version: 66.04
glider: 5
mission: 7
dive: 185
start: 9 29 109 12 4 12
data:
$ID,5
$MISSION,7
$DIVE,185
$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,-103740.21
$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,34
$R_STBD_OVSHOOT,27
$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
$GPS1,115409,6401.366,-1312.465,11,1.9,19,-12.6
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-58.0
$GPS2,120322,6401.303,-1312.194,13,3.4,32,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.146,-0.197
$KALMAN_X,-56974.7,-303.5,651.5,-183205.5,-21514.7
$KALMAN_Y,-7049.7,1599.6,-64.3,273476.6,10719.3
$MHEAD_RNG_PITCHd_Wd,156.1,21010,-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,-61.50,0.000,2,0.000,0.000,419,2153,2580
$GC,83,-1.22,-146.6,2.5,-2.5,3,134,11.52,2.55,-33.35,0.000,4,0.166,0.076,2472,3526,3430
$GC,297,-1.13,-146.6,26.5,-14.1,12,304,0.12,2.47,0.00,0.000,6,0.106,0.049,2497,2134,3430
$GC,614,-1.13,-146.6,66.4,-12.2,28,618,0.00,2.58,0.00,0.000,4,0.000,0.064,2497,3531,3430
$GC,647,-1.09,-146.6,70.6,-12.7,29,654,0.00,2.47,0.00,0.000,6,0.000,0.050,2497,2142,3430
$GC,964,-1.09,-146.6,104.6,-10.6,45,968,0.00,2.53,0.00,0.000,4,0.000,0.060,2498,718,3430
$GC,1014,-1.09,-146.6,110.1,-10.5,47,1018,0.00,2.53,0.00,0.000,6,0.000,0.048,2498,2139,3430
$GC,1331,-1.09,-146.6,142.9,-11.2,62,1335,0.00,2.58,0.00,0.000,4,0.000,0.059,2497,718,3430
$GC,1411,-1.09,-146.6,152.2,-12.2,66,1416,0.00,2.53,0.00,0.000,6,0.000,0.048,2497,2137,3430
$GC,1737,-1.09,-146.6,191.7,-12.0,87,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2137,3430
$GC,2048,-1.09,-146.6,228.9,-11.9,107,2053,0.00,2.55,0.00,0.000,4,0.000,0.060,2498,717,3430
$GC,2115,-1.09,-146.6,236.8,-12.0,111,2120,0.00,2.47,0.00,0.000,6,0.000,0.050,2498,2112,3430
$GC,2438,-1.09,-146.6,270.8,-10.8,131,2442,0.00,2.53,0.00,0.000,4,0.000,0.061,2497,715,3430
$GC,2466,-1.09,-146.6,274.5,-11.6,133,2471,0.00,2.45,0.00,0.000,6,0.000,0.050,2498,2090,3429
$GC,2797,-1.09,-146.6,311.2,-10.9,154,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2091,3429
$GC,3110,-1.09,-146.6,345.0,-10.9,174,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2091,3429
$GC,3421,-1.09,-146.6,377.9,-10.1,194,3426,0.00,2.62,0.00,0.000,4,0.000,0.068,2497,3538,3428
$GC,3468,-1.04,-146.6,381.2,-8.7,197,3473,0.10,2.62,0.00,0.000,6,0.101,0.056,2518,2080,3429
$GC,3795,-1.07,-146.6,415.3,-10.2,218,3799,0.00,2.67,0.00,0.000,4,0.000,0.067,2518,3535,3429
$GC,3918,-1.07,-146.6,430.4,-11.7,225,3925,0.00,2.58,0.00,0.000,6,0.000,0.055,2518,2103,3429
$GC,4243,-1.12,-146.6,470.1,-14.0,246,4247,0.00,2.65,0.00,0.000,4,0.000,0.068,2518,3534,3429
$GC,4360,-1.16,-146.6,484.4,-12.1,253,4366,0.12,2.53,0.00,0.000,6,0.059,0.056,2483,2130,3429
$GC,4684,-1.16,-146.6,521.3,-10.7,273,4688,0.00,2.62,0.00,0.000,4,0.000,0.071,2483,3544,3429
$GC,4781,-1.13,-146.6,533.4,-11.7,279,4785,0.00,2.53,0.00,0.000,6,0.000,0.060,2483,2149,3428
$GC,5105,-1.13,-146.6,572.5,-12.1,300,5110,0.00,2.58,0.00,0.000,4,0.000,0.072,2483,3534,3428
$GC,5170,-1.09,-146.6,580.8,-13.3,304,5175,0.12,2.50,0.00,0.000,6,0.102,0.061,2508,2158,3428
$STATE,5382,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5382,begin apogee
$GC,5390,-0.33,0.0,607.2,10.5,318,5524,0.77,0.00,130.25,1.217,6,0.079,0.000,2674,1835,2831
$STATE,5525,end apogee,CONTROL_FINISHED_OK
$STATE,5525,begin climb
$GC,5528,1.22,146.6,614.0,0.0,327,5669,1.52,2.70,131.82,1.174,4,0.060,0.065,3007,3257,2233
$GC,5802,1.20,172.5,600.7,7.1,343,5832,0.00,2.60,24.50,1.113,6,0.000,0.062,3008,1848,2127
$GC,6158,1.34,301.3,585.7,3.3,366,6284,0.15,2.70,114.72,1.161,4,0.055,0.067,3046,3254,1602
$GC,6346,1.29,301.3,567.4,13.3,377,6352,0.00,2.60,0.00,0.000,6,0.000,0.066,3046,1860,1602
$GC,6666,1.20,301.3,523.9,14.0,398,6671,0.20,2.60,0.00,0.000,4,0.097,0.062,3006,3265,1602
$GC,6733,1.24,301.3,514.9,10.3,402,6738,0.00,2.55,0.00,0.000,6,0.000,0.063,3006,1883,1602
$GC,7053,1.24,301.3,479.8,11.1,422,7057,0.00,2.55,0.00,0.000,4,0.000,0.064,3006,3261,1602
$GC,7109,1.29,301.3,474.6,9.0,425,7115,0.00,2.47,0.00,0.000,6,0.000,0.061,3006,1909,1602
$GC,7428,1.29,301.3,442.2,10.7,446,7433,0.00,2.70,0.00,0.000,4,0.000,0.072,3006,432,1602
$GC,7447,1.29,301.3,440.2,10.9,447,7451,0.00,2.65,0.00,0.000,6,0.000,0.052,3006,1911,1602
$GC,7766,1.29,301.3,405.5,10.8,467,7770,0.00,2.72,0.00,0.000,4,0.000,0.071,3006,440,1602
$GC,7799,1.29,301.3,401.6,11.3,469,7803,0.00,2.60,0.00,0.000,6,0.000,0.052,3006,1894,1602
$GC,8118,1.29,301.3,369.2,10.3,489,8123,0.00,2.70,0.00,0.000,4,0.000,0.070,3006,436,1602
$GC,8148,1.29,301.3,366.2,11.4,491,8152,0.00,2.58,0.00,0.000,6,0.000,0.051,3006,1875,1602
$GC,8472,1.29,301.3,335.4,9.4,512,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1890,1602
$GC,8785,1.29,301.3,305.8,9.8,532,8789,0.00,2.65,0.00,0.000,4,0.000,0.067,3006,436,1602
$GC,8806,1.29,301.3,303.3,11.0,533,8812,0.00,2.55,0.00,0.000,6,0.000,0.050,3006,1872,1602
$GC,9125,1.29,301.3,269.5,10.5,554,9127,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1886,1602
$GC,9438,1.29,301.3,235.9,10.9,574,9442,0.00,2.62,0.00,0.000,4,0.000,0.067,3006,440,1603
$GC,9467,1.29,301.3,232.7,11.6,576,9471,0.00,2.53,0.00,0.000,6,0.000,0.050,3006,1861,1603
$GC,9791,1.29,301.3,197.5,11.0,597,9792,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1875,1602
$GC,10104,1.33,301.3,164.1,10.0,617,10105,0.12,0.00,0.00,0.000,6,0.055,0.000,3040,1875,1603
$GC,10414,1.28,301.3,128.2,11.4,634,10419,0.00,2.60,0.00,0.000,4,0.000,0.064,3040,438,1603
$GC,10459,1.21,301.3,122.1,13.3,636,10464,0.17,2.50,0.00,0.000,6,0.086,0.048,3006,1863,1603
$GC,10782,1.25,301.3,88.0,10.2,652,10786,0.00,2.60,0.00,0.000,4,0.000,0.065,3005,440,1603
$GC,10799,1.25,301.3,86.1,10.5,653,10803,0.00,2.50,0.00,0.000,6,0.000,0.049,3005,1854,1603
$GC,11127,1.28,301.3,56.0,8.8,669,11131,0.00,2.60,0.00,0.000,4,0.000,0.064,3006,431,1604
$GC,11177,1.28,301.3,51.1,9.8,671,11181,0.00,2.45,0.00,0.000,6,0.000,0.048,3005,1820,1604
$GC,11496,1.34,305.6,24.6,7.8,686,11504,0.15,0.00,5.62,0.647,6,0.051,0.000,3046,1836,1586
$STATE,11696,end climb,SURFACE_DEPTH_REACHED
$STATE,11696,begin surface coast
$FINISH,0.8,1.027170
$STATE,11718,end surface coast,CONTROL_FINISHED_OK
$STATE,11718,begin surface
$SM_CCo,11802,0.00,0.000,0,0,1585,305.89
$SM_GC,1.42,11.35,0.00,0.00,0.035,0.000,0.000,422,2135,1585,-10.59,0.14,305.89
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1827
$TCM_TEMP,17.20
$XPDR_PINGS,37
$ALTIM_BOTTOM_PING,545.7,70.7
$24V_AH,23.9,32.745
$10V_AH,10.1,14.884
$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,26.450,119.525,406.925,0.000,0.000,75.514,137.239,166.617,14.000,0.000,0.000,33.276,1252.446,8451.339,500.804,1537.293,622.690,33.343,1288.732,0.000,1482.355,0.000,33.481,0.000
$DEVICE_MAMPS,165.672,75.933,1217.229,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,476.229,507.376,428.498,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34786,697
$CAP_FILE_SIZE,101393,0
$CFSIZE,254472192,241422336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290909,152207,6358.938,-1311.410,36,1.0,36,-12.5