version: 66.04
glider: 5
mission: 7
dive: 142
start: 9 22 109 14 40 15
data:
$ID,5
$MISSION,7
$DIVE,142
$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,-102864.02
$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,36
$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
$GPS1,143000,6352.898,-1311.325,45,1.7,45,-12.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-68.5
$GPS2,143925,6352.934,-1311.444,12,1.8,17,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.160,0.186
$KALMAN_X,-98958.3,-245.4,444.3,-140430.2,1110.2
$KALMAN_Y,-25297.8,490.7,317.6,276909.8,-2303.2
$MHEAD_RNG_PITCHd_Wd,331.8,19955,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.15,0.000,2,0.000,0.000,419,2152,2442
$GC,63,-1.22,-146.6,2.3,-4.8,2,127,11.35,2.47,-45.55,0.000,4,0.159,0.074,2471,3525,3428
$GC,189,-1.10,-146.6,11.5,-13.1,7,197,0.17,2.50,0.00,0.000,6,0.096,0.047,2508,2113,3428
$GC,508,-1.10,-146.6,44.8,-8.9,23,512,0.00,2.60,0.00,0.000,4,0.000,0.061,2508,3534,3429
$GC,557,-1.10,-146.6,49.7,-9.4,25,562,0.00,2.47,0.00,0.000,6,0.000,0.046,2508,2134,3429
$GC,875,-1.10,-146.6,74.0,-8.1,40,880,0.00,2.50,0.00,0.000,4,0.000,0.058,2508,720,3429
$GC,916,-1.10,-146.6,77.9,-9.2,42,920,0.00,2.47,0.00,0.000,6,0.000,0.046,2508,2120,3429
$GC,1243,-1.10,-146.6,110.2,-10.1,58,1247,0.00,2.53,0.00,0.000,4,0.000,0.058,2508,717,3429
$GC,1339,-1.10,-146.6,120.1,-9.5,62,1343,0.00,2.47,0.00,0.000,6,0.000,0.046,2508,2121,3429
$GC,1665,-1.10,-146.6,153.6,-10.8,78,1670,0.00,2.55,0.00,0.000,4,0.000,0.064,2508,3536,3429
$GC,1694,-1.10,-146.6,156.9,-11.3,80,1698,0.00,2.55,0.00,0.000,6,0.000,0.050,2508,2106,3429
$GC,2019,-1.10,-146.6,191.3,-10.0,101,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2094,3429
$GC,2332,-1.10,-146.6,221.7,-9.7,121,2337,0.00,2.62,0.00,0.000,4,0.000,0.065,2508,3537,3429
$GC,2354,-1.10,-146.6,224.0,-9.2,122,2361,0.00,2.58,0.00,0.000,6,0.000,0.052,2508,2095,3429
$GC,2674,-1.10,-146.6,255.1,-9.5,143,2678,0.00,2.65,0.00,0.000,4,0.000,0.066,2508,3537,3429
$GC,2712,-1.10,-146.6,258.8,-9.5,145,2719,0.00,2.55,0.00,0.000,6,0.000,0.053,2508,2109,3429
$GC,3031,-1.10,-146.6,288.5,-9.6,166,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2099,3429
$GC,3344,-1.10,-146.6,318.5,-9.6,186,3348,0.00,2.62,0.00,0.000,4,0.000,0.067,2508,3541,3429
$GC,3393,-1.10,-146.6,323.7,-9.9,189,3398,0.00,2.55,0.00,0.000,6,0.000,0.054,2508,2116,3429
$GC,3713,-1.10,-146.6,355.1,-10.2,209,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2103,3428
$GC,4025,-1.10,-146.6,390.2,-11.9,229,4029,0.00,2.62,0.00,0.000,4,0.000,0.068,2508,3537,3428
$GC,4070,-1.10,-146.6,395.9,-12.4,232,4074,0.00,2.55,0.00,0.000,6,0.000,0.055,2508,2110,3428
$GC,4394,-1.10,-146.6,431.4,-10.7,253,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2095,3428
$GC,4706,-1.10,-146.6,461.9,-9.3,273,4707,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2095,3428
$GC,5019,-1.10,-146.6,488.3,-8.3,293,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2095,3427
$GC,5331,-1.10,-146.6,514.7,-9.0,313,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2094,3427
$GC,5644,-1.10,-146.6,546.3,-9.8,333,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2094,3426
$GC,5957,-1.10,-146.6,571.0,-7.8,353,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2095,3426
$GC,6268,-1.10,-146.6,597.2,-8.8,373,6272,0.00,2.65,0.00,0.000,4,0.000,0.070,2508,3544,3426
$GC,6301,-1.10,-146.6,600.3,-9.5,375,6305,0.00,2.58,0.00,0.000,6,0.000,0.058,2507,2112,3426
$GC,6620,-1.10,-146.6,628.6,-9.6,395,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2100,3426
$GC,6932,-1.10,-146.6,662.7,-10.8,415,6936,0.00,2.50,0.00,0.000,4,0.000,0.066,2508,716,3426
$GC,6978,-1.14,-146.6,667.2,-10.7,418,6982,0.00,2.47,0.00,0.000,6,0.000,0.052,2508,2110,3426
$GC,7308,-1.14,-146.6,692.2,-7.1,439,7313,0.00,2.53,0.00,0.000,4,0.000,0.066,2508,720,3425
$GC,7416,-1.18,-146.6,700.1,-6.3,445,7423,0.00,2.45,0.00,0.000,6,0.000,0.052,2508,2107,3426
$GC,7735,-1.18,-146.6,726.2,-8.3,466,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2104,3425
$GC,8048,-1.18,-146.6,753.1,-11.7,486,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2104,3424
$GC,8361,-1.18,-146.6,788.8,-12.2,506,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2110,3424
$STATE,8591,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8592,begin apogee
$GC,8599,-0.33,0.0,808.5,6.4,521,8732,0.77,0.00,129.55,1.374,6,0.082,0.000,2671,1827,2831
$STATE,8733,end apogee,CONTROL_FINISHED_OK
$STATE,8733,begin climb
$GC,8736,1.22,146.6,815.6,0.0,530,8876,1.55,2.70,131.85,1.329,4,0.061,0.063,3009,3258,2233
$GC,8956,1.21,214.2,805.9,5.5,544,9023,0.00,2.60,61.50,1.291,6,0.000,0.063,3009,1855,1957
$GC,9337,1.12,214.2,770.8,9.3,568,9338,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1842,1956
$GC,9649,1.04,214.2,743.6,9.2,588,9651,0.20,0.00,0.00,0.000,6,0.093,0.000,2972,1842,1956
$GC,9962,1.06,225.9,718.4,7.6,608,9979,0.00,2.70,11.50,1.158,4,0.000,0.065,2972,3255,1909
$GC,10036,1.09,225.9,712.0,8.2,612,10040,0.00,2.58,0.00,0.000,6,0.000,0.061,2972,1858,1909
$GC,10355,1.14,255.3,687.0,6.9,632,10388,0.00,2.72,26.88,1.246,4,0.000,0.072,2972,433,1790
$GC,10433,1.19,286.1,682.1,6.9,636,10471,0.15,2.58,28.50,1.243,6,0.055,0.054,3009,1870,1664
$GC,10783,1.15,286.1,650.2,9.6,659,10785,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1872,1664
$GC,11095,1.15,286.1,616.7,11.4,679,11100,0.00,2.65,0.00,0.000,4,0.000,0.071,3009,432,1664
$GC,11135,1.08,286.1,611.7,13.6,681,11142,0.15,2.53,0.00,0.000,6,0.092,0.052,2980,1839,1663
$GC,11457,1.12,286.7,583.8,8.0,702,11458,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1855,1663
$GC,11766,1.15,286.7,553.6,10.1,722,11771,0.00,2.60,0.00,0.000,4,0.000,0.068,2980,430,1664
$GC,11839,1.15,286.7,545.0,12.0,726,11845,0.00,2.50,0.00,0.000,6,0.000,0.051,2980,1833,1663
$GC,12159,1.20,292.1,508.8,7.8,747,12176,0.12,2.65,6.70,0.953,4,0.056,0.061,3014,3263,1640
$GC,12204,1.22,309.1,505.1,7.4,749,12227,0.00,2.60,16.25,1.101,6,0.000,0.057,3014,1838,1570
$GC,12542,1.19,310.3,477.5,8.0,771,12543,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1838,1570
$GC,12852,1.19,310.3,447.2,10.5,791,12856,0.00,2.60,0.00,0.000,4,0.000,0.061,3013,3260,1570
$GC,12907,1.19,310.3,441.6,9.7,794,12913,0.00,2.55,0.00,0.000,6,0.000,0.057,3014,1853,1570
$GC,13226,1.19,310.3,411.4,8.9,815,13227,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1853,1570
$GC,13540,1.19,310.3,384.0,8.5,835,13541,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1853,1570
$GC,13851,1.19,310.3,355.9,9.7,855,13852,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1853,1570
$GC,14163,1.19,310.3,323.2,11.1,875,14167,0.00,2.55,0.00,0.000,4,0.000,0.060,3014,3256,1570
$GC,14197,1.19,310.3,319.5,10.5,877,14201,0.00,2.53,0.00,0.000,6,0.000,0.054,3014,1849,1571
$GC,14516,1.19,310.3,284.4,11.3,897,14517,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1849,1570
$GC,14828,1.19,310.3,250.0,11.0,917,14832,0.00,2.55,0.00,0.000,4,0.000,0.059,3014,3255,1570
$GC,14867,1.23,310.3,245.5,11.3,919,14873,0.00,2.50,0.00,0.000,6,0.000,0.052,3014,1859,1571
$GC,15186,1.23,310.3,208.0,12.0,940,15188,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1858,1571
$GC,15499,1.23,310.3,171.7,11.3,960,15503,0.00,2.53,0.00,0.000,4,0.000,0.058,3014,3255,1571
$GC,15532,1.26,310.3,167.7,11.0,962,15536,0.00,2.47,0.00,0.000,6,0.000,0.051,3013,1868,1571
$GC,15860,1.26,310.3,132.9,10.0,980,15861,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1867,1571
$GC,16170,1.26,310.3,105.8,8.4,995,16171,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1867,1571
$GC,16479,1.26,310.3,79.5,9.5,1010,16483,0.00,2.50,0.00,0.000,4,0.000,0.058,3014,3255,1571
$GC,16542,1.31,310.3,73.1,9.7,1013,16546,0.00,2.45,0.00,0.000,6,0.000,0.050,3014,1868,1571
$GC,16869,1.31,310.3,38.0,10.3,1029,16873,0.00,2.55,0.00,0.000,4,0.000,0.063,3014,435,1571
$GC,16913,1.31,310.3,33.3,8.9,1031,16918,0.00,2.55,0.00,0.000,6,0.000,0.046,3014,1889,1571
$STATE,17232,end climb,SURFACE_DEPTH_REACHED
$STATE,17232,begin surface coast
$FINISH,0.6,1.019575
$STATE,17257,end surface coast,CONTROL_FINISHED_OK
$STATE,17257,begin surface
$SM_CCo,17341,0.00,0.000,0,0,1571,308.83
$SM_GC,1.28,11.20,0.00,0.00,0.036,0.000,0.000,421,2152,1571,-10.58,0.62,308.83
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1838
$TCM_TEMP,17.50
$XPDR_PINGS,49
$ALTIM_BOTTOM_PING,770.4,47.8
$24V_AH,23.8,26.207
$10V_AH,10.1,11.758
$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,25.675,123.675,412.725,0.000,0.000,75.524,66.137,222.000,19.500,0.000,0.000,19.814,1784.636,12872.809,519.892,2033.179,689.499,33.368,1526.429,0.000,1984.271,0.000,51.528,0.000
$DEVICE_MAMPS,158.769,73.632,1373.697,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,717.817,768.374,569.025,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53758,1048
$CAP_FILE_SIZE,132218,0
$CFSIZE,254472192,243814400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220909,193031,6353.829,-1319.249,38,1.3,38,-12.6