version: 66.04
glider: 5
mission: 7
dive: 156
start: 9 24 109 15 14 14
data:
$ID,5
$MISSION,7
$DIVE,156
$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,-103114.41
$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
$GPS1,150407,6357.605,-1300.992,30,1.8,30,-12.4
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-59.0
$GPS2,151325,6357.675,-1300.600,13,2.0,13,-12.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.199,-0.144
$KALMAN_X,-53347.0,-1876.0,-858.3,-173468.8,19536.8
$KALMAN_Y,-14437.4,-112.8,-35.3,275824.9,6039.9
$MHEAD_RNG_PITCHd_Wd,246.4,16155,-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,14,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-39.47,0.000,2,0.000,0.000,419,2147,2426
$GC,63,-1.22,-146.6,2.1,-3.5,2,120,11.18,2.55,-36.78,0.000,4,0.155,0.075,2473,3522,3429
$GC,190,-1.10,-146.6,17.3,-15.9,8,195,0.15,2.50,0.00,0.000,6,0.098,0.046,2505,2114,3429
$GC,517,-1.10,-146.6,52.4,-9.9,24,522,0.00,2.58,0.00,0.000,4,0.000,0.062,2504,3526,3429
$GC,607,-1.10,-146.6,63.0,-11.6,28,612,0.00,2.45,0.00,0.000,6,0.000,0.046,2505,2144,3429
$GC,930,-1.10,-146.6,99.1,-11.3,44,934,0.00,2.53,0.00,0.000,4,0.000,0.059,2505,720,3430
$GC,1042,-1.10,-146.6,112.4,-10.9,49,1046,0.00,2.47,0.00,0.000,6,0.000,0.047,2505,2123,3430
$GC,1363,-1.10,-146.6,147.3,-10.7,65,1367,0.00,2.53,0.00,0.000,4,0.000,0.059,2504,721,3430
$GC,1409,-1.10,-146.6,152.1,-10.8,68,1413,0.00,2.47,0.00,0.000,6,0.000,0.048,2505,2119,3430
$GC,1733,-1.10,-146.6,185.4,-10.0,89,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2119,3430
$GC,2045,-1.10,-146.6,216.1,-9.8,109,2050,0.00,2.58,0.00,0.000,4,0.000,0.065,2505,3542,3430
$GC,2075,-1.10,-146.6,218.9,-10.1,111,2080,0.00,2.58,0.00,0.000,6,0.000,0.053,2505,2103,3430
$GC,2401,-1.10,-146.6,249.9,-9.5,132,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2095,3430
$GC,2712,-1.10,-146.6,281.0,-10.1,152,2716,0.00,2.62,0.00,0.000,4,0.000,0.067,2505,3536,3430
$GC,2741,-1.10,-146.6,283.9,-10.4,154,2746,0.00,2.55,0.00,0.000,6,0.000,0.054,2505,2110,3430
$GC,3066,-1.10,-146.6,315.6,-9.4,175,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2106,3430
$GC,3379,-1.10,-146.6,346.0,-10.4,195,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2106,3430
$GC,3691,-1.10,-146.6,378.6,-10.5,215,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2106,3430
$GC,4003,-1.10,-146.6,411.5,-10.3,235,4008,0.00,2.65,0.00,0.000,4,0.000,0.070,2505,3541,3430
$GC,4032,-1.10,-146.6,414.7,-10.9,237,4037,0.00,2.58,0.00,0.000,6,0.000,0.056,2505,2109,3429
$GC,4356,-1.10,-146.6,448.4,-10.3,258,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2089,3429
$GC,4669,-1.10,-146.6,479.7,-9.2,278,4673,0.00,2.62,0.00,0.000,4,0.000,0.068,2505,3540,3429
$GC,4736,-1.10,-146.6,486.5,-9.7,282,4740,0.00,2.55,0.00,0.000,6,0.000,0.054,2504,2115,3429
$GC,5055,-1.10,-146.6,515.6,-8.7,302,5059,0.00,2.47,0.00,0.000,4,0.000,0.061,2505,718,3429
$GC,5106,-1.14,-146.6,520.0,-8.8,305,5110,0.00,2.47,0.00,0.000,6,0.000,0.050,2505,2122,3428
$GC,5431,-1.14,-146.6,550.1,-10.5,326,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2122,3429
$GC,5744,-1.14,-146.6,583.2,-10.0,346,5749,0.00,2.53,0.00,0.000,4,0.000,0.062,2504,721,3428
$GC,5766,-1.14,-146.6,585.5,-9.7,347,5772,0.00,2.45,0.00,0.000,6,0.000,0.051,2505,2107,3428
$GC,6085,-1.14,-146.6,616.2,-10.1,368,6090,0.00,2.62,0.00,0.000,4,0.000,0.073,2505,3542,3428
$GC,6169,-1.14,-146.6,625.4,-11.6,373,6174,0.00,2.60,0.00,0.000,6,0.000,0.058,2504,2103,3428
$GC,6491,-1.17,-146.6,656.5,-9.7,393,6495,0.00,2.67,0.00,0.000,4,0.000,0.073,2504,3540,3427
$GC,6580,-1.17,-146.6,666.2,-11.0,398,6586,0.00,2.55,0.00,0.000,6,0.000,0.059,2505,2129,3427
$GC,6899,-1.17,-146.6,695.2,-9.2,419,6904,0.00,2.53,0.00,0.000,4,0.000,0.067,2505,719,3427
$STATE,6919,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6919,begin apogee
$GC,6928,-0.33,0.0,697.1,7.9,420,7061,0.75,0.00,129.57,1.285,6,0.076,0.000,2670,1877,2831
$STATE,7062,end apogee,CONTROL_FINISHED_OK
$STATE,7062,begin climb
$GC,7065,1.22,146.6,701.8,0.0,429,7208,1.52,2.62,130.15,1.246,4,0.060,0.065,3005,3253,2233
$GC,7250,1.14,146.6,692.0,9.5,440,7254,0.00,2.60,0.00,0.000,6,0.000,0.064,3006,1853,2233
$GC,7570,1.06,151.1,667.4,7.8,460,7581,0.17,2.65,5.78,0.927,4,0.096,0.067,2971,3262,2215
$GC,7600,1.09,175.2,665.2,7.1,461,7632,0.00,2.60,22.48,1.175,6,0.000,0.064,2970,1859,2116
$GC,7948,1.16,213.7,640.8,6.6,483,7988,0.12,2.65,34.62,1.210,4,0.061,0.066,3002,3258,1959
$GC,8050,1.16,213.7,631.8,9.7,489,8054,0.00,2.53,0.00,0.000,6,0.000,0.064,3002,1896,1959
$GC,8370,1.11,213.7,602.0,9.2,509,8374,0.00,2.53,0.00,0.000,4,0.000,0.067,3002,3254,1959
$GC,8459,1.11,213.7,593.2,9.3,514,8465,0.00,2.42,0.00,0.000,6,0.000,0.062,3002,1931,1958
$GC,8779,1.08,213.7,562.9,9.3,535,8784,0.12,2.72,0.00,0.000,4,0.096,0.072,2978,441,1958
$GC,8807,1.08,213.7,560.1,9.6,537,8812,0.00,2.67,0.00,0.000,6,0.000,0.054,2978,1923,1958
$GC,9132,1.09,218.8,534.2,7.8,558,9143,0.00,2.40,5.57,0.917,4,0.000,0.064,2977,3254,1938
$GC,9205,1.13,218.8,528.1,9.0,561,9211,0.00,2.42,0.00,0.000,6,0.000,0.059,2977,1927,1938
$GC,9525,1.17,218.8,501.6,8.1,582,9529,0.00,2.70,0.00,0.000,4,0.000,0.071,2977,439,1938
$GC,9580,1.17,218.8,496.5,9.2,585,9586,0.00,2.67,0.00,0.000,6,0.000,0.051,2978,1936,1938
$GC,9900,1.22,229.5,470.9,7.6,606,9918,0.15,2.83,10.75,1.040,4,0.055,0.069,3017,436,1895
$GC,9941,1.13,229.5,467.0,9.9,608,9946,0.15,2.67,0.00,0.000,6,0.091,0.051,2988,1924,1894
$GC,10261,1.15,240.9,442.0,7.6,628,10275,0.00,0.00,11.57,1.032,6,0.000,0.000,2988,1941,1848
$GC,10587,1.17,255.9,417.0,7.5,649,10607,0.00,2.80,14.12,1.032,4,0.000,0.066,2988,440,1787
$GC,10659,1.17,255.9,410.9,8.9,653,10663,0.00,2.65,0.00,0.000,6,0.000,0.049,2988,1920,1787
$GC,10978,1.20,255.9,384.9,8.2,673,10979,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1932,1787
$GC,11290,1.23,255.9,359.2,8.4,693,11296,0.12,2.72,0.00,0.000,4,0.055,0.066,3022,440,1787
$GC,11337,1.15,255.9,354.5,11.2,696,11342,0.15,2.60,0.00,0.000,6,0.088,0.049,2995,1904,1787
$GC,11662,1.15,255.9,326.2,8.4,717,11663,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1918,1787
$GC,11974,1.15,255.9,299.2,8.7,737,11976,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1918,1788
$GC,12286,1.15,255.9,273.1,8.8,757,12291,0.00,2.70,0.00,0.000,4,0.000,0.065,2995,431,1788
$GC,12332,1.15,255.9,268.6,9.6,760,12337,0.00,2.60,0.00,0.000,6,0.000,0.048,2995,1900,1788
$GC,12657,1.15,255.9,237.0,9.4,781,12658,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1914,1788
$GC,12969,1.15,255.9,208.4,8.7,801,12970,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1914,1788
$GC,13281,1.15,255.9,181.2,8.7,821,13286,0.00,2.67,0.00,0.000,4,0.000,0.065,2995,436,1789
$GC,13315,1.15,255.9,178.0,9.1,823,13319,0.00,2.58,0.00,0.000,6,0.000,0.048,2995,1894,1789
$GC,13634,1.18,255.9,150.4,8.5,843,13639,0.00,2.67,0.00,0.000,4,0.000,0.065,2995,430,1789
$GC,13668,1.18,255.9,147.2,9.0,845,13675,0.00,2.55,0.00,0.000,6,0.000,0.048,2995,1877,1789
$GC,13984,1.18,255.9,119.9,8.6,861,13989,0.00,2.62,0.00,0.000,4,0.000,0.064,2995,439,1789
$GC,14029,1.18,255.9,115.8,8.8,863,14033,0.00,2.53,0.00,0.000,6,0.000,0.048,2994,1871,1789
$GC,14351,1.21,255.9,86.7,9.4,879,14355,0.00,2.45,0.00,0.000,4,0.000,0.058,2995,3259,1789
$GC,14369,1.26,255.9,84.9,9.5,880,14374,0.10,2.50,0.00,0.000,6,0.057,0.051,3024,1854,1789
$GC,14698,1.26,255.9,48.5,10.1,896,14702,0.00,2.53,0.00,0.000,4,0.000,0.058,3023,3255,1789
$GC,14726,1.26,255.9,45.5,9.7,897,14730,0.00,2.45,0.00,0.000,6,0.000,0.049,3023,1871,1789
$GC,15043,1.22,255.9,14.0,11.3,912,15047,0.00,2.50,0.00,0.000,4,0.000,0.057,3023,3259,1789
$GC,15132,1.22,255.9,4.0,12.8,916,15136,0.00,2.40,0.00,0.000,6,0.000,0.046,3023,1891,1789
$STATE,15141,end climb,SURFACE_DEPTH_REACHED
$STATE,15141,begin surface coast
$FINISH,0.5,1.027034
$STATE,15163,end surface coast,CONTROL_FINISHED_OK
$STATE,15163,begin surface
$SM_CCo,15187,23.30,0.775,0,0,1607,300.00
$SM_GC,0.95,0.00,0.00,23.30,0.000,0.000,0.775,414,2145,1607,-10.72,0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1811
$TCM_TEMP,16.30
$XPDR_PINGS,62
$ALTIM_BOTTOM_PING,646.1,60.8
$24V_AH,23.8,28.212
$10V_AH,10.1,12.687
$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,26.000,154.475,364.625,23.300,0.000,75.523,54.663,238.360,21.250,0.000,0.000,12.963,1622.416,11074.311,509.983,1878.798,680.506,33.368,1462.710,0.000,1840.191,0.000,39.800,0.000
$DEVICE_MAMPS,154.934,75.166,1285.492,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,628.598,669.285,508.791,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47423,918
$CAP_FILE_SIZE,129530,0
$CFSIZE,254472192,243073024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240909,192907,6355.886,-1303.809,42,1.0,42,-12.4