version: 66.04
glider: 5
mission: 7
dive: 154
start: 9 24 109 6 47 50
data:
$ID,5
$MISSION,7
$DIVE,154
$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,-103089.04
$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,23
$R_STBD_OVSHOOT,28
$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
$GPS1,063837,6357.781,-1302.564,36,1.2,36,-12.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-57.4
$GPS2,064701,6357.827,-1302.339,16,1.4,16,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.214,-0.121
$KALMAN_X,-55024.3,-3783.4,-3132.0,-169076.5,34138.5
$KALMAN_Y,-17432.0,-781.0,-1385.1,281159.0,8590.9
$MHEAD_RNG_PITCHd_Wd,253.0,15789,-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,-61.42,0.000,2,0.000,0.000,422,2149,2816
$GC,83,-1.22,-146.6,2.3,-2.5,3,126,11.48,2.62,-21.25,0.000,4,0.167,0.065,2468,718,3431
$GC,267,-1.17,-146.6,23.9,-12.5,11,272,0.10,2.50,0.00,0.000,6,0.107,0.047,2487,2130,3431
$GC,590,-1.13,-146.6,66.5,-13.9,27,594,0.00,2.55,0.00,0.000,4,0.000,0.064,2487,3543,3431
$GC,618,-1.08,-146.6,71.0,-14.8,28,623,0.10,2.53,0.00,0.000,6,0.095,0.048,2510,2121,3431
$GC,934,-1.08,-146.6,113.3,-13.4,43,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2109,3431
$GC,1244,-1.08,-146.6,151.4,-12.2,58,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2109,3431
$GC,1555,-1.08,-146.6,191.8,-12.7,78,1559,0.00,2.60,0.00,0.000,4,0.000,0.065,2510,3542,3431
$GC,1584,-1.08,-146.6,195.5,-12.9,80,1588,0.00,2.53,0.00,0.000,6,0.000,0.051,2510,2128,3431
$GC,1909,-1.08,-146.6,237.3,-13.0,101,1913,0.00,2.60,0.00,0.000,4,0.000,0.067,2510,3537,3431
$GC,1942,-1.08,-146.6,242.0,-13.3,103,1946,0.00,2.50,0.00,0.000,6,0.000,0.052,2510,2140,3431
$GC,2261,-1.08,-146.6,285.0,-13.1,123,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2126,3431
$GC,2573,-1.08,-146.6,326.5,-13.3,143,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2126,3431
$GC,2885,-1.08,-146.6,363.4,-11.4,163,2890,0.00,2.53,0.00,0.000,4,0.000,0.062,2510,719,3431
$GC,2909,-1.08,-146.6,366.1,-11.1,164,2916,0.00,2.53,0.00,0.000,6,0.000,0.049,2510,2146,3431
$GC,3229,-1.08,-146.6,400.7,-10.7,185,3233,0.00,2.60,0.00,0.000,4,0.000,0.064,2510,718,3431
$GC,3308,-1.13,-146.6,409.1,-10.2,190,3313,0.00,2.50,0.00,0.000,6,0.000,0.050,2510,2126,3431
$GC,3634,-1.13,-146.6,439.0,-8.3,211,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2125,3430
$GC,3946,-1.13,-146.6,462.0,-6.7,231,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2126,3430
$GC,4258,-1.13,-146.6,483.7,-7.0,251,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2126,3430
$GC,4571,-1.13,-146.6,504.5,-6.8,271,4575,0.00,2.55,0.00,0.000,4,0.000,0.062,2509,717,3429
$GC,4621,-1.17,-146.6,508.1,-7.2,274,4625,0.00,2.50,0.00,0.000,6,0.000,0.050,2509,2130,3429
$GC,4941,-1.17,-146.6,529.8,-6.7,294,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2129,3428
$GC,5252,-1.17,-146.6,552.7,-8.2,314,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2130,3428
$GC,5565,-1.17,-146.6,578.8,-9.2,334,5569,0.00,2.58,0.00,0.000,4,0.000,0.073,2510,3539,3428
$GC,5604,-1.17,-146.6,582.7,-9.7,336,5610,0.00,2.60,0.00,0.000,6,0.000,0.058,2510,2100,3428
$GC,5923,-1.17,-146.6,615.2,-10.9,357,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2085,3428
$GC,6240,-1.17,-146.6,645.1,-8.9,377,6244,0.00,2.67,0.00,0.000,4,0.000,0.070,2509,3545,3427
$GC,6410,-1.21,-146.6,659.2,-8.0,387,6415,0.12,2.62,0.00,0.000,6,0.061,0.060,2473,2088,3427
$GC,6732,-1.17,-146.6,687.7,-10.1,407,6737,0.00,2.45,0.00,0.000,4,0.000,0.066,2473,718,3427
$GC,6801,-1.17,-146.6,695.2,-9.9,411,6805,0.00,2.42,0.00,0.000,6,0.000,0.054,2473,2077,3427
$STATE,6914,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6914,begin apogee
$GC,6922,-0.33,0.0,707.5,11.3,418,7054,0.93,0.00,128.20,1.289,6,0.075,0.000,2674,1840,2831
$STATE,7055,end apogee,CONTROL_FINISHED_OK
$STATE,7055,begin climb
$GC,7058,1.22,146.6,710.5,0.0,427,7199,1.52,2.70,128.27,1.250,4,0.056,0.064,3009,3261,2232
$GC,7459,1.12,146.6,681.3,9.2,451,7463,0.00,2.60,0.00,0.000,6,0.000,0.062,3008,1849,2232
$GC,7784,1.04,146.6,649.4,9.9,472,7789,0.17,2.58,0.00,0.000,4,0.097,0.073,2973,441,2232
$GC,7840,0.98,146.6,644.1,9.1,475,7846,0.00,2.55,0.00,0.000,6,0.000,0.054,2973,1860,2231
$GC,8160,1.09,218.3,622.5,5.4,496,8229,0.00,2.70,62.22,1.225,4,0.000,0.071,2973,439,1941
$GC,8248,1.13,241.3,617.2,7.2,501,8275,0.00,2.50,21.65,1.160,6,0.000,0.054,2973,1827,1847
$GC,8598,1.15,254.0,591.2,7.5,524,8616,0.00,2.70,12.38,1.103,4,0.000,0.065,2973,3240,1795
$GC,8662,1.25,277.4,585.8,7.2,527,8689,0.20,2.62,21.52,1.158,6,0.052,0.062,3022,1819,1699
$GC,9010,1.19,277.4,550.8,9.5,550,9015,0.00,2.62,0.00,0.000,4,0.000,0.064,3022,3240,1699
$GC,9050,1.19,277.4,546.6,9.2,552,9056,0.00,2.58,0.00,0.000,6,0.000,0.061,3021,1839,1699
$GC,9369,1.13,277.4,518.5,8.3,573,9374,0.17,2.60,0.00,0.000,4,0.088,0.062,2984,3249,1698
$GC,9437,1.27,325.0,514.0,6.3,577,9485,0.17,2.50,41.40,1.157,6,0.053,0.060,3029,1878,1506
$GC,9806,1.21,325.0,478.8,10.7,601,9811,0.00,2.62,0.00,0.000,4,0.000,0.069,3029,433,1507
$GC,9853,1.14,325.0,473.2,12.4,604,9858,0.20,2.55,0.00,0.000,6,0.088,0.051,2990,1861,1507
$GC,10180,1.17,325.0,444.8,9.1,625,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1877,1507
$GC,10490,1.21,325.0,414.2,10.1,645,10491,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1877,1507
$GC,10802,1.26,325.0,379.9,11.4,665,10807,0.12,2.62,0.00,0.000,4,0.055,0.066,3024,434,1508
$GC,10836,1.20,325.0,375.2,14.2,667,10840,0.00,2.55,0.00,0.000,6,0.000,0.049,3024,1868,1508
$GC,11156,1.16,325.0,329.5,14.4,687,11161,0.15,2.62,0.00,0.000,4,0.087,0.066,2995,442,1508
$GC,11206,1.16,325.0,322.3,13.5,690,11210,0.00,2.50,0.00,0.000,6,0.000,0.049,2995,1851,1508
$GC,11525,1.20,325.0,282.8,12.2,710,11526,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1866,1508
$GC,11838,1.25,325.0,245.5,11.4,730,11842,0.00,2.60,0.00,0.000,4,0.000,0.066,2995,432,1508
$GC,11859,1.25,325.0,242.8,11.8,731,11865,0.00,2.50,0.00,0.000,6,0.000,0.048,2995,1847,1508
$GC,12179,1.29,325.0,209.5,9.7,752,12184,0.15,2.50,0.00,0.000,4,0.052,0.058,3034,3254,1508
$GC,12218,1.29,325.0,204.8,11.7,754,12224,0.00,2.53,0.00,0.000,6,0.000,0.053,3034,1844,1509
$GC,12537,1.24,325.0,167.9,11.5,775,12541,0.00,2.53,0.00,0.000,4,0.000,0.067,3034,437,1508
$GC,12576,1.17,325.0,163.1,11.7,777,12583,0.17,2.50,0.00,0.000,6,0.086,0.048,3000,1853,1509
$GC,12910,1.20,325.0,134.1,8.4,796,12914,0.00,2.47,0.00,0.000,4,0.000,0.058,3000,3254,1509
$GC,12955,1.29,325.7,130.4,8.0,798,12960,0.12,2.50,0.00,0.000,6,0.054,0.051,3035,1851,1509
$GC,13278,1.24,325.7,95.9,10.7,814,13282,0.00,2.55,0.00,0.000,4,0.000,0.057,3034,3263,1509
$GC,13318,1.24,325.7,91.4,10.8,816,13322,0.00,2.45,0.00,0.000,6,0.000,0.051,3034,1876,1510
$GC,13646,1.20,325.7,52.4,12.3,832,13648,0.15,0.00,0.00,0.000,6,0.085,0.000,3004,1876,1510
$GC,13955,1.26,325.7,23.8,8.9,847,13959,0.00,2.58,0.00,0.000,4,0.000,0.064,3004,434,1510
$GC,13966,1.30,325.7,22.8,8.5,847,13973,0.12,2.53,0.00,0.000,6,0.054,0.047,3038,1877,1510
$STATE,14134,end climb,SURFACE_DEPTH_REACHED
$STATE,14134,begin surface coast
$FINISH,0.7,1.026925
$STATE,14156,end surface coast,CONTROL_FINISHED_OK
$STATE,14157,begin surface
$SM_CCo,14241,0.00,0.000,0,0,1510,324.29
$SM_GC,1.24,11.23,0.00,0.00,0.032,0.000,0.000,420,2156,1510,-10.59,0.25,324.29
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1839
$TCM_TEMP,17.40
$XPDR_PINGS,53
$ALTIM_BOTTOM_PING,645.1,72.2
$24V_AH,23.8,27.908
$10V_AH,10.1,12.525
$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,27.400,128.750,415.650,0.000,0.000,75.524,57.738,161.663,19.000,0.000,0.000,16.666,1513.910,10331.910,514.132,1771.152,608.407,33.363,1416.654,0.000,1729.241,0.000,39.829,0.000
$DEVICE_MAMPS,167.206,72.865,1289.327,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,585.897,625.293,470.998,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44273,857
$CAP_FILE_SIZE,120993,0
$CFSIZE,254472192,243212288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240909,104630,6357.305,-1303.410,37,1.0,42,-12.4