version: 66.04
glider: 5
mission: 7
dive: 155
start: 9 24 109 10 53 51
data:
$ID,5
$MISSION,7
$DIVE,155
$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,-103100.82
$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,22
$R_STBD_OVSHOOT,54
$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
$GPS1,104630,6357.305,-1303.410,37,1.0,42,-12.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-53.0
$GPS2,105302,6357.351,-1303.186,11,1.3,11,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.208,-0.130
$KALMAN_X,-58870.3,-1631.4,-1424.9,-169836.7,20071.0
$KALMAN_Y,-18579.2,-182.1,260.3,279171.0,2774.6
$MHEAD_RNG_PITCHd_Wd,250.3,14707,-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,-61.28,0.000,2,0.000,0.000,419,2151,2784
$GC,83,-1.22,-146.6,2.8,-3.8,3,120,11.23,2.45,-20.27,0.000,4,0.163,0.074,2469,3506,3429
$GC,172,-1.09,-146.6,13.9,-12.3,6,177,0.17,2.47,0.00,0.000,6,0.097,0.048,2506,2122,3429
$GC,495,-1.09,-146.6,51.3,-11.4,22,499,0.00,2.50,0.00,0.000,4,0.000,0.058,2506,710,3429
$GC,529,-1.09,-146.6,55.3,-10.3,23,535,0.00,2.42,0.00,0.000,6,0.000,0.045,2506,2083,3429
$GC,845,-1.09,-146.6,88.2,-10.4,39,849,0.00,2.60,0.00,0.000,4,0.000,0.062,2506,3533,3430
$GC,885,-1.09,-146.6,92.5,-10.5,41,889,0.00,2.50,0.00,0.000,6,0.000,0.048,2506,2121,3430
$GC,1212,-1.09,-146.6,125.6,-10.2,57,1216,0.00,2.60,0.00,0.000,4,0.000,0.063,2506,3539,3430
$GC,1290,-1.09,-146.6,134.1,-10.9,60,1297,0.00,2.50,0.00,0.000,6,0.000,0.048,2506,2130,3430
$GC,1613,-1.09,-146.6,169.5,-11.0,79,1618,0.00,2.58,0.00,0.000,4,0.000,0.064,2506,3533,3430
$GC,1669,-1.09,-146.6,175.9,-10.6,82,1673,0.00,2.47,0.00,0.000,6,0.000,0.050,2506,2141,3430
$GC,1988,-1.09,-146.6,209.2,-10.1,102,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2129,3430
$GC,2300,-1.09,-146.6,240.2,-9.7,122,2305,0.00,2.53,0.00,0.000,4,0.000,0.061,2506,718,3430
$GC,2353,-1.12,-146.6,245.3,-9.8,125,2358,0.00,2.53,0.00,0.000,6,0.000,0.048,2506,2145,3430
$GC,2673,-1.12,-146.6,272.8,-8.5,145,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2145,3430
$GC,2985,-1.12,-146.6,297.3,-7.7,165,2989,0.00,2.58,0.00,0.000,4,0.000,0.062,2506,721,3430
$GC,3030,-1.12,-146.6,300.9,-7.5,168,3035,0.00,2.50,0.00,0.000,6,0.000,0.050,2506,2136,3430
$GC,3355,-1.12,-146.6,326.1,-8.1,189,3360,0.00,2.55,0.00,0.000,4,0.000,0.061,2506,721,3430
$GC,3412,-1.15,-146.6,331.2,-9.2,192,3418,0.00,2.47,0.00,0.000,6,0.000,0.050,2506,2120,3430
$GC,3731,-1.15,-146.6,360.8,-10.2,213,3735,0.00,2.50,0.00,0.000,4,0.000,0.061,2506,723,3430
$GC,3776,-1.19,-146.6,365.6,-11.0,215,3783,0.00,2.45,0.00,0.000,6,0.000,0.050,2506,2109,3429
$GC,4096,-1.19,-146.6,399.3,-10.3,236,4100,0.00,2.50,0.00,0.000,4,0.000,0.062,2506,722,3429
$GC,4124,-1.19,-146.6,402.4,-11.4,238,4128,0.00,2.42,0.00,0.000,6,0.000,0.051,2506,2092,3429
$GC,4448,-1.19,-146.6,439.3,-11.9,259,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2091,3429
$GC,4760,-1.19,-146.6,478.3,-12.8,279,4764,0.00,2.62,0.00,0.000,4,0.000,0.068,2506,3542,3429
$GC,4810,-1.19,-146.6,485.2,-13.3,282,4815,0.00,2.62,0.00,0.000,6,0.000,0.056,2506,2082,3429
$GC,5129,-1.19,-146.6,525.5,-12.3,302,5134,0.00,2.67,0.00,0.000,4,0.000,0.068,2506,3532,3429
$GC,5185,-1.19,-146.6,533.0,-13.0,305,5191,0.00,2.60,0.00,0.000,6,0.000,0.056,2506,2083,3429
$GC,5505,-1.19,-146.6,565.2,-9.1,326,5509,0.00,2.42,0.00,0.000,4,0.000,0.065,2506,721,3428
$GC,5539,-1.19,-146.6,568.4,-8.9,328,5543,0.00,2.42,0.00,0.000,6,0.000,0.051,2506,2092,3428
$GC,5867,-1.19,-146.6,595.3,-7.6,349,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2092,3428
$GC,6178,-1.19,-146.6,620.7,-8.9,369,6182,0.00,2.50,0.00,0.000,4,0.000,0.067,2506,720,3428
$GC,6217,-1.24,-146.6,624.7,-9.3,371,6223,0.15,2.42,0.00,0.000,6,0.058,0.053,2465,2085,3428
$GC,6539,-1.17,-146.6,659.0,-11.3,392,6540,0.12,0.00,0.00,0.000,6,0.102,0.000,2489,2084,3428
$GC,6848,-1.17,-146.6,688.4,-10.3,412,6852,0.00,2.65,0.00,0.000,4,0.000,0.074,2489,3531,3427
$GC,6920,-1.17,-146.6,696.1,-10.2,416,6926,0.00,2.65,0.00,0.000,6,0.000,0.061,2489,2069,3427
$STATE,6940,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6940,begin apogee
$GC,6947,-0.33,0.0,698.1,9.6,418,7080,0.85,0.00,129.02,1.287,6,0.080,0.000,2673,1842,2831
$STATE,7080,end apogee,CONTROL_FINISHED_OK
$STATE,7080,begin climb
$GC,7083,1.22,146.6,702.3,0.0,427,7224,1.52,2.65,130.20,1.246,4,0.060,0.075,3007,438,2233
$GC,7255,1.07,146.6,694.8,9.1,437,7262,0.17,2.58,0.00,0.000,6,0.093,0.054,2976,1853,2233
$GC,7574,1.13,185.5,672.8,6.6,458,7615,0.00,2.62,35.35,1.202,4,0.000,0.067,2976,3258,2074
$GC,7689,1.16,204.9,664.6,7.3,464,7716,0.00,2.58,18.50,1.155,6,0.000,0.064,2976,1870,1995
$GC,8031,1.16,207.2,637.7,7.9,486,8041,0.10,2.60,3.62,0.707,4,0.063,0.067,3003,3249,1986
$GC,8070,1.13,207.2,633.6,10.2,488,8074,0.00,2.53,0.00,0.000,6,0.000,0.063,3003,1883,1986
$GC,8389,1.10,207.2,602.5,9.9,508,8393,0.00,2.65,0.00,0.000,4,0.000,0.076,3003,442,1986
$GC,8452,1.01,207.2,595.9,10.5,512,8457,0.20,2.62,0.00,0.000,6,0.093,0.056,2965,1891,1986
$GC,8779,1.10,231.1,571.8,7.1,533,8810,0.00,2.78,21.67,1.173,4,0.000,0.072,2964,442,1887
$GC,8832,1.10,231.1,567.4,8.4,536,8837,0.00,2.65,0.00,0.000,6,0.000,0.054,2964,1898,1887
$GC,9153,1.21,258.7,544.8,7.0,556,9186,0.17,2.80,24.95,1.166,4,0.053,0.071,3012,436,1776
$GC,9214,1.13,258.7,538.7,10.9,559,9220,0.00,2.62,0.00,0.000,6,0.000,0.054,3012,1881,1776
$GC,9534,1.09,258.7,507.7,9.7,580,9536,0.15,0.00,0.00,0.000,6,0.089,0.000,2982,1896,1776
$GC,9845,1.09,258.7,479.7,8.6,600,9850,0.00,2.67,0.00,0.000,4,0.000,0.068,2982,433,1776
$GC,9879,1.09,258.7,476.5,8.9,602,9883,0.00,2.58,0.00,0.000,6,0.000,0.051,2982,1874,1776
$GC,10199,1.12,258.7,449.7,8.7,622,10203,0.00,2.47,0.00,0.000,4,0.000,0.062,2982,3256,1776
$GC,10221,1.17,258.7,447.5,9.3,623,10227,0.00,2.55,0.00,0.000,6,0.000,0.058,2982,1853,1776
$GC,10540,1.17,258.7,420.3,8.2,644,10542,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1853,1776
$GC,10853,1.21,261.0,395.2,7.9,664,10863,0.10,2.58,4.03,0.708,4,0.061,0.061,3012,3260,1767
$GC,10903,1.21,261.0,390.5,9.8,667,10907,0.00,2.53,0.00,0.000,6,0.000,0.056,3012,1863,1767
$GC,11228,1.18,261.0,358.7,9.9,688,11232,0.00,2.55,0.00,0.000,4,0.000,0.061,3012,3262,1767
$GC,11261,1.18,261.0,355.2,9.7,690,11266,0.00,2.50,0.00,0.000,6,0.000,0.055,3012,1874,1767
$GC,11580,1.18,261.0,323.9,9.8,710,11582,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1874,1768
$GC,11892,1.18,261.0,292.9,10.3,730,11897,0.00,2.53,0.00,0.000,4,0.000,0.060,3012,3262,1767
$GC,11921,1.18,261.0,290.0,10.2,732,11925,0.00,2.47,0.00,0.000,6,0.000,0.054,3012,1881,1767
$GC,12246,1.18,261.0,260.0,9.4,753,12247,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1881,1767
$GC,12557,1.18,261.0,231.2,9.5,773,12562,0.00,2.50,0.00,0.000,4,0.000,0.059,3012,3261,1767
$GC,12603,1.18,261.0,227.0,9.3,776,12608,0.00,2.42,0.00,0.000,6,0.000,0.052,3012,1893,1768
$GC,12934,1.18,261.0,196.3,10.0,797,12935,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1893,1768
$GC,13247,1.18,261.0,163.7,10.6,817,13252,0.00,2.47,0.00,0.000,4,0.000,0.059,3012,3261,1768
$GC,13293,1.18,261.0,158.8,11.1,820,13298,0.00,2.42,0.00,0.000,6,0.000,0.051,3012,1892,1767
$GC,13611,1.18,261.0,126.9,9.8,837,13615,0.00,2.47,0.00,0.000,4,0.000,0.058,3012,3262,1768
$GC,13633,1.18,261.0,124.6,9.3,838,13637,0.00,2.42,0.00,0.000,6,0.000,0.051,3012,1898,1768
$GC,13955,1.18,261.0,93.2,10.2,854,13956,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1898,1768
$GC,14263,1.18,261.0,60.5,10.4,869,14264,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1898,1768
$GC,14572,1.18,261.0,32.1,8.8,884,14577,0.00,2.45,0.00,0.000,4,0.000,0.058,3012,3255,1768
$GC,14668,1.22,261.0,23.7,8.8,888,14672,0.00,2.38,0.00,0.000,6,0.000,0.048,3012,1912,1768
$STATE,14880,end climb,SURFACE_DEPTH_REACHED
$STATE,14880,begin surface coast
$FINISH,0.5,1.027039
$STATE,14900,end surface coast,CONTROL_FINISHED_OK
$STATE,14901,begin surface
$SM_CCo,14924,21.33,0.768,0,0,1608,300.00
$SM_GC,1.05,0.00,0.00,21.33,0.000,0.000,0.768,419,2137,1608,-10.70,0.28,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1824
$TCM_TEMP,17.40
$XPDR_PINGS,52
$ALTIM_BOTTOM_PING,645.7,61.9
$24V_AH,23.8,28.058
$10V_AH,10.1,12.605
$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,26.100,153.150,367.350,21.325,0.000,37.763,26.945,201.943,19.000,0.000,0.000,11.155,1591.481,10832.990,523.428,1812.831,575.569,33.355,1450.987,0.000,1774.187,0.000,42.739,0.000
$DEVICE_MAMPS,163.371,75.933,1287.026,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,615.208,654.931,503.608,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44327,899
$CAP_FILE_SIZE,126674,0
$CFSIZE,254472192,243146752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,240909,150407,6357.605,-1300.992,30,1.8,30,-12.4