version: 66.04
glider: 5
mission: 7
dive: 143
start: 9 22 109 19 37 27
data:
$ID,5
$MISSION,7
$DIVE,143
$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,-102879.93
$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,37
$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
$GPS1,193031,6353.829,-1319.249,38,1.3,38,-12.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-64.0
$GPS2,193637,6353.859,-1319.199,13,1.1,13,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.084,0.231
$KALMAN_X,-101401.1,434.0,-1027.9,-143971.8,639.4
$KALMAN_Y,-28052.3,963.0,-300.1,281569.1,-4004.5
$MHEAD_RNG_PITCHd_Wd,352.7,14361,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.85,0.000,2,0.000,0.000,421,2152,2858
$GC,82,-1.22,-146.6,3.2,-4.5,3,118,11.35,2.50,-17.08,0.000,4,0.159,0.074,2470,3516,3430
$GC,351,-1.12,-146.6,42.0,-14.5,15,356,0.15,2.47,0.00,0.000,6,0.096,0.046,2501,2119,3430
$GC,680,-1.12,-146.6,83.0,-12.1,31,685,0.00,2.47,0.00,0.000,4,0.000,0.057,2501,718,3430
$GC,714,-1.12,-146.6,87.7,-12.4,32,720,0.00,2.50,0.00,0.000,6,0.000,0.047,2501,2134,3430
$GC,1032,-1.12,-146.6,134.9,-17.1,48,1036,0.00,2.55,0.00,0.000,4,0.000,0.057,2501,715,3431
$GC,1072,-1.12,-146.6,142.4,-18.1,50,1077,0.00,2.50,0.00,0.000,6,0.000,0.046,2501,2138,3431
$GC,1396,-1.12,-146.6,191.0,-13.3,70,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2138,3431
$GC,1710,-1.12,-146.6,220.2,-8.2,90,1714,0.00,2.55,0.00,0.000,4,0.000,0.058,2502,717,3431
$GC,1782,-1.12,-146.6,226.3,-8.5,94,1788,0.00,2.50,0.00,0.000,6,0.000,0.048,2502,2130,3431
$GC,2101,-1.12,-146.6,252.6,-8.7,115,2105,0.00,2.55,0.00,0.000,4,0.000,0.061,2502,718,3431
$GC,2134,-1.12,-146.6,255.7,-9.5,117,2138,0.00,2.50,0.00,0.000,6,0.000,0.049,2501,2130,3431
$GC,2455,-1.12,-146.6,283.2,-8.6,137,2459,0.00,2.55,0.00,0.000,4,0.000,0.060,2502,718,3431
$GC,2489,-1.12,-146.6,286.4,-9.3,139,2494,0.00,2.47,0.00,0.000,6,0.000,0.049,2502,2116,3431
$GC,2809,-1.12,-146.6,313.9,-8.9,159,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2116,3431
$GC,3121,-1.12,-146.6,341.3,-8.9,179,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2116,3431
$GC,3434,-1.12,-146.6,370.3,-8.8,199,3438,0.00,2.50,0.00,0.000,4,0.000,0.060,2501,720,3431
$GC,3496,-1.12,-146.6,376.0,-9.5,203,3501,0.00,2.47,0.00,0.000,6,0.000,0.049,2501,2115,3430
$GC,3820,-1.12,-146.6,405.9,-9.8,224,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2116,3431
$GC,4133,-1.12,-146.6,436.2,-9.8,244,4137,0.00,2.53,0.00,0.000,4,0.000,0.061,2502,718,3430
$GC,4182,-1.12,-146.6,441.4,-10.2,247,4187,0.00,2.45,0.00,0.000,6,0.000,0.050,2501,2106,3430
$GC,4507,-1.12,-146.6,472.6,-10.1,268,4511,0.00,2.50,0.00,0.000,4,0.000,0.063,2501,720,3430
$GC,4540,-1.12,-146.6,476.0,-10.8,270,4545,0.00,2.45,0.00,0.000,6,0.000,0.051,2502,2101,3430
$GC,4859,-1.12,-146.6,512.3,-12.2,290,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2101,3430
$GC,5173,-1.12,-146.6,546.3,-9.8,310,5177,0.00,2.50,0.00,0.000,4,0.000,0.064,2501,722,3429
$GC,5262,-1.12,-146.6,555.9,-10.3,315,5268,0.00,2.42,0.00,0.000,6,0.000,0.051,2502,2089,3429
$GC,5581,-1.12,-146.6,586.5,-9.1,336,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2089,3428
$GC,5894,-1.12,-146.6,612.7,-9.0,356,5898,0.00,2.47,0.00,0.000,4,0.000,0.063,2501,720,3428
$GC,5949,-1.12,-146.6,618.0,-9.7,359,5955,0.00,2.40,0.00,0.000,6,0.000,0.051,2501,2071,3428
$GC,6268,-1.12,-146.6,648.0,-10.0,380,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2072,3428
$GC,6581,-1.12,-146.6,675.7,-6.0,400,6585,0.00,2.47,0.00,0.000,4,0.000,0.065,2501,715,3428
$GC,6614,-1.16,-146.6,677.4,-4.9,402,6619,0.00,2.45,0.00,0.000,6,0.000,0.053,2501,2090,3428
$GC,6934,-1.22,-146.6,700.1,-16.1,422,6939,0.10,2.62,0.00,0.000,4,0.065,0.071,2473,3537,3427
$GC,6997,-1.19,-146.6,711.9,-16.0,426,7002,0.00,2.62,0.00,0.000,6,0.000,0.061,2473,2088,3427
$GC,7324,-1.19,-146.6,746.9,-8.5,447,7328,0.00,2.45,0.00,0.000,4,0.000,0.069,2473,720,3427
$STATE,7411,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7411,begin apogee
$GC,7421,-0.33,0.0,755.6,11.3,452,7555,0.88,0.00,130.98,1.328,6,0.079,0.000,2665,1863,2831
$STATE,7556,end apogee,CONTROL_FINISHED_OK
$STATE,7556,begin climb
$GC,7559,1.22,146.6,762.8,0.0,461,7700,1.55,2.62,131.50,1.294,4,0.058,0.068,3006,3259,2232
$GC,7807,1.19,189.3,753.0,6.5,476,7854,0.00,2.62,39.10,1.245,6,0.000,0.065,3006,1849,2059
$GC,8171,1.13,201.4,725.7,7.6,499,8189,0.00,2.70,12.30,1.152,4,0.000,0.076,3006,439,2009
$GC,8311,1.05,234.9,716.2,6.8,507,8348,0.17,2.55,30.58,1.247,6,0.098,0.057,2975,1857,1873
$GC,8667,1.05,234.9,681.6,8.2,530,8671,0.00,2.65,0.00,0.000,4,0.000,0.077,2975,434,1872
$GC,8706,1.14,291.0,679.0,6.0,532,8762,0.00,2.50,49.67,1.266,6,0.000,0.057,2975,1830,1644
$GC,9089,1.18,291.0,647.8,10.5,557,9091,0.12,0.00,0.00,0.000,6,0.060,0.000,3006,1831,1644
$GC,9401,1.18,291.0,605.5,14.0,577,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1832,1644
$GC,9713,1.18,291.0,566.2,10.4,597,9715,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1832,1644
$GC,10025,1.18,291.0,533.9,9.9,617,10030,0.00,2.58,0.00,0.000,4,0.000,0.064,3006,3242,1644
$GC,10059,1.18,291.0,530.2,10.3,619,10063,0.00,2.58,0.00,0.000,6,0.000,0.061,3006,1835,1643
$GC,10378,1.18,291.0,492.8,13.6,639,10382,0.00,2.58,0.00,0.000,4,0.000,0.063,3007,3238,1644
$GC,10407,1.18,291.0,488.9,13.4,641,10412,0.00,2.55,0.00,0.000,6,0.000,0.059,3006,1836,1644
$GC,10732,1.18,291.0,454.0,9.0,662,10733,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1835,1644
$GC,11044,1.18,291.0,424.6,10.6,682,11049,0.00,2.58,0.00,0.000,4,0.000,0.062,3007,3244,1644
$GC,11095,1.18,291.0,418.7,11.9,685,11099,0.00,2.53,0.00,0.000,6,0.000,0.058,3007,1853,1644
$GC,11414,1.18,291.0,387.2,9.8,705,11418,0.00,2.55,0.00,0.000,4,0.000,0.067,3007,432,1644
$GC,11443,1.15,291.0,384.4,10.0,707,11447,0.00,2.53,0.00,0.000,6,0.000,0.049,3007,1858,1644
$GC,11768,1.15,291.0,351.5,11.3,728,11769,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1871,1644
$GC,12079,1.15,291.0,316.0,11.2,748,12080,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1871,1644
$GC,12391,1.15,291.0,283.9,9.6,768,12392,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1871,1644
$GC,12704,1.15,291.0,255.5,9.0,788,12705,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1872,1645
$GC,13016,1.15,291.0,224.1,10.1,808,13017,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1871,1645
$GC,13328,1.15,291.0,190.4,10.6,828,13329,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1871,1646
$GC,13641,1.15,291.0,160.0,8.4,848,13642,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1872,1645
$GC,13953,1.15,291.0,134.4,8.4,865,13954,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1871,1646
$GC,14261,1.15,291.0,106.1,9.1,880,14262,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1871,1646
$GC,14570,1.15,291.0,78.6,8.6,895,14572,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1871,1646
$GC,14879,1.15,291.0,53.1,8.3,910,14881,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1874,1646
$GC,15189,1.15,291.0,24.4,9.8,925,15190,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1874,1646
$STATE,15434,end climb,SURFACE_DEPTH_REACHED
$STATE,15435,begin surface coast
$FINISH,0.9,1.026977
$STATE,15455,end surface coast,CONTROL_FINISHED_OK
$STATE,15455,begin surface
$SM_CCo,15479,5.18,0.607,0,0,1607,300.00
$SM_GC,2.17,0.00,0.00,5.18,0.000,0.000,0.607,417,2149,1607,-10.71,0.54,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1831
$TCM_TEMP,17.20
$XPDR_PINGS,49
$ALTIM_BOTTOM_PING,722.8,42.2
$24V_AH,23.8,26.366
$10V_AH,10.1,11.838
$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,25.500,106.075,394.125,5.175,0.000,37.766,29.829,169.668,18.750,0.000,0.000,15.273,1614.798,11356.666,483.149,1859.028,534.138,33.361,1403.819,0.000,1820.453,0.000,44.514,0.000
$DEVICE_MAMPS,158.769,77.467,1328.444,606.697,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,642.991,684.229,508.800,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47326,938
$CAP_FILE_SIZE,117017,0
$CFSIZE,254472192,243773440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220909,235654,6358.079,-1317.463,25,0.9,42,-12.6