version: 66.04
glider: 5
mission: 7
dive: 137
start: 9 21 109 17 43 23
data:
$ID,5
$MISSION,7
$DIVE,137
$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,-102785.04
$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,31
$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
$GPS1,173337,6340.980,-1309.435,28,1.4,28,-12.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-63.9
$GPS2,174232,6341.031,-1309.791,15,1.6,15,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.027,0.152
$KALMAN_X,-100716.4,652.0,-812.9,-136823.8,-652.5
$KALMAN_Y,-23142.2,904.7,-458.3,253116.5,-5847.4
$MHEAD_RNG_PITCHd_Wd,22.6,16612,-25.0,-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,-1.75,-54.4,0.0,0.0,0,79,0.00,0.00,-61.03,0.000,2,0.000,0.000,416,2149,2712
$GC,82,-1.83,-102.2,2.6,-3.3,3,118,10.62,2.62,-18.30,0.000,4,0.161,0.067,2338,713,3248
$GC,374,-1.77,-102.2,56.9,-19.3,16,379,0.10,2.50,0.00,0.000,6,0.114,0.045,2355,2130,3248
$GC,701,-1.77,-102.2,112.0,-16.3,32,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2130,3249
$GC,1010,-1.77,-102.2,163.7,-16.3,47,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2130,3249
$GC,1319,-1.77,-102.2,215.8,-15.9,62,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2132,3249
$GC,1628,-1.77,-102.2,266.7,-16.9,77,1633,0.00,2.55,0.00,0.000,4,0.000,0.061,2355,720,3249
$GC,1672,-1.77,-102.2,274.8,-18.9,79,1677,0.00,2.53,0.00,0.000,6,0.000,0.049,2355,2144,3249
$GC,1994,-1.77,-102.2,331.9,-18.2,95,1998,0.00,2.58,0.00,0.000,4,0.000,0.059,2355,715,3249
$GC,2038,-1.77,-102.2,340.3,-19.0,97,2042,0.00,2.53,0.00,0.000,6,0.000,0.048,2355,2141,3249
$GC,2360,-1.77,-102.2,395.8,-16.8,113,2364,0.00,2.58,0.00,0.000,4,0.000,0.060,2355,715,3249
$GC,2438,-1.77,-102.2,409.5,-16.4,116,2444,0.00,2.53,0.00,0.000,6,0.000,0.049,2355,2140,3248
$GC,2754,-1.77,-102.2,458.2,-15.7,132,2758,0.00,2.58,0.00,0.000,4,0.000,0.062,2355,715,3248
$GC,2827,-1.77,-102.2,470.6,-16.8,135,2831,0.00,2.47,0.00,0.000,6,0.000,0.050,2355,2119,3248
$GC,3144,-1.77,-102.2,521.0,-15.8,150,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2119,3248
$GC,3452,-1.77,-102.2,576.6,-17.2,165,3456,0.00,2.53,0.00,0.000,4,0.000,0.061,2355,719,3248
$GC,3492,-1.77,-102.2,583.4,-17.8,167,3496,0.00,2.47,0.00,0.000,6,0.000,0.050,2355,2117,3248
$GC,3818,-1.77,-102.2,635.1,-15.2,183,3823,0.00,2.55,0.00,0.000,4,0.000,0.063,2355,712,3247
$GC,4010,-1.77,-102.2,667.0,-17.8,191,4016,0.00,2.42,0.00,0.000,6,0.000,0.048,2355,2086,3247
$GC,4325,-1.77,-102.2,711.5,-13.9,207,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2088,3247
$STATE,4632,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4632,begin apogee
$GC,4640,-0.33,0.0,758.6,16.6,222,4736,1.50,0.00,92.43,1.309,6,0.088,0.000,2668,1845,2831
$STATE,4737,end apogee,CONTROL_FINISHED_OK
$STATE,4737,begin climb
$GC,4740,1.83,102.2,763.8,0.0,227,4843,2.20,2.67,93.65,1.279,4,0.060,0.063,3145,3247,2414
$GC,4895,1.75,103.1,755.8,7.9,234,4901,0.00,2.58,0.00,0.000,6,0.000,0.063,3144,1858,2414
$GC,5212,1.66,103.1,722.2,10.8,250,5213,0.20,0.00,0.00,0.000,6,0.112,0.000,3109,1859,2413
$GC,5521,1.63,103.1,686.6,12.8,265,5525,0.00,2.58,0.00,0.000,4,0.000,0.064,3109,3253,2413
$GC,5777,1.63,103.1,649.3,16.5,276,5783,0.00,2.53,0.00,0.000,6,0.000,0.061,3109,1872,2413
$GC,6094,1.64,109.3,614.4,7.4,292,6108,0.00,2.58,7.72,1.036,4,0.000,0.064,3109,3244,2385
$GC,6167,1.66,125.6,610.1,6.4,295,6188,0.00,2.50,15.77,1.152,6,0.000,0.060,3109,1877,2318
$GC,6510,1.72,159.7,591.8,4.7,312,6546,0.00,2.67,30.85,1.194,4,0.000,0.068,3109,439,2180
$GC,6645,1.68,159.7,582.8,8.4,317,6649,0.00,2.58,0.00,0.000,6,0.000,0.051,3109,1874,2179
$GC,6966,1.71,175.3,564.1,6.5,333,6985,0.00,0.00,15.20,1.124,6,0.000,0.000,3109,1889,2116
$GC,7295,1.75,175.3,528.3,13.0,349,7299,0.00,2.47,0.00,0.000,4,0.000,0.062,3109,3261,2116
$GC,7364,1.82,175.3,518.4,14.6,352,7369,0.15,2.53,0.00,0.000,6,0.058,0.057,3147,1868,2115
$GC,7692,1.78,175.3,467.7,15.2,368,7693,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1868,2115
$GC,8001,1.78,175.3,422.2,14.6,383,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1868,2115
$GC,8310,1.78,175.3,376.7,14.9,398,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1868,2115
$GC,8619,1.78,175.3,333.2,13.8,413,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1868,2115
$GC,8928,1.78,175.3,288.1,14.4,428,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1868,2115
$GC,9237,1.78,175.3,242.8,15.0,443,9242,0.00,2.53,0.00,0.000,4,0.000,0.058,3147,3261,2116
$GC,9301,1.78,175.3,233.1,15.3,446,9305,0.00,2.47,0.00,0.000,6,0.000,0.051,3147,1871,2116
$GC,9628,1.78,175.3,182.2,15.7,462,9629,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1871,2116
$GC,9937,1.78,175.3,136.7,13.8,477,9941,0.00,2.55,0.00,0.000,4,0.000,0.064,3147,442,2116
$GC,9978,1.71,175.3,130.8,15.0,479,9983,0.15,2.55,0.00,0.000,6,0.107,0.048,3119,1890,2116
$GC,10306,1.76,175.3,96.3,9.3,495,10307,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1904,2117
$GC,10615,1.81,175.3,67.5,10.2,510,10616,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1904,2117
$GC,10924,1.88,175.3,27.2,13.4,525,10926,0.15,0.00,0.00,0.000,6,0.055,0.000,3158,1904,2117
$STATE,11108,end climb,SURFACE_DEPTH_REACHED
$STATE,11108,begin surface coast
$FINISH,0.4,1.026954
$STATE,11128,end surface coast,CONTROL_FINISHED_OK
$STATE,11129,begin surface
$SM_CCo,11152,69.15,0.782,0,0,1607,300.00
$SM_GC,1.17,0.00,0.00,69.15,0.000,0.000,0.782,416,2140,1607,-10.71,0.34,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1810
$TCM_TEMP,17.50
$XPDR_PINGS,37
$ALTIM_BOTTOM_PING,720.7,45.3
$24V_AH,23.8,25.339
$10V_AH,10.1,11.358
$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,26.875,72.025,255.625,69.150,0.000,75.523,61.856,209.416,15.750,0.000,0.000,15.078,1011.577,8510.587,444.741,1223.627,567.997,33.361,1042.881,0.000,1191.493,0.000,45.454,0.000
$DEVICE_MAMPS,161.070,68.263,1309.269,781.573,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,366.468,395.482,328.609,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25487,535
$CAP_FILE_SIZE,84557,0
$CFSIZE,254472192,244178944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,210909,205137,6342.491,-1310.644,31,1.0,31,-12.4