version: 66.04
glider: 5
mission: 7
dive: 159
start: 9 25 109 4 37 57
data:
$ID,5
$MISSION,7
$DIVE,159
$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,-103199.44
$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,25
$R_STBD_OVSHOOT,38
$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
$GPS1,042824,6354.778,-1306.422,42,1.3,42,-12.5
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-51.3
$GPS2,043708,6354.898,-1306.192,13,1.2,13,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.177,-0.170
$KALMAN_X,-48255.8,-1926.8,-1073.0,-183225.3,15184.1
$KALMAN_Y,-8763.9,-811.4,-645.5,266333.5,8816.8
$MHEAD_RNG_PITCHd_Wd,238.6,9590,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.22,-146.6,0.0,0.0,0,61,0.00,0.00,-41.45,0.000,2,0.000,0.000,416,2144,2469
$GC,65,-1.22,-146.6,2.4,-4.9,2,123,11.43,0.00,-43.50,0.000,6,0.164,0.000,2472,2144,3429
$GC,437,-1.11,-146.6,55.2,-14.7,19,439,0.15,0.00,0.00,0.000,6,0.095,0.000,2504,2145,3429
$GC,743,-1.11,-146.6,92.3,-10.1,34,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2146,3430
$GC,1052,-1.11,-146.6,124.1,-9.9,49,1056,0.00,2.58,0.00,0.000,4,0.000,0.057,2504,715,3430
$GC,1137,-1.11,-146.6,133.2,-10.9,53,1141,0.00,2.47,0.00,0.000,6,0.000,0.048,2505,2117,3430
$GC,1455,-1.11,-146.6,167.2,-10.9,71,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2117,3430
$GC,1767,-1.11,-146.6,203.1,-11.8,91,1772,0.00,2.53,0.00,0.000,4,0.000,0.058,2505,716,3430
$GC,1806,-1.11,-146.6,208.0,-11.8,93,1813,0.00,2.50,0.00,0.000,6,0.000,0.049,2505,2125,3430
$GC,2126,-1.11,-146.6,243.4,-10.9,114,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2126,3430
$GC,2438,-1.11,-146.6,278.1,-11.1,134,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2126,3430
$GC,2750,-1.11,-146.6,312.9,-10.9,154,2755,0.00,2.55,0.00,0.000,4,0.000,0.061,2505,715,3430
$GC,2780,-1.11,-146.6,316.3,-11.6,156,2784,0.00,2.50,0.00,0.000,6,0.000,0.050,2505,2126,3430
$GC,3104,-1.11,-146.6,354.2,-12.0,177,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2125,3430
$GC,3416,-1.11,-146.6,390.5,-11.5,197,3421,0.00,2.55,0.00,0.000,4,0.000,0.064,2505,718,3430
$GC,3462,-1.11,-146.6,396.1,-12.6,200,3467,0.00,2.47,0.00,0.000,6,0.000,0.051,2505,2110,3430
$GC,3788,-1.11,-146.6,433.6,-11.4,221,3791,0.00,2.50,0.00,0.000,4,0.000,0.061,2504,721,3430
$GC,3827,-1.11,-146.6,438.3,-11.6,223,3831,0.00,2.42,0.00,0.000,6,0.000,0.050,2505,2101,3429
$GC,4151,-1.11,-146.6,472.4,-9.9,244,4155,0.00,2.50,0.00,0.000,4,0.000,0.064,2505,720,3429
$GC,4173,-1.11,-146.6,474.8,-10.2,245,4180,0.00,2.42,0.00,0.000,6,0.000,0.051,2505,2089,3429
$GC,4493,-1.11,-146.6,504.6,-8.6,266,4497,0.00,2.47,0.00,0.000,4,0.000,0.062,2505,720,3429
$GC,4526,-1.11,-146.6,508.0,-9.2,268,4530,0.00,2.40,0.00,0.000,6,0.000,0.050,2505,2074,3429
$GC,4845,-1.11,-146.6,536.7,-9.2,288,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2074,3429
$GC,5157,-1.11,-146.6,567.0,-9.9,308,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2074,3429
$GC,5469,-1.11,-146.6,598.9,-10.0,328,5474,0.00,2.65,0.00,0.000,4,0.000,0.069,2505,3537,3429
$GC,5566,-1.11,-146.6,607.8,-8.6,334,5571,0.00,2.65,0.00,0.000,6,0.000,0.056,2505,2062,3428
$GC,5892,-1.11,-146.6,637.2,-9.6,355,5896,0.00,2.72,0.00,0.000,4,0.000,0.069,2504,3538,3428
$GC,6005,-1.11,-146.6,647.9,-9.6,362,6009,0.00,2.55,0.00,0.000,6,0.000,0.056,2505,2117,3428
$GC,6329,-1.11,-146.6,678.0,-9.4,383,6333,0.00,2.50,0.00,0.000,4,0.000,0.067,2504,720,3428
$GC,6358,-1.14,-146.6,680.8,-10.3,385,6362,0.00,2.50,0.00,0.000,6,0.000,0.053,2505,2128,3428
$GC,6685,-1.14,-146.6,707.2,-7.8,406,6689,0.00,2.58,0.00,0.000,4,0.000,0.070,2504,722,3428
$GC,6732,-1.19,-146.6,710.9,-7.8,409,6737,0.00,2.50,0.00,0.000,6,0.000,0.055,2504,2124,3427
$GC,7058,-1.19,-146.6,740.3,-9.7,430,7059,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2123,3426
$STATE,7366,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7367,begin apogee
$GC,7374,-0.33,0.0,769.6,9.6,450,7508,0.77,0.00,130.65,1.347,6,0.079,0.000,2669,1842,2831
$STATE,7509,end apogee,CONTROL_FINISHED_OK
$STATE,7509,begin climb
$GC,7513,1.22,146.6,775.4,0.0,459,7652,1.55,0.00,131.55,1.306,6,0.063,0.000,3007,1842,2232
$GC,7965,1.15,161.6,747.3,7.5,488,7985,0.00,2.62,14.50,1.177,4,0.000,0.072,3007,445,2172
$GC,8034,1.01,161.6,741.8,8.1,492,8039,0.22,2.55,0.00,0.000,6,0.091,0.054,2965,1851,2172
$GC,8359,1.13,234.4,723.2,5.4,513,8427,0.12,0.00,65.60,1.279,6,0.060,0.000,2997,1867,1875
$GC,8736,1.13,234.4,690.8,8.9,537,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1867,1875
$GC,9045,1.13,234.4,662.8,8.0,557,9047,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1867,1874
$GC,9358,1.13,234.8,639.3,8.0,577,9363,0.00,2.55,0.00,0.000,4,0.000,0.067,2997,3255,1874
$GC,9404,1.13,234.8,634.8,9.7,580,9409,0.00,2.60,0.00,0.000,6,0.000,0.063,2997,1843,1874
$GC,9728,1.13,234.8,602.4,10.3,601,9733,0.00,2.60,0.00,0.000,4,0.000,0.065,2997,3259,1873
$GC,9768,1.13,234.8,598.3,10.3,603,9774,0.00,2.62,0.00,0.000,6,0.000,0.061,2997,1827,1874
$GC,10087,1.13,234.8,567.1,9.1,624,10091,0.00,2.65,0.00,0.000,4,0.000,0.064,2997,3264,1874
$GC,10170,1.13,234.8,559.0,9.7,629,10175,0.00,2.58,0.00,0.000,6,0.000,0.058,2997,1849,1873
$GC,10490,1.13,234.8,530.7,8.5,649,10494,0.00,2.60,0.00,0.000,4,0.000,0.064,2997,3263,1873
$GC,10513,1.13,234.8,528.7,8.6,650,10519,0.00,2.55,0.00,0.000,6,0.000,0.059,2997,1859,1874
$GC,10832,1.13,234.8,501.7,8.4,671,10837,0.00,2.58,0.00,0.000,4,0.000,0.061,2997,3265,1873
$GC,10872,1.13,234.8,498.3,8.4,673,10878,0.00,2.53,0.00,0.000,6,0.000,0.058,2997,1870,1873
$GC,11191,1.13,234.8,473.0,8.0,694,11195,0.00,2.55,0.00,0.000,4,0.000,0.061,2997,3265,1873
$GC,11236,1.13,234.8,469.2,8.6,697,11240,0.00,2.45,0.00,0.000,6,0.000,0.056,2997,1896,1873
$GC,11566,1.13,234.8,442.6,8.1,718,11570,0.00,2.62,0.00,0.000,4,0.000,0.067,2997,436,1873
$GC,11596,1.09,234.8,440.1,8.5,720,11600,0.00,2.62,0.00,0.000,6,0.000,0.050,2998,1912,1874
$GC,11921,1.09,234.8,412.1,9.0,741,11922,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1927,1873
$GC,12233,1.09,234.8,384.6,8.8,761,12237,0.00,2.70,0.00,0.000,4,0.000,0.067,2997,440,1874
$GC,12254,1.09,234.8,382.4,9.9,762,12260,0.00,2.60,0.00,0.000,6,0.000,0.049,2997,1907,1874
$GC,12573,1.09,234.8,352.7,9.4,783,12575,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1922,1875
$GC,12885,1.09,234.8,324.1,9.1,803,12890,0.00,2.70,0.00,0.000,4,0.000,0.066,2997,433,1875
$GC,12924,1.06,234.8,320.3,9.7,805,12931,0.00,2.58,0.00,0.000,6,0.000,0.048,2997,1890,1875
$GC,13244,1.06,234.8,293.1,8.4,826,13245,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1904,1875
$GC,13556,1.06,234.8,266.5,8.5,846,13561,0.12,2.65,0.00,0.000,4,0.091,0.066,2973,443,1875
$GC,13586,1.06,237.5,264.0,7.9,848,13595,0.00,2.55,4.70,0.707,6,0.000,0.048,2973,1887,1862
$GC,13913,1.17,262.3,240.6,7.1,868,13937,0.15,0.00,21.75,0.941,6,0.050,0.000,3013,1901,1761
$GC,14261,1.17,262.3,208.2,9.5,890,14262,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1901,1761
$GC,14569,1.17,262.3,177.2,9.7,910,14574,0.00,2.65,0.00,0.000,4,0.000,0.064,3014,436,1761
$GC,14626,1.12,262.3,171.3,11.0,913,14632,0.12,2.55,0.00,0.000,6,0.091,0.048,2989,1878,1761
$GC,14965,1.17,262.3,143.9,8.4,934,14966,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1893,1761
$GC,15270,1.24,277.2,119.9,7.5,949,15292,0.12,2.53,13.40,0.833,4,0.055,0.058,3024,3258,1701
$GC,15304,1.24,277.2,116.4,9.7,950,15308,0.00,2.50,0.00,0.000,6,0.000,0.050,3024,1868,1701
$GC,15621,1.24,277.2,87.7,8.2,965,15625,0.00,2.53,0.00,0.000,4,0.000,0.057,3024,3262,1701
$GC,15684,1.24,277.2,82.8,8.0,968,15688,0.00,2.45,0.00,0.000,6,0.000,0.050,3024,1880,1701
$GC,16011,1.29,312.7,60.8,6.7,984,16046,0.00,2.55,29.80,0.834,4,0.000,0.058,3024,3262,1556
$GC,16154,1.29,312.7,46.7,9.4,990,16158,0.00,2.40,0.00,0.000,6,0.000,0.047,3024,1911,1556
$GC,16473,1.26,312.7,10.8,10.7,1005,16477,0.00,2.42,0.00,0.000,4,0.000,0.056,3024,3255,1556
$GC,16514,1.34,316.3,5.4,7.9,1007,16523,0.00,2.38,4.30,0.571,6,0.000,0.058,3024,1947,1541
$STATE,16554,end climb,SURFACE_DEPTH_REACHED
$STATE,16554,begin surface coast
$FINISH,1.0,1.027029
$STATE,16577,end surface coast,CONTROL_FINISHED_OK
$STATE,16577,begin surface
$SM_CCo,16661,0.00,0.000,0,0,1539,317.17
$SM_GC,1.29,11.35,0.00,0.00,0.037,0.000,0.000,418,2160,1539,-10.60,0.82,317.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1802
$TCM_TEMP,16.50
$XPDR_PINGS,57
$ALTIM_BOTTOM_PING,720.0,59.5
$24V_AH,23.8,28.716
$10V_AH,10.1,12.943
$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,26.125,138.400,416.250,0.000,0.000,75.524,62.130,193.155,20.750,0.000,0.000,13.329,1744.236,12275.758,533.273,1966.858,657.510,33.362,1520.957,0.000,1924.794,0.000,44.553,0.000
$DEVICE_MAMPS,164.138,72.098,1346.852,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,691.885,740.559,540.044,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50469,1010
$CAP_FILE_SIZE,131268,0
$CFSIZE,254472192,242868224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,250909,091725,6352.286,-1310.709,70,1.4,70,-12.5