,7560,0.00,2.45,0.00,0.000,6,0.000,0.057,2491,2089,3427
$STATE,7633,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7633,begin apogee
$GC,7641,-0.33,0.0,791.4,9.5,366,7777,0.85,0.00,132.60,1.348,6,0.082,0.000,2674,1831,2831
$STATE,7778,end apogee,CONTROL_FINISHED_OK
$STATE,7778,begin climb
$GC,7781,1.22,146.6,793.0,0.0,373,7926,1.52,2.67,136.25,1.300,4,0.061,0.064,3007,3255,2232
$GC,8003,1.13,146.6,780.2,11.3,383,8007,0.00,2.58,0.00,0.000,6,0.000,0.064,3007,1868,2232
$GC,8324,1.03,146.6,746.8,8.4,399,8329,0.17,2.60,0.00,0.000,4,0.092,0.073,2971,440,2231
$GC,8352,0.97,146.6,744.2,8.9,400,8357,0.00,2.55,0.00,0.000,6,0.000,0.054,2971,1855,2231
$GC,8668,1.12,246.0,726.2,4.4,415,8760,0.00,0.00,90.18,1.276,6,0.000,0.000,2971,1870,1828
$GC,9059,1.20,270.9,698.1,7.1,434,9088,0.17,2.75,23.52,1.217,4,0.053,0.071,3018,439,1726
$GC,9157,1.12,270.9,688.8,10.6,438,9162,0.15,2.55,0.00,0.000,6,0.094,0.058,2990,1844,1726
$GC,9473,1.22,335.8,669.5,5.6,453,9536,0.00,2.70,57.80,1.252,4,0.000,0.066,2990,3261,1461
$GC,9601,1.40,392.7,662.1,5.9,458,9659,0.28,2.60,51.30,1.227,6,0.048,0.062,3056,1856,1230
$GC,9975,1.31,392.7,616.5,13.4,477,9980,0.12,2.60,0.00,0.000,4,0.099,0.070,3032,431,1231
$GC,10016,1.27,392.7,611.2,12.4,479,10020,0.00,2.58,0.00,0.000,6,0.000,0.052,3032,1864,1231
$GC,10343,1.23,392.7,570.5,12.7,495,10344,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1879,1232
$GC,10652,1.20,392.7,530.0,13.8,510,10657,0.12,2.62,0.00,0.000,4,0.097,0.068,3008,439,1232
$GC,10685,1.20,392.7,525.0,14.2,511,10691,0.00,2.53,0.00,0.000,6,0.000,0.051,3008,1850,1232
$GC,11001,1.20,392.7,485.1,12.6,527,11006,0.00,2.60,0.00,0.000,4,0.000,0.067,3008,439,1232
$GC,11030,1.20,392.7,481.1,14.0,528,11034,0.00,2.50,0.00,0.000,6,0.000,0.049,3008,1843,1232
$GC,11345,1.20,392.7,440.0,12.7,543,11347,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1858,1232
$GC,11655,1.20,392.7,402.9,11.5,558,11659,0.00,2.60,0.00,0.000,4,0.000,0.067,3008,433,1232
$GC,11676,1.20,392.7,400.2,12.0,559,11681,0.00,2.47,0.00,0.000,6,0.000,0.049,3008,1828,1232
$GC,11998,1.20,392.7,364.5,10.5,575,12002,0.00,2.53,0.00,0.000,4,0.000,0.060,3008,3257,1233
$GC,12020,1.26,392.7,362.1,10.8,576,12024,0.00,2.60,0.00,0.000,6,0.000,0.057,3008,1818,1232
$GC,12341,1.26,392.7,327.4,11.0,592,12345,0.00,2.62,0.00,0.000,4,0.000,0.060,3008,3261,1233
$GC,12369,1.32,392.7,324.3,10.0,593,12374,0.12,2.58,0.00,0.000,6,0.054,0.054,3043,1831,1233
$GC,12685,1.27,392.7,282.9,12.8,608,12686,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1831,1233
$GC,12994,1.23,392.7,245.0,12.7,623,12999,0.15,2.60,0.00,0.000,4,0.085,0.060,3012,3261,1233
$GC,13035,1.31,392.7,240.5,10.7,625,13039,0.00,2.55,0.00,0.000,6,0.000,0.054,3012,1840,1233
$GC,13362,1.31,392.7,204.7,12.0,641,13363,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1840,1233
$GC,13671,1.31,392.7,162.3,14.3,656,13675,0.00,2.58,0.00,0.000,4,0.000,0.058,3012,3261,1233
$GC,13699,1.38,392.7,158.1,14.3,657,13704,0.15,2.53,0.00,0.000,6,0.051,0.051,3053,1846,1233
$GC,14016,1.32,392.7,108.3,15.1,672,14021,0.12,2.53,0.00,0.000,4,0.090,0.064,3028,436,1233
$GC,14049,1.28,392.7,103.2,13.4,673,14056,0.00,2.50,0.00,0.000,6,0.000,0.048,3028,1855,1234
$GC,14367,1.28,392.7,65.0,11.6,689,14371,0.00,2.60,0.00,0.000,4,0.000,0.064,3028,429,1234
$GC,14395,1.28,392.7,61.0,13.0,690,14399,0.00,2.45,0.00,0.000,6,0.000,0.047,3028,1821,1234
$GC,14711,1.28,392.7,24.8,11.8,705,14715,0.00,2.55,0.00,0.000,4,0.000,0.057,3028,3262,1234
$GC,14752,1.36,392.7,20.1,11.1,707,14757,0.00,2.55,0.00,0.000,6,0.000,0.051,3028,1816,1233
$STATE,14932,end climb,SURFACE_DEPTH_REACHED
$STATE,14932,begin surface coast
$FINISH,0.5,1.015345
$STATE,14954,end surface coast,CONTROL_FINISHED_OK
$STATE,14954,begin surface
$SM_CCo,15038,0.00,0.000,0,0,1233,391.74
$SM_GC,1.31,11.25,0.00,0.00,0.035,0.000,0.000,419,2141,1233,-10.60,0.34,391.74
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1839
$TCM_TEMP,17.40
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,745.4,54.6
$24V_AH,23.8,25.040
$10V_AH,10.1,11.224
$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,27.000,138.325,491.650,0.000,0.000,37.760,31.672,161.239,17.250,0.000,0.000,13.375,1325.083,11359.947,599.213,1583.849,518.873,33.356,1437.210,0.000,1544.752,0.000,46.133,0.000
$DEVICE_MAMPS,162.604,75.166,1347.619,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,490.158,530.418,405.862,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34760,717
$CAP_FILE_SIZE,116113,0
$CFSIZE,254472192,244252672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210909,125408,6340.292,-1309.533,35,2.0,36,-12.4