version: 66.04
glider: 5
mission: 7
dive: 139
start: 9 22 109 1 35 27
data:
$ID,5
$MISSION,7
$DIVE,139
$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,-102813.06
$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,47
$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
$GPS1,012801,6346.011,-1304.999,40,1.8,40,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-62.9
$GPS2,013438,6345.929,-1305.024,12,1.8,12,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.059,0.238
$KALMAN_X,-98802.0,29.5,772.3,-135543.3,-111.5
$KALMAN_Y,-22301.5,406.0,423.2,260921.1,-3166.2
$MHEAD_RNG_PITCHd_Wd,358.6,8565,-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,-61.28,0.000,2,0.000,0.000,419,2150,2876
$GC,83,-1.22,-146.6,3.2,-4.7,3,120,11.30,2.53,-15.82,0.000,4,0.156,0.075,2473,3513,3429
$GC,148,-1.11,-146.6,13.4,-14.9,6,153,0.15,2.47,0.00,0.000,6,0.090,0.048,2505,2129,3430
$GC,470,-1.11,-146.6,50.4,-11.8,22,474,0.00,2.55,0.00,0.000,4,0.000,0.062,2505,3517,3430
$GC,537,-1.11,-146.6,58.7,-12.2,25,541,0.00,2.47,0.00,0.000,6,0.000,0.045,2505,2120,3430
$GC,860,-1.11,-146.6,98.2,-12.1,41,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2108,3430
$GC,1167,-1.11,-146.6,127.9,-9.0,56,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2108,3430
$GC,1483,-1.11,-146.6,163.3,-11.6,73,1487,0.00,2.47,0.00,0.000,4,0.000,0.058,2506,720,3430
$GC,1538,-1.14,-146.6,169.8,-11.5,76,1549,0.00,2.45,0.00,0.000,6,0.000,0.047,2505,2108,3430
$GC,1857,-1.14,-146.6,205.2,-11.0,97,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2110,3430
$GC,2170,-1.14,-146.6,237.8,-9.9,117,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2110,3430
$GC,2482,-1.14,-146.6,269.2,-10.6,137,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2109,3430
$GC,2795,-1.14,-146.6,303.4,-11.3,157,2799,0.00,2.50,0.00,0.000,4,0.000,0.060,2505,721,3430
$GC,2845,-1.17,-146.6,309.2,-12.1,160,2849,0.00,2.47,0.00,0.000,6,0.000,0.049,2505,2120,3430
$GC,3164,-1.17,-146.6,343.9,-10.2,180,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2120,3430
$GC,3477,-1.17,-146.6,372.2,-7.9,200,3481,0.00,2.53,0.00,0.000,4,0.000,0.061,2505,718,3430
$GC,3539,-1.20,-146.6,377.4,-8.5,204,3544,0.00,2.47,0.00,0.000,6,0.000,0.050,2505,2112,3430
$GC,3864,-1.20,-146.6,405.6,-8.9,225,3869,0.00,2.53,0.00,0.000,4,0.000,0.061,2505,713,3429
$GC,3893,-1.20,-146.6,408.4,-9.7,227,3898,0.00,2.47,0.00,0.000,6,0.000,0.050,2505,2107,3429
$GC,4217,-1.20,-146.6,435.6,-7.5,248,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2106,3429
$GC,4530,-1.20,-146.6,462.6,-10.0,268,4534,0.00,2.50,0.00,0.000,4,0.000,0.062,2505,721,3429
$GC,4580,-1.24,-146.6,468.2,-10.8,271,4585,0.15,2.45,0.00,0.000,6,0.057,0.053,2464,2105,3429
$GC,4905,-1.17,-146.6,522.1,-18.7,291,4906,0.12,0.00,0.00,0.000,6,0.095,0.000,2488,2106,3429
$GC,5212,-1.17,-146.6,560.2,-9.7,311,5216,0.00,2.53,0.00,0.000,4,0.000,0.064,2488,715,3428
$GC,5261,-1.17,-146.6,566.4,-12.4,314,5266,0.00,2.45,0.00,0.000,6,0.000,0.051,2488,2094,3428
$GC,5581,-1.17,-146.6,611.1,-13.3,334,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2095,3428
$GC,5893,-1.17,-146.6,650.5,-12.4,354,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2095,3428
$GC,6205,-1.17,-146.6,679.8,-9.5,374,6209,0.00,2.50,0.00,0.000,4,0.000,0.064,2488,718,3427
$GC,6261,-1.17,-146.6,685.5,-9.3,377,6268,0.00,2.47,0.00,0.000,6,0.000,0.053,2488,2108,3427
$GC,6580,-1.17,-146.6,718.5,-11.1,398,6585,0.00,2.55,0.00,0.000,4,0.000,0.069,2489,715,3427
$GC,6603,-1.17,-146.6,721.1,-10.7,399,6609,0.00,2.47,0.00,0.000,6,0.000,0.055,2488,2097,3427
$STATE,6795,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6795,begin apogee
$GC,6802,-0.33,0.0,741.3,9.9,412,6937,0.85,0.00,131.27,1.309,6,0.078,0.000,2672,1838,2831
$STATE,6938,end apogee,CONTROL_FINISHED_OK
$STATE,6938,begin climb
$GC,6941,1.22,146.6,747.5,0.0,421,7078,1.52,0.00,131.60,1.269,6,0.059,0.000,3006,1838,2233
$GC,7383,1.12,146.6,720.9,8.5,450,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1838,2232
$GC,7696,1.03,146.6,691.9,8.6,470,7698,0.20,0.00,0.00,0.000,6,0.089,0.000,2969,1838,2232
$GC,8008,1.23,269.6,675.4,3.5,490,8126,0.17,2.72,109.55,1.246,4,0.054,0.065,3016,3254,1731
$GC,8159,1.30,312.0,667.0,6.5,499,8205,0.00,2.58,38.97,1.196,6,0.000,0.063,3016,1868,1557
$GC,8529,1.33,335.0,638.9,7.2,523,8554,0.00,0.00,21.42,1.159,6,0.000,0.000,3016,1868,1465
$GC,8868,1.39,374.1,616.8,6.6,545,8910,0.15,2.62,35.60,1.187,4,0.057,0.064,3055,3260,1305
$GC,8939,1.34,374.1,611.1,8.1,548,8945,0.00,2.60,0.00,0.000,6,0.000,0.061,3056,1858,1305
$GC,9258,1.25,374.1,565.5,17.4,569,9263,0.17,2.60,0.00,0.000,4,0.093,0.070,3018,432,1306
$GC,9304,1.25,374.1,557.9,15.9,572,9308,0.00,2.55,0.00,0.000,6,0.000,0.052,3018,1856,1306
$GC,9628,1.25,374.1,508.0,15.2,593,9632,0.00,2.62,0.00,0.000,4,0.000,0.068,3018,439,1306
$GC,9662,1.22,374.1,502.9,15.3,595,9666,0.00,2.53,0.00,0.000,6,0.000,0.051,3018,1851,1307
$GC,9981,1.22,374.1,457.5,14.1,615,9982,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1865,1306
$GC,10293,1.22,374.1,413.6,13.9,635,10294,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1865,1307
$GC,10607,1.22,374.1,374.5,11.9,655,10611,0.00,2.60,0.00,0.000,4,0.000,0.065,3018,432,1307
$GC,10640,1.22,374.1,370.1,12.1,657,10644,0.00,2.50,0.00,0.000,6,0.000,0.049,3017,1838,1307
$GC,10959,1.22,374.1,335.1,10.7,677,10963,0.00,2.53,0.00,0.000,4,0.000,0.061,3018,3255,1307
$GC,10992,1.28,374.1,331.4,10.7,679,10997,0.00,2.58,0.00,0.000,6,0.000,0.054,3018,1825,1307
$GC,11311,1.28,374.1,295.7,11.7,699,11312,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1825,1307
$GC,11624,1.28,374.1,257.0,13.4,719,11628,0.00,2.60,0.00,0.000,4,0.000,0.059,3018,3258,1307
$GC,11680,1.35,374.1,249.8,12.4,722,11686,0.00,2.50,0.00,0.000,6,0.000,0.053,3018,1854,1307
$GC,11999,1.35,374.1,210.2,11.7,743,12000,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1854,1308
$GC,12311,1.35,374.1,174.9,11.3,763,12315,0.00,2.55,0.00,0.000,4,0.000,0.058,3018,3261,1308
$GC,12350,1.42,374.1,170.5,10.4,765,12357,0.17,2.53,0.00,0.000,6,0.050,0.052,3065,1850,1308
$GC,12684,1.33,374.1,121.9,15.2,784,12686,0.15,0.00,0.00,0.000,6,0.091,0.000,3035,1850,1308
$GC,12992,1.33,374.1,83.1,12.0,799,12997,0.00,2.55,0.00,0.000,4,0.000,0.059,3035,3257,1308
$GC,13037,1.33,374.1,76.9,13.4,801,13041,0.00,2.50,0.00,0.000,6,0.000,0.050,3035,1852,1308
$GC,13359,1.33,374.1,41.3,11.1,817,13360,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1852,1309
$GC,13669,1.33,374.1,4.6,13.0,832,13673,0.00,2.55,0.00,0.000,4,0.000,0.057,3036,3264,1308
$STATE,13677,end climb,SURFACE_DEPTH_REACHED
$STATE,13677,begin surface coast
$FINISH,0.6,1.026994
$STATE,13700,end surface coast,CONTROL_FINISHED_OK
$STATE,13700,begin surface
$SM_CCo,13786,0.00,0.000,0,0,1308,373.59
$SM_GC,1.32,11.27,0.00,0.00,0.035,0.000,0.000,422,2110,1308,-10.58,-0.57,373.59
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1838
$TCM_TEMP,19.20
$XPDR_PINGS,51
$ALTIM_BOTTOM_PING,720.4,30.3
$24V_AH,23.8,25.676
$10V_AH,10.1,11.504
$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,26.400,101.200,468.425,0.000,0.000,37.760,29.682,211.807,19.500,0.000,0.000,12.459,1421.444,10067.071,549.446,1600.286,542.211,33.362,1366.221,0.000,1565.564,0.000,47.396,0.000
$DEVICE_MAMPS,155.701,75.166,1309.269,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,569.633,609.168,455.816,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41046,833
$CAP_FILE_SIZE,106600,0
$CFSIZE,254472192,244035584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,220909,052630,6346.909,-1309.126,40,1.9,40,-12.4