version: 66.04
glider: 5
mission: 7
dive: 153
start: 9 24 109 2 36 3
data:
$ID,5
$MISSION,7
$DIVE,153
$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,-103071.74
$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,29
$R_STBD_OVSHOOT,26
$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
$GPS1,022831,6359.654,-1302.751,38,1.5,38,-12.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-60.3
$GPS2,023514,6359.716,-1302.352,16,1.3,16,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.209,-0.129
$KALMAN_X,-54927.3,-6369.2,-903.3,-168886.2,36101.6
$KALMAN_Y,-16304.1,-1692.3,85.5,282938.0,8435.2
$MHEAD_RNG_PITCHd_Wd,250.8,19048,-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,-61.33,0.000,2,0.000,0.000,416,2082,2789
$GC,83,-1.22,-146.6,3.1,-4.7,3,118,11.18,2.47,-19.00,0.000,4,0.155,0.071,2472,720,3430
$GC,136,-1.11,-146.6,10.2,-11.5,5,141,0.15,2.50,0.00,0.000,6,0.097,0.045,2503,2136,3430
$GC,454,-1.11,-146.6,43.6,-8.4,20,458,0.00,2.53,0.00,0.000,4,0.000,0.062,2503,3538,3430
$GC,518,-1.11,-146.6,48.7,-8.2,23,522,0.00,2.45,0.00,0.000,6,0.000,0.046,2503,2156,3431
$GC,845,-1.11,-146.6,78.9,-9.7,39,849,0.00,2.55,0.00,0.000,4,0.000,0.058,2503,717,3431
$GC,911,-1.11,-146.6,85.6,-9.9,42,916,0.00,2.53,0.00,0.000,6,0.000,0.048,2503,2141,3431
$GC,1234,-1.11,-146.6,120.2,-11.5,58,1238,0.00,2.58,0.00,0.000,4,0.000,0.058,2503,716,3431
$GC,1297,-1.11,-146.6,127.5,-11.6,61,1301,0.00,2.53,0.00,0.000,6,0.000,0.048,2503,2142,3431
$GC,1625,-1.11,-146.6,166.3,-11.7,79,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2142,3431
$GC,1937,-1.11,-146.6,203.8,-11.8,99,1941,0.00,2.58,0.00,0.000,4,0.000,0.061,2503,717,3431
$GC,1983,-1.14,-146.6,209.1,-11.5,102,1988,0.00,2.50,0.00,0.000,6,0.000,0.049,2503,2129,3431
$GC,2313,-1.14,-146.6,245.2,-11.3,123,2317,0.00,2.55,0.00,0.000,4,0.000,0.062,2503,721,3431
$GC,2346,-1.14,-146.6,249.4,-10.5,125,2350,0.00,2.47,0.00,0.000,6,0.000,0.051,2503,2117,3431
$GC,2664,-1.14,-146.6,285.3,-11.6,145,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2117,3431
$GC,2978,-1.14,-146.6,320.6,-11.1,165,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2117,3431
$GC,3289,-1.14,-146.6,357.7,-12.6,185,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2117,3431
$GC,3603,-1.14,-146.6,396.2,-12.2,205,3607,0.00,2.53,0.00,0.000,4,0.000,0.062,2503,720,3431
$GC,3642,-1.18,-146.6,401.4,-12.7,207,3648,0.00,2.47,0.00,0.000,6,0.000,0.051,2503,2117,3431
$GC,3961,-1.18,-146.6,440.1,-12.0,228,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2117,3430
$GC,4273,-1.18,-146.6,476.0,-11.4,248,4277,0.00,2.53,0.00,0.000,4,0.000,0.064,2503,721,3430
$GC,4304,-1.18,-146.6,479.2,-12.0,250,4308,0.00,2.47,0.00,0.000,6,0.000,0.051,2503,2119,3430
$GC,4628,-1.18,-146.6,514.9,-10.9,271,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2119,3430
$GC,4942,-1.18,-146.6,547.8,-10.5,291,4946,0.00,2.55,0.00,0.000,4,0.000,0.065,2503,718,3430
$GC,4992,-1.22,-146.6,553.7,-11.1,294,4997,0.10,2.47,0.00,0.000,6,0.064,0.052,2473,2111,3430
$GC,5316,-1.18,-146.6,589.2,-10.4,314,5320,0.00,2.60,0.00,0.000,4,0.000,0.070,2473,3538,3430
$GC,5395,-1.13,-146.6,597.8,-11.1,319,5400,0.12,2.55,0.00,0.000,6,0.095,0.058,2498,2125,3429
$GC,5722,-1.13,-146.6,628.2,-9.2,340,5726,0.00,2.62,0.00,0.000,4,0.000,0.071,2499,3541,3430
$GC,5811,-1.13,-146.6,638.3,-11.5,345,5818,0.00,2.53,0.00,0.000,6,0.000,0.059,2498,2145,3429
$GC,6131,-1.13,-146.6,669.3,-9.4,366,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2131,3428
$STATE,6221,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6221,begin apogee
$GC,6228,-0.33,0.0,678.1,9.3,372,6362,0.80,0.00,130.57,1.262,6,0.072,0.000,2673,1834,2831
$STATE,6363,end apogee,CONTROL_FINISHED_OK
$STATE,6363,begin climb
$GC,6366,1.22,146.6,682.1,0.0,381,6506,1.52,2.70,130.75,1.225,4,0.058,0.065,3007,3255,2233
$GC,6559,1.14,151.1,672.4,7.8,393,6570,0.00,2.60,5.93,0.913,6,0.000,0.062,3007,1850,2214
$GC,6886,1.05,162.5,649.2,7.6,413,6900,0.17,0.00,11.12,1.085,6,0.091,0.000,2975,1850,2168
$GC,7211,1.08,180.6,624.6,7.3,434,7235,0.00,2.67,16.95,1.151,4,0.000,0.067,2975,3257,2094
$GC,7277,1.14,215.5,619.7,6.7,438,7313,0.00,2.60,31.00,1.190,6,0.000,0.064,2975,1839,1952
$GC,7637,1.16,230.5,595.2,7.5,461,7657,0.10,2.67,14.00,1.122,4,0.065,0.064,3002,3248,1891
$GC,7806,1.16,230.5,579.8,9.2,471,7810,0.00,2.55,0.00,0.000,6,0.000,0.062,3002,1863,1891
$GC,8130,1.13,230.5,552.7,8.9,492,8134,0.00,2.60,0.00,0.000,4,0.000,0.071,3002,436,1891
$GC,8152,1.07,230.5,550.5,9.5,493,8159,0.12,2.58,0.00,0.000,6,0.097,0.053,2978,1869,1890
$GC,8471,1.07,230.5,523.2,8.8,514,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1884,1890
$GC,8783,1.07,230.5,496.2,8.7,534,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1884,1890
$GC,9096,1.10,230.5,471.4,8.1,554,9101,0.00,2.65,0.00,0.000,4,0.000,0.069,2978,436,1890
$GC,9152,1.10,230.5,466.4,9.0,557,9158,0.00,2.55,0.00,0.000,6,0.000,0.051,2978,1867,1890
$GC,9472,1.13,230.7,440.9,8.0,578,9473,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1882,1890
$GC,9786,1.17,230.7,416.4,8.2,598,9787,0.10,0.00,0.00,0.000,6,0.061,0.000,3006,1883,1890
$GC,10096,1.14,230.7,386.4,9.9,618,10100,0.00,2.50,0.00,0.000,4,0.000,0.063,3006,3264,1890
$GC,10135,1.14,230.7,382.4,10.1,620,10142,0.00,2.55,0.00,0.000,6,0.000,0.057,3006,1855,1890
$GC,10456,1.11,230.7,352.9,9.2,641,10460,0.00,2.55,0.00,0.000,4,0.000,0.061,3006,3255,1890
$GC,10501,1.11,230.7,348.5,9.3,644,10506,0.00,2.45,0.00,0.000,6,0.000,0.055,3006,1883,1891
$GC,10826,1.08,230.7,320.9,8.7,665,10828,0.15,0.00,0.00,0.000,6,0.086,0.000,2977,1883,1890
$GC,11138,1.12,231.4,296.6,8.0,685,11143,0.00,2.50,0.00,0.000,4,0.000,0.060,2977,3261,1890
$GC,11161,1.19,231.4,294.6,8.2,686,11168,0.12,2.47,0.00,0.000,6,0.054,0.054,3011,1880,1891
$GC,11481,1.15,231.4,264.1,9.6,707,11482,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1880,1891
$GC,11793,1.12,231.4,233.7,9.6,727,11794,0.12,0.00,0.00,0.000,6,0.090,0.000,2986,1880,1891
$GC,12105,1.12,231.4,207.4,8.2,747,12109,0.00,2.50,0.00,0.000,4,0.000,0.059,2986,3261,1891
$GC,12144,1.17,231.4,204.1,8.5,749,12150,0.00,2.45,0.00,0.000,6,0.000,0.052,2987,1886,1891
$GC,12464,1.21,237.2,179.5,7.8,770,12477,0.00,0.00,7.90,0.799,6,0.000,0.000,2987,1886,1862
$GC,12791,1.29,268.8,155.8,6.9,791,12821,0.17,0.00,26.25,0.893,6,0.051,0.000,3033,1886,1735
$GC,13137,1.23,268.8,118.1,11.7,809,13142,0.00,2.50,0.00,0.000,4,0.000,0.058,3033,3264,1735
$GC,13178,1.23,268.8,113.1,11.2,811,13183,0.00,2.45,0.00,0.000,6,0.000,0.051,3032,1893,1735
$GC,13506,1.18,268.8,77.5,10.2,827,13511,0.17,2.62,0.00,0.000,4,0.084,0.064,2995,432,1735
$GC,13562,1.18,268.8,72.3,8.6,829,13568,0.00,2.60,0.00,0.000,6,0.000,0.047,2995,1903,1735
$GC,13879,1.29,315.5,50.4,6.3,845,13924,0.15,2.53,38.03,0.828,4,0.051,0.056,3035,3264,1544
$GC,13952,1.29,315.5,44.3,8.4,848,13956,0.00,2.47,0.00,0.000,6,0.000,0.050,3035,1893,1544
$GC,14274,1.26,315.5,13.0,10.8,864,14278,0.00,2.47,0.00,0.000,4,0.000,0.059,3035,3255,1543
$GC,14324,1.26,315.5,6.2,14.4,866,14328,0.00,2.40,0.00,0.000,6,0.000,0.050,3035,1900,1543
$STATE,14375,end climb,SURFACE_DEPTH_REACHED
$STATE,14375,begin surface coast
$FINISH,0.7,1.026985
$STATE,14396,end surface coast,CONTROL_FINISHED_OK
$STATE,14397,begin surface
$SM_CCo,14481,0.00,0.000,0,0,1543,315.95
$SM_GC,1.24,11.32,0.00,0.00,0.035,0.000,0.000,423,2160,1543,-10.59,0.82,315.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1824
$TCM_TEMP,17.40
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,646.2,40.8
$24V_AH,23.8,27.745
$10V_AH,10.1,12.448
$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,26.600,122.700,412.500,0.000,0.000,37.760,34.326,202.081,16.750,0.000,0.000,16.052,1526.884,10530.115,519.500,1734.739,567.942,33.361,1394.276,0.000,1697.148,0.000,39.749,0.000
$DEVICE_MAMPS,154.934,71.331,1262.482,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,595.276,638.757,498.499,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44263,870
$CAP_FILE_SIZE,119545,0
$CFSIZE,254472192,243273728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,240909,063837,6357.781,-1302.564,36,1.2,36,-12.4