version: 66.04
glider: 5
mission: 7
dive: 141
start: 9 22 109 9 53 29
data:
$ID,5
$MISSION,7
$DIVE,141
$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,-102843.58
$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,46
$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
$GPS1,094654,6349.438,-1311.990,38,1.3,38,-12.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-56.6
$GPS2,095238,6349.455,-1311.866,11,2.0,11,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.095,0.226
$KALMAN_X,-102648.2,-140.3,525.2,-137256.0,-4174.9
$KALMAN_Y,-27927.3,376.7,1102.0,272447.4,-8613.4
$MHEAD_RNG_PITCHd_Wd,349.8,24458,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.22,-146.6,0.0,0.0,0,99,0.00,0.00,-80.75,0.000,2,0.000,0.000,420,2156,2736
$GC,103,-1.22,-146.6,2.7,-2.4,4,144,11.40,2.47,-24.45,0.000,4,0.158,0.075,2475,3520,3428
$GC,180,-1.14,-146.6,9.5,-10.0,8,185,0.10,2.50,0.00,0.000,6,0.100,0.048,2494,2120,3428
$GC,508,-1.11,-146.6,46.0,-10.0,24,512,0.00,2.47,0.00,0.000,4,0.000,0.056,2494,718,3428
$GC,558,-1.11,-146.6,51.6,-10.6,26,563,0.00,2.45,0.00,0.000,6,0.000,0.046,2494,2107,3428
$GC,874,-1.11,-146.6,88.9,-12.1,41,879,0.00,2.58,0.00,0.000,4,0.000,0.063,2495,3535,3428
$GC,919,-1.11,-146.6,94.9,-12.5,43,924,0.00,2.53,0.00,0.000,6,0.000,0.048,2495,2112,3428
$GC,1243,-1.11,-146.6,133.6,-11.7,59,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2099,3429
$GC,1556,-1.11,-146.6,172.6,-13.1,77,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2099,3429
$GC,1868,-1.11,-146.6,206.0,-9.9,97,1873,0.00,2.47,0.00,0.000,4,0.000,0.059,2495,715,3429
$GC,1919,-1.11,-146.6,211.2,-10.0,100,1924,0.00,2.50,0.00,0.000,6,0.000,0.048,2495,2130,3429
$GC,2238,-1.11,-146.6,250.2,-13.1,120,2242,0.00,2.55,0.00,0.000,4,0.000,0.061,2494,717,3429
$GC,2271,-1.11,-146.6,254.8,-13.3,122,2275,0.00,2.47,0.00,0.000,6,0.000,0.048,2495,2117,3429
$GC,2590,-1.11,-146.6,292.9,-11.5,142,2594,0.00,2.53,0.00,0.000,4,0.000,0.059,2494,714,3429
$GC,2646,-1.11,-146.6,299.9,-12.8,145,2650,0.00,2.47,0.00,0.000,6,0.000,0.048,2495,2112,3429
$GC,2965,-1.11,-146.6,337.4,-11.2,165,2970,0.00,2.50,0.00,0.000,4,0.000,0.059,2495,721,3429
$GC,2999,-1.11,-146.6,341.2,-11.3,167,3003,0.00,2.45,0.00,0.000,6,0.000,0.049,2495,2107,3429
$GC,3318,-1.11,-146.6,374.6,-10.4,187,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2108,3428
$GC,3630,-1.11,-146.6,406.8,-10.2,207,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2108,3428
$GC,3942,-1.11,-146.6,437.5,-9.7,227,3947,0.00,2.50,0.00,0.000,4,0.000,0.061,2495,721,3428
$GC,3999,-1.11,-146.6,442.7,-9.2,230,4005,0.00,2.45,0.00,0.000,6,0.000,0.050,2495,2107,3428
$GC,4318,-1.11,-146.6,471.6,-8.8,251,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2107,3428
$GC,4632,-1.11,-146.6,501.3,-10.1,271,4636,0.00,2.53,0.00,0.000,4,0.000,0.064,2495,716,3427
$GC,4687,-1.11,-146.6,507.5,-11.3,274,4693,0.00,2.45,0.00,0.000,6,0.000,0.051,2495,2098,3427
$GC,5006,-1.11,-146.6,538.7,-9.4,295,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2097,3427
$GC,5319,-1.11,-146.6,568.1,-10.3,315,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2097,3427
$GC,5631,-1.11,-146.6,604.2,-12.5,335,5635,0.00,2.50,0.00,0.000,4,0.000,0.063,2495,716,3426
$GC,5687,-1.11,-146.6,611.6,-13.6,338,5693,0.00,2.45,0.00,0.000,6,0.000,0.051,2495,2093,3426
$GC,6006,-1.11,-146.6,649.3,-10.4,359,6010,0.00,2.50,0.00,0.000,4,0.000,0.062,2495,715,3426
$GC,6034,-1.11,-146.6,652.0,-9.4,361,6039,0.00,2.45,0.00,0.000,6,0.000,0.051,2495,2093,3426
$GC,6359,-1.11,-146.6,676.0,-6.6,382,6364,0.00,2.62,0.00,0.000,4,0.000,0.069,2495,3538,3426
$GC,6427,-1.11,-146.6,680.7,-7.3,386,6432,0.00,2.60,0.00,0.000,6,0.000,0.057,2495,2093,3426
$GC,6748,-1.11,-146.6,704.2,-7.8,406,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2086,3426
$GC,7060,-1.11,-146.6,728.8,-7.7,426,7064,0.00,2.67,0.00,0.000,4,0.000,0.071,2495,3534,3425
$GC,7105,-1.11,-146.6,732.9,-9.0,429,7109,0.00,2.60,0.00,0.000,6,0.000,0.059,2495,2098,3425
$GC,7429,-1.11,-146.6,762.0,-8.9,450,7433,0.00,2.47,0.00,0.000,4,0.000,0.068,2495,718,3425
$GC,7458,-1.11,-146.6,764.6,-9.3,452,7462,0.00,2.50,0.00,0.000,6,0.000,0.054,2495,2117,3425
$STATE,7764,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7764,begin apogee
$GC,7773,-0.33,0.0,792.6,10.4,472,7907,0.82,0.00,129.90,1.361,6,0.080,0.000,2671,1845,2831
$STATE,7908,end apogee,CONTROL_FINISHED_OK
$STATE,7908,begin climb
$GC,7911,1.22,146.6,798.1,0.0,481,8049,1.55,0.00,131.73,1.316,6,0.060,0.000,3011,1845,2233
$GC,8362,1.12,147.0,768.4,8.0,510,8366,0.00,2.55,0.00,0.000,4,0.000,0.071,3010,440,2233
$GC,8435,0.97,147.0,762.3,8.6,514,8441,0.28,2.53,0.00,0.000,6,0.089,0.054,2957,1843,2232
$GC,8754,1.05,196.5,742.7,6.2,535,8801,0.00,0.00,44.72,1.278,6,0.000,0.000,2957,1858,2030
$GC,9112,1.15,227.7,718.5,6.9,558,9143,0.17,0.00,28.55,1.249,6,0.054,0.000,3001,1858,1903
$GC,9456,1.10,227.7,686.3,9.5,580,9460,0.00,2.62,0.00,0.000,4,0.000,0.073,3002,439,1902
$GC,9508,1.02,227.7,680.9,10.2,583,9513,0.17,2.53,0.00,0.000,6,0.093,0.054,2969,1840,1902
$GC,9830,1.08,244.6,655.9,7.4,603,9853,0.00,2.62,16.52,1.191,4,0.000,0.064,2969,3263,1833
$GC,9879,1.16,248.5,652.0,7.9,606,9890,0.15,2.62,5.25,0.921,6,0.056,0.061,3006,1844,1817
$GC,10207,1.12,248.5,623.0,8.7,626,10211,0.00,2.60,0.00,0.000,4,0.000,0.062,3006,3258,1816
$GC,10245,1.12,248.5,618.8,10.5,628,10251,0.00,2.60,0.00,0.000,6,0.000,0.058,3006,1833,1816
$GC,10565,1.08,248.5,584.4,11.7,649,10570,0.15,2.62,0.00,0.000,4,0.093,0.062,2977,3261,1816
$GC,10611,1.15,248.5,579.4,10.3,652,10616,0.00,2.58,0.00,0.000,6,0.000,0.058,2977,1848,1816
$GC,10937,1.18,248.5,548.6,9.0,673,10939,0.10,0.00,0.00,0.000,6,0.061,0.000,3005,1848,1816
$GC,11248,1.18,248.5,516.4,10.7,693,11252,0.00,2.58,0.00,0.000,4,0.000,0.062,3005,3255,1816
$GC,11282,1.18,248.5,512.8,10.5,695,11286,0.00,2.53,0.00,0.000,6,0.000,0.058,3004,1859,1816
$GC,11601,1.14,248.5,479.5,10.4,715,11603,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1859,1816
$GC,11913,1.14,248.5,449.5,9.2,735,11917,0.00,2.55,0.00,0.000,4,0.000,0.061,3004,3258,1816
$GC,11964,1.14,248.5,444.6,9.6,738,11968,0.00,2.53,0.00,0.000,6,0.000,0.055,3004,1859,1816
$GC,12283,1.14,248.5,413.9,10.2,758,12284,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1859,1816
$GC,12595,1.14,248.5,380.8,10.8,778,12599,0.00,2.55,0.00,0.000,4,0.000,0.060,3005,3261,1816
$GC,12651,1.14,248.5,374.5,11.4,781,12657,0.00,2.50,0.00,0.000,6,0.000,0.054,3004,1869,1817
$GC,12970,1.14,248.5,337.8,11.7,802,12971,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1869,1817
$GC,13282,1.14,248.5,302.0,10.9,822,13286,0.00,2.53,0.00,0.000,4,0.000,0.059,3004,3261,1817
$GC,13321,1.14,248.5,297.7,10.7,824,13327,0.00,2.47,0.00,0.000,6,0.000,0.053,3005,1877,1817
$GC,13640,1.14,248.5,263.0,10.6,845,13641,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1877,1817
$GC,13952,1.14,248.5,231.1,10.0,865,13956,0.00,2.50,0.00,0.000,4,0.000,0.059,3005,3258,1818
$GC,13997,1.14,248.5,226.7,9.7,868,14002,0.00,2.45,0.00,0.000,6,0.000,0.051,3005,1881,1817
$GC,14322,1.14,248.5,197.5,9.1,889,14323,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1881,1818
$GC,14635,1.14,248.5,170.6,9.1,909,14639,0.00,2.47,0.00,0.000,4,0.000,0.058,3005,3255,1818
$GC,14701,1.14,248.5,164.2,8.8,913,14706,0.00,2.42,0.00,0.000,6,0.000,0.049,3004,1890,1818
$GC,15025,1.19,276.7,138.9,7.0,931,15055,0.00,2.55,24.10,0.874,4,0.000,0.057,3004,3257,1701
$GC,15086,1.28,308.3,134.4,6.9,933,15117,0.00,2.42,26.48,0.874,6,0.000,0.050,3004,1904,1574
$GC,15445,1.28,308.3,103.9,9.1,951,15450,0.00,2.65,0.00,0.000,4,0.000,0.066,3004,437,1574
$GC,15486,1.28,308.3,99.8,10.5,953,15490,0.00,2.62,0.00,0.000,6,0.000,0.047,3005,1923,1574
$GC,15814,1.31,308.3,65.7,11.1,969,15819,0.12,2.72,0.00,0.000,4,0.054,0.063,3040,435,1574
$GC,15854,1.24,308.3,60.3,14.8,971,15859,0.12,2.60,0.00,0.000,6,0.087,0.047,3015,1916,1574
$GC,16182,1.24,308.3,23.5,9.9,987,16186,0.00,2.38,0.00,0.000,4,0.000,0.058,3015,3258,1574
$GC,16222,1.30,308.3,19.3,10.8,989,16227,0.00,2.40,0.00,0.000,6,0.000,0.049,3016,1900,1574
$STATE,16402,end climb,SURFACE_DEPTH_REACHED
$STATE,16402,begin surface coast
$FINISH,0.6,1.026913
$STATE,16424,end surface coast,CONTROL_FINISHED_OK
$STATE,16425,begin surface
$SM_CCo,16509,0.00,0.000,0,0,1574,308.34
$SM_GC,1.39,11.18,0.00,0.00,0.033,0.000,0.000,419,2150,1574,-10.59,0.54,308.34
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1818
$TCM_TEMP,17.50
$XPDR_PINGS,64
$ALTIM_BOTTOM_PING,771.2,30.4
$24V_AH,23.8,26.033
$10V_AH,10.1,11.668
$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,26.325,147.475,407.250,0.000,0.000,37.761,26.745,154.633,23.250,0.000,0.000,11.604,1731.626,12075.342,564.603,1940.706,538.039,33.360,1533.332,0.000,1902.308,0.000,50.562,0.000
$DEVICE_MAMPS,158.002,75.166,1360.658,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,684.270,732.713,536.456,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50591,999
$CAP_FILE_SIZE,131695,0
$CFSIZE,254472192,243884032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220909,143000,6352.898,-1311.325,45,1.7,45,-12.5