version: 66.04
glider: 5
mission: 7
dive: 170
start: 9 27 109 3 30 3
data:
$ID,5
$MISSION,7
$DIVE,170
$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,-103448.23
$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,25
$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
$GPS1,032221,6354.439,-1328.178,42,2.3,61,-12.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-57.0
$GPS2,032916,6354.501,-1327.942,11,2.9,30,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,K1
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.245,-0.010
$KALMAN_X,-50198.4,674.5,855.5,-205033.9,-6659.9
$KALMAN_Y,-10367.7,656.6,172.7,264904.6,559.9
$MHEAD_RNG_PITCHd_Wd,105.0,16859,-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,13,begin dive
$GC,16,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-60.72,0.000,2,0.000,0.000,417,2143,2704
$GC,83,-1.22,-146.6,2.5,-2.6,3,129,11.57,2.60,-28.15,0.000,4,0.165,0.071,2473,722,3429
$GC,383,-1.17,-146.6,37.7,-12.1,16,387,0.00,2.50,0.00,0.000,6,0.000,0.048,2474,2131,3430
$GC,700,-1.10,-146.6,77.3,-12.4,31,705,0.15,2.55,0.00,0.000,4,0.102,0.058,2505,719,3430
$GC,902,-1.10,-146.6,102.5,-11.6,40,906,0.00,2.50,0.00,0.000,6,0.000,0.048,2505,2137,3430
$GC,1229,-1.10,-146.6,138.2,-10.4,56,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2135,3430
$GC,1540,-1.10,-146.6,168.0,-9.5,74,1544,0.00,2.58,0.00,0.000,4,0.000,0.059,2504,710,3430
$GC,1578,-1.10,-146.6,171.8,-9.8,76,1584,0.00,2.53,0.00,0.000,6,0.000,0.049,2505,2131,3430
$GC,1897,-1.10,-146.6,203.0,-11.1,97,1901,0.00,2.55,0.00,0.000,4,0.000,0.061,2505,718,3430
$GC,1953,-1.10,-146.6,209.7,-11.7,100,1958,0.00,2.47,0.00,0.000,6,0.000,0.050,2505,2114,3430
$GC,2273,-1.10,-146.6,244.1,-10.6,120,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2114,3430
$GC,2584,-1.10,-146.6,274.3,-10.1,140,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2115,3430
$GC,2897,-1.10,-146.6,306.8,-10.2,160,2901,0.00,2.53,0.00,0.000,4,0.000,0.060,2505,714,3430
$GC,2949,-1.14,-146.6,312.0,-10.2,163,2953,0.00,2.45,0.00,0.000,6,0.000,0.050,2505,2093,3430
$GC,3269,-1.14,-146.6,345.6,-10.1,183,3273,0.00,2.62,0.00,0.000,4,0.000,0.067,2505,3538,3430
$GC,3301,-1.14,-146.6,349.1,-10.2,185,3306,0.00,2.60,0.00,0.000,6,0.000,0.055,2505,2090,3430
$GC,3621,-1.14,-146.6,381.4,-10.0,205,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2076,3430
$GC,3933,-1.14,-146.6,411.5,-9.6,225,3937,0.00,2.67,0.00,0.000,4,0.000,0.069,2505,3535,3430
$GC,3984,-1.14,-146.6,416.6,-9.8,228,3989,0.00,2.58,0.00,0.000,6,0.000,0.055,2505,2101,3430
$GC,4304,-1.14,-146.6,447.6,-9.7,248,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2079,3430
$GC,4615,-1.14,-146.6,477.5,-9.7,268,4620,0.00,2.65,0.00,0.000,4,0.000,0.068,2505,3536,3429
$GC,4712,-1.14,-146.6,487.3,-10.3,274,4716,0.00,2.58,0.00,0.000,6,0.000,0.055,2505,2097,3429
$GC,5036,-1.14,-146.6,519.5,-9.7,295,5041,0.00,2.65,0.00,0.000,4,0.000,0.068,2505,3532,3429
$GC,5087,-1.14,-146.6,524.8,-10.1,298,5092,0.00,2.55,0.00,0.000,6,0.000,0.055,2505,2108,3429
$GC,5412,-1.14,-146.6,556.7,-9.8,319,5416,0.00,2.62,0.00,0.000,4,0.000,0.068,2505,3532,3429
$GC,5474,-1.14,-146.6,562.7,-9.4,323,5478,0.00,2.50,0.00,0.000,6,0.000,0.056,2505,2145,3429
$GC,5799,-1.14,-146.6,592.1,-8.6,344,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2133,3429
$GC,6110,-1.14,-146.6,617.9,-8.5,364,6115,0.00,2.58,0.00,0.000,4,0.000,0.072,2505,3534,3429
$GC,6178,-1.14,-146.6,624.1,-9.7,368,6182,0.00,2.50,0.00,0.000,6,0.000,0.059,2505,2151,3428
$GC,6497,-1.14,-146.6,653.1,-9.2,388,6501,0.00,2.58,0.00,0.000,4,0.000,0.071,2504,3538,3428
$GC,6649,-1.14,-146.6,669.6,-10.7,397,6654,0.00,2.45,0.00,0.000,6,0.000,0.058,2505,2179,3428
$GC,6976,-1.17,-146.6,701.8,-10.3,418,6981,0.00,2.62,0.00,0.000,4,0.000,0.069,2505,718,3427
$GC,7039,-1.21,-146.6,708.8,-10.3,422,7044,0.10,2.60,0.00,0.000,6,0.071,0.056,2477,2171,3427
$GC,7369,-1.21,-146.6,745.4,-11.1,443,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2173,3426
$GC,7677,-1.67,-146.6,747.3,-0.0,463,7682,0.40,2.70,0.00,0.000,4,0.061,0.074,2379,716,3426
$STATE,7741,end dive,NO_VERTICAL_VELOCITY
$STATE,7741,begin apogee
$GC,7751,-0.33,0.0,747.3,0.0,467,7884,1.27,0.00,129.43,1.335,6,0.049,0.000,2680,1876,2831
$STATE,7885,end apogee,CONTROL_FINISHED_OK
$STATE,7885,begin climb
$GC,7888,1.22,146.6,747.2,0.0,476,8026,1.45,0.00,130.82,1.288,6,0.041,0.000,3016,1877,2232
$GC,8340,1.13,162.6,715.7,7.4,505,8361,0.12,2.60,15.43,1.176,4,0.102,0.070,2994,3256,2168
$GC,8402,1.10,162.6,710.6,9.0,509,8407,0.00,2.62,0.00,0.000,6,0.000,0.067,2994,1852,2168
$GC,8727,1.06,162.6,677.4,12.3,530,8731,0.00,2.62,0.00,0.000,4,0.000,0.077,2994,431,2167
$GC,8789,0.94,162.6,668.4,13.4,534,8794,0.22,2.58,0.00,0.000,6,0.090,0.057,2948,1851,2167
$GC,9117,1.11,232.8,645.7,5.5,555,9182,0.17,0.00,62.12,1.258,6,0.056,0.000,2997,1869,1881
$GC,9493,1.11,232.8,612.3,8.9,579,9497,0.00,2.55,0.00,0.000,4,0.000,0.068,2997,3255,1881
$GC,9533,1.11,232.8,608.4,9.4,581,9537,0.00,2.58,0.00,0.000,6,0.000,0.064,2997,1860,1880
$GC,9853,1.11,232.8,579.2,9.9,601,9857,0.00,2.60,0.00,0.000,4,0.000,0.066,2997,3262,1880
$GC,9875,1.11,232.8,576.9,9.6,602,9882,0.00,2.55,0.00,0.000,6,0.000,0.062,2997,1866,1880
$GC,10194,1.11,232.8,548.3,8.2,623,10198,0.00,2.58,0.00,0.000,4,0.000,0.066,2997,3264,1880
$GC,10222,1.11,232.8,545.7,9.8,625,10227,0.00,2.58,0.00,0.000,6,0.000,0.061,2997,1858,1879
$GC,10547,1.11,232.8,515.4,8.6,646,10552,0.00,2.58,0.00,0.000,4,0.000,0.071,2997,440,1880
$GC,10577,1.07,232.8,512.7,10.2,648,10581,0.00,2.58,0.00,0.000,6,0.000,0.053,2997,1875,1880
$GC,10901,1.07,232.8,483.0,8.9,669,10905,0.00,2.47,0.00,0.000,4,0.000,0.064,2997,3255,1880
$GC,10952,1.07,232.8,478.2,9.0,672,10956,0.00,2.53,0.00,0.000,6,0.000,0.058,2997,1864,1879
$GC,11271,1.07,232.8,450.2,8.8,692,11276,0.00,2.55,0.00,0.000,4,0.000,0.063,2997,3264,1880
$GC,11317,1.07,232.8,446.1,8.9,695,11322,0.00,2.50,0.00,0.000,6,0.000,0.057,2997,1880,1880
$GC,11642,1.07,232.8,418.4,8.2,716,11643,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1880,1879
$GC,11954,1.07,232.8,391.5,8.8,736,11958,0.00,2.50,0.00,0.000,4,0.000,0.061,2997,3259,1880
$GC,11988,1.10,232.8,388.1,9.0,738,11992,0.00,2.47,0.00,0.000,6,0.000,0.055,2997,1884,1880
$GC,12307,1.10,232.8,357.2,9.7,758,12309,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1884,1881
$GC,12619,1.10,232.8,326.8,9.7,778,12623,0.00,2.50,0.00,0.000,4,0.000,0.061,2997,3259,1881
$GC,12658,1.14,232.8,322.9,9.7,780,12664,0.00,2.45,0.00,0.000,6,0.000,0.054,2997,1893,1881
$GC,12978,1.14,232.8,291.8,9.6,801,12979,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1893,1881
$GC,13290,1.14,232.8,262.1,9.1,821,13294,0.00,2.47,0.00,0.000,4,0.000,0.060,2997,3256,1882
$GC,13323,1.18,232.8,258.8,9.3,823,13328,0.00,2.42,0.00,0.000,6,0.000,0.053,2997,1898,1882
$GC,13643,1.18,232.8,231.7,8.4,843,13644,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1899,1882
$GC,13955,1.18,232.8,206.0,8.3,863,13959,0.00,2.47,0.00,0.000,4,0.000,0.059,2997,3266,1883
$GC,13984,1.22,232.8,203.7,8.7,865,13988,0.00,2.42,0.00,0.000,6,0.000,0.051,2997,1898,1883
$GC,14309,1.24,245.1,178.3,7.6,886,14326,0.00,2.72,12.10,0.854,4,0.000,0.064,2997,432,1831
$GC,14361,1.24,245.1,174.0,8.8,889,14366,0.00,2.62,0.00,0.000,6,0.000,0.048,2997,1901,1830
$GC,14697,1.24,245.1,145.8,8.5,910,14698,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1917,1831
$GC,15006,1.27,245.1,118.7,8.8,925,15008,0.12,0.00,0.00,0.000,6,0.054,0.000,3031,1918,1831
$GC,15315,1.23,247.2,90.6,7.9,940,15320,0.00,2.67,0.00,0.000,4,0.000,0.063,3031,435,1831
$GC,15344,1.16,247.2,88.2,9.1,941,15349,0.17,2.60,0.00,0.000,6,0.086,0.048,2997,1904,1831
$GC,15662,1.28,299.1,69.8,6.1,956,15714,0.12,2.78,44.28,0.841,4,0.054,0.061,3031,443,1611
$GC,15727,1.24,299.1,64.0,9.9,959,15731,0.00,2.60,0.00,0.000,6,0.000,0.047,3030,1893,1611
$GC,16048,1.24,299.1,31.7,11.0,975,16053,0.00,2.67,0.00,0.000,4,0.000,0.064,3031,434,1611
$GC,16121,1.16,299.1,25.6,11.7,978,16126,0.17,2.58,0.00,0.000,6,0.082,0.047,2996,1890,1611
$STATE,16351,end climb,SURFACE_DEPTH_REACHED
$STATE,16351,begin surface coast
$FINISH,0.6,1.027082
$STATE,16374,end surface coast,CONTROL_FINISHED_OK
$STATE,16374,begin surface
$SM_CCo,16398,0.68,0.132,0,0,1608,300.00
$SM_GC,2.65,0.00,0.00,0.68,0.000,0.000,0.132,423,2140,1608,-10.68,0.37,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1806
$TCM_TEMP,17.30
$XPDR_PINGS,49
$24V_AH,23.8,30.475
$10V_AH,10.1,13.828
$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,27.275,153.825,394.175,0.675,0.000,37.763,26.929,197.038,19.500,0.000,0.000,31.694,1745.324,11884.873,531.594,2052.327,591.037,33.379,1540.188,0.000,1989.974,0.000,54.267,0.000
$DEVICE_MAMPS,164.905,76.700,1335.347,131.924,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,679.286,725.853,538.285,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50590,990
$CAP_FILE_SIZE,134196,0
$CFSIZE,254472192,242196480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,270909,080436,6355.595,-1319.982,34,1.1,34,-12.6