version: 66.04
glider: 5
mission: 7
dive: 136
start: 9 21 109 13 1 39
data:
$ID,5
$MISSION,7
$DIVE,136
$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,-102769.34
$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,27
$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
$GPS1,125408,6340.292,-1309.533,35,2.0,36,-12.4
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-57.5
$GPS2,130050,6340.242,-1309.405,16,2.0,17,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.086,0.238
$KALMAN_X,-99281.7,-1.5,857.5,-138969.5,-2172.1
$KALMAN_Y,-19123.8,554.0,317.6,247182.4,-3942.1
$MHEAD_RNG_PITCHd_Wd,32.2,18078,-14.2,-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,-1.18,-146.6,0.0,0.0,0,79,0.00,0.00,-61.35,0.000,2,0.000,0.000,419,2147,2495
$GC,83,-1.18,-146.6,2.3,-2.7,3,139,11.32,2.60,-36.28,0.000,4,0.156,0.068,2478,704,3428
$GC,147,-1.03,-146.6,7.0,-12.6,6,152,0.20,2.53,0.00,0.000,6,0.093,0.045,2519,2136,3429
$GC,474,-1.03,-146.6,47.1,-12.7,22,478,0.00,2.58,0.00,0.000,4,0.000,0.059,2519,706,3429
$GC,732,-1.06,-146.6,77.9,-10.9,33,739,0.00,2.53,0.00,0.000,6,0.000,0.046,2519,2139,3429
$GC,1048,-1.06,-146.6,107.7,-8.8,49,1053,0.00,2.58,0.00,0.000,4,0.000,0.071,2519,715,3430
$GC,1135,-1.06,-146.6,114.7,-7.8,53,1139,0.00,2.50,0.00,0.000,6,0.000,0.046,2519,2134,3430
$GC,1462,-1.06,-146.6,141.3,-8.0,69,1466,0.00,2.58,0.00,0.000,4,0.000,0.058,2519,704,3430
$GC,1525,-1.09,-146.6,146.4,-8.6,72,1530,0.00,2.50,0.00,0.000,6,0.000,0.047,2519,2120,3430
$GC,1852,-1.09,-146.6,174.1,-8.5,88,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2120,3430
$GC,2162,-1.09,-146.6,201.3,-8.9,103,2166,0.00,2.55,0.00,0.000,4,0.000,0.058,2519,702,3430
$GC,2213,-1.12,-146.6,206.1,-9.1,105,2217,0.00,2.50,0.00,0.000,6,0.000,0.048,2519,2116,3430
$GC,2528,-1.12,-146.6,235.6,-9.6,120,2533,0.00,2.53,0.00,0.000,4,0.000,0.060,2519,716,3430
$GC,2579,-1.16,-146.6,241.1,-11.0,122,2584,0.15,2.47,0.00,0.000,6,0.052,0.049,2478,2114,3429
$GC,2896,-1.10,-146.6,283.6,-13.6,137,2898,0.12,0.00,0.00,0.000,6,0.092,0.000,2504,2114,3430
$GC,3204,-1.10,-146.6,319.8,-11.8,152,3209,0.00,2.53,0.00,0.000,4,0.000,0.061,2504,704,3430
$GC,3277,-1.10,-146.6,328.8,-12.5,155,3281,0.00,2.47,0.00,0.000,6,0.000,0.049,2504,2103,3430
$GC,3598,-1.10,-146.6,366.4,-11.5,171,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2103,3429
$GC,3907,-1.10,-146.6,397.6,-9.6,186,3911,0.00,2.50,0.00,0.000,4,0.000,0.062,2503,713,3429
$GC,3947,-1.10,-146.6,401.5,-9.6,187,3953,0.00,2.47,0.00,0.000,6,0.000,0.050,2504,2110,3429
$GC,4263,-1.10,-146.6,429.6,-9.2,203,4267,0.00,2.53,0.00,0.000,4,0.000,0.061,2504,710,3429
$GC,4302,-1.10,-146.6,433.4,-10.0,205,4306,0.00,2.47,0.00,0.000,6,0.000,0.050,2504,2104,3429
$GC,4630,-1.10,-146.6,465.2,-10.1,221,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2105,3428
$GC,4939,-1.10,-146.6,495.0,-9.6,236,4947,0.00,2.53,0.00,0.000,4,0.000,0.064,2504,714,3428
$GC,4969,-1.10,-146.6,498.0,-9.4,237,4973,0.00,2.45,0.00,0.000,6,0.000,0.051,2504,2093,3428
$GC,5291,-1.10,-146.6,524.8,-7.8,253,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2093,3428
$GC,5599,-1.10,-146.6,550.7,-8.4,268,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2093,3427
$GC,5909,-1.10,-146.6,574.5,-7.5,283,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2093,3427
$GC,6218,-1.10,-146.6,594.6,-6.1,298,6223,0.00,2.50,0.00,0.000,4,0.000,0.062,2503,714,3427
$GC,6268,-1.10,-146.6,598.6,-8.8,300,6273,0.00,2.45,0.00,0.000,6,0.000,0.051,2504,2094,3427
$GC,6591,-1.10,-146.6,625.2,-7.9,316,6595,0.00,2.50,0.00,0.000,4,0.000,0.063,2504,716,3427
$GC,6664,-1.10,-146.6,630.8,-7.6,319,6668,0.00,2.40,0.00,0.000,6,0.000,0.051,2504,2068,3427
$GC,6980,-1.10,-146.6,654.0,-6.4,334,6984,0.00,2.47,0.00,0.000,4,0.000,0.064,2504,705,3427
$GC,7021,-1.10,-146.6,656.7,-6.6,336,7025,0.00,2.42,0.00,0.000,6,0.000,0.052,2504,2068,3427
$GC,7348,-1.10,-146.6,680.4,-7.9,352,7352,0.00,2.67,0.00,0.000,4,0.000,0.071,2504,3537,3427
$GC,7403,-1.10,-146.6,685.4,-9.7,354,7409,0.00,2.67,0.00,0.000,6,0.000,0.058,2504,2053,3426
$GC,7719,-1.10,-146.6,712.8,-8.7,370,7723,0.00,2.42,0.00,0.000,4,0.000,0.068,2503,705,3426
$GC,7763,-1.10,-146.6,717.2,-9.8,372,7767,0.00,2.45,0.00,0.000,6,0.000,0.054,2504,2075,3426
$GC,8085,-1.36,-146.6,732.7,0.0,388,8090,0.22,2.70,0.00,0.000,4,0.051,0.077,2437,3540,3425
$GC,8343,-1.63,-146.6,732.8,0.0,399,8350,0.22,2.70,0.00,0.000,6,0.051,0.061,2377,2046,3424
$STATE,8512,end dive,NO_VERTICAL_VELOCITY
$STATE,8512,begin apogee
$GC,8520,-0.33,0.0,732.7,0.0,408,8656,1.33,0.00,132.30,1.310,6,0.058,0.000,2678,1840,2831
$STATE,8657,end apogee,CONTROL_FINISHED_OK
$STATE,8657,begin climb
$GC,8660,1.18,146.6,732.6,0.0,415,8805,1.45,2.62,135.18,1.264,4,0.051,0.072,3003,448,2233
$GC,8910,1.02,146.9,718.1,8.0,426,8915,0.17,2.55,0.00,0.000,6,0.097,0.054,2971,1855,2233
$GC,9227,1.11,220.1,698.8,5.5,441,9295,0.00,0.00,66.18,1.242,6,0.000,0.000,2971,1871,1933
$GC,9599,1.14,237.4,671.7,7.4,459,9618,0.00,0.00,17.15,1.171,6,0.000,0.000,2970,1871,1863
$GC,9928,1.14,237.4,638.8,11.4,475,9933,0.10,2.62,0.00,0.000,4,0.062,0.073,2997,443,1862
$GC,9978,1.06,237.4,632.2,13.0,477,9983,0.00,2.55,0.00,0.000,6,0.000,0.055,2997,1853,1862
$GC,10294,1.06,237.4,598.7,8.1,492,10296,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1867,1862
$GC,10604,1.10,278.9,578.5,6.6,507,10646,0.00,2.67,36.65,1.203,4,0.000,0.069,2997,448,1694
$GC,10699,1.05,278.9,570.7,9.5,511,10704,0.12,2.53,0.00,0.000,6,0.094,0.053,2974,1844,1693
$GC,11022,1.18,337.2,549.8,6.0,527,11079,0.15,2.62,51.50,1.183,4,0.053,0.062,3013,3262,1456
$GC,11132,1.18,337.2,537.1,12.7,531,11136,0.00,2.60,0.00,0.000,6,0.000,0.060,3013,1853,1456
$GC,11453,1.18,337.2,494.1,12.8,547,11457,0.00,2.58,0.00,0.000,4,0.000,0.068,3013,433,1456
$GC,11493,1.14,337.2,489.0,12.8,549,11498,0.00,2.55,0.00,0.000,6,0.000,0.050,3013,1858,1457
$GC,11820,1.14,337.2,450.9,11.0,565,11821,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1872,1458
$GC,12129,1.14,337.2,419.1,10.1,580,12133,0.00,2.62,0.00,0.000,4,0.000,0.066,3013,433,1457
$GC,12162,1.10,337.2,415.4,10.6,581,12169,0.15,2.53,0.00,0.000,6,0.087,0.049,2983,1853,1457
$GC,12479,1.15,337.2,386.8,9.1,597,12480,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1868,1457
$GC,12787,1.20,337.2,357.2,9.7,612,12789,0.10,0.00,0.00,0.000,6,0.060,0.000,3013,1868,1457
$GC,13096,1.20,337.2,320.7,12.0,627,13097,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1868,1458
$GC,13406,1.20,337.2,287.5,10.3,642,13407,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1868,1458
$GC,13715,1.20,337.2,256.4,10.1,657,13719,0.00,2.58,0.00,0.000,4,0.000,0.064,3013,436,1458
$GC,13748,1.17,337.2,252.4,11.7,658,13754,0.00,2.47,0.00,0.000,6,0.000,0.048,3013,1837,1458
$GC,14064,1.17,337.2,218.8,10.3,674,14068,0.00,2.50,0.00,0.000,4,0.000,0.059,3013,3255,1458
$GC,14103,1.20,337.2,214.8,9.9,675,14110,0.00,2.55,0.00,0.000,6,0.000,0.052,3013,1827,1458
$GC,14419,1.20,337.2,185.0,9.3,691,14420,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1827,1458
$GC,14729,1.20,337.2,156.1,9.3,706,14733,0.00,2.60,0.00,0.000,4,0.000,0.058,3013,3264,1458
$GC,14784,1.25,337.2,150.9,8.3,708,14790,0.00,2.55,0.00,0.000,6,0.000,0.051,3013,1836,1459
$GC,15101,1.25,337.2,118.5,11.4,724,15106,0.00,2.58,0.00,0.000,4,0.000,0.058,3013,3261,1459
$GC,15143,1.28,337.2,113.3,13.0,726,15147,0.00,2.53,0.00,0.000,6,0.000,0.051,3013,1845,1459
$GC,15470,1.28,337.2,75.3,10.8,742,15474,0.00,2.55,0.00,0.000,4,0.000,0.058,3013,3258,1459
$GC,15510,1.33,337.2,71.0,11.5,744,15514,0.00,2.45,0.00,0.000,6,0.000,0.048,3013,1864,1459
$GC,15837,1.33,337.2,37.8,9.3,760,15842,0.00,2.53,0.00,0.000,4,0.000,0.057,3013,3264,1459
$GC,15916,1.40,337.2,30.2,9.1,763,15923,0.17,2.45,0.00,0.000,6,0.049,0.048,3061,1873,1459
$STATE,16148,end climb,SURFACE_DEPTH_REACHED
$STATE,16148,begin surface coast
$FINISH,0.3,1.023724
$STATE,16169,end surface coast,CONTROL_FINISHED_OK
$STATE,16169,begin surface
$SM_CCo,16253,0.00,0.000,0,0,1459,336.55
$SM_GC,1.21,11.38,0.00,0.00,0.035,0.000,0.000,417,2142,1459,-10.61,0.34,336.55
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1817
$TCM_TEMP,17.50
$XPDR_PINGS,48
$24V_AH,23.8,25.214
$10V_AH,10.1,11.301
$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,27.375,142.925,438.950,0.000,0.000,37.761,37.099,203.182,19.250,0.000,0.000,17.320,1436.465,12302.477,562.878,1778.395,571.693,33.358,1483.181,0.000,1728.068,0.000,53.001,0.000
$DEVICE_MAMPS,156.468,77.467,1310.036,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,530.937,581.406,461.067,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37976,776
$CAP_FILE_SIZE,124643,0
$CFSIZE,254472192,244183040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210909,173337,6340.980,-1309.435,28,1.4,28,-12.4