version: 66.04
glider: 5
mission: 7
dive: 171
start: 9 27 109 8 25 39
data:
$ID,5
$MISSION,7
$DIVE,171
$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,-103463.66
$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,43
$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
$GPS1,080436,6355.595,-1319.982,34,1.1,34,-12.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-58.4
$GPS2,082450,6355.560,-1319.345,14,1.1,14,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,K1
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.176,-0.171
$KALMAN_X,-48156.6,1632.7,133.5,-199765.6,-3087.3
$KALMAN_Y,-7348.6,-212.2,383.8,264495.8,2643.9
$MHEAD_RNG_PITCHd_Wd,146.7,12818,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.65,0.000,2,0.000,0.000,422,2144,2479
$GC,63,-1.22,-146.6,2.2,-4.0,2,121,11.38,2.50,-41.15,0.000,4,0.156,0.077,2472,3514,3428
$GC,370,-1.15,-146.6,41.0,-14.5,15,375,0.10,2.47,0.00,0.000,6,0.100,0.047,2491,2124,3428
$GC,699,-1.15,-146.6,82.6,-11.4,31,703,0.00,2.50,0.00,0.000,4,0.000,0.058,2492,715,3428
$GC,739,-1.15,-146.6,87.4,-11.9,33,744,0.00,2.50,0.00,0.000,6,0.000,0.048,2492,2124,3428
$GC,1068,-1.15,-146.6,121.7,-10.2,49,1072,0.00,2.58,0.00,0.000,4,0.000,0.066,2492,3542,3428
$GC,1118,-1.15,-146.6,127.1,-10.6,51,1122,0.00,2.53,0.00,0.000,6,0.000,0.050,2492,2131,3428
$GC,1445,-1.15,-146.6,162.4,-11.3,68,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2119,3428
$GC,1757,-1.15,-146.6,198.9,-11.6,88,1761,0.00,2.60,0.00,0.000,4,0.000,0.066,2492,3538,3428
$GC,1795,-1.15,-146.6,203.6,-12.4,90,1802,0.00,2.50,0.00,0.000,6,0.000,0.052,2492,2140,3428
$GC,2115,-1.15,-146.6,241.0,-11.7,111,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2126,3428
$GC,2427,-1.15,-146.6,278.4,-12.0,131,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2125,3428
$GC,2740,-1.15,-146.6,316.1,-12.1,151,2744,0.00,2.58,0.00,0.000,4,0.000,0.068,2492,3535,3428
$GC,2774,-1.12,-146.6,320.5,-12.1,153,2778,0.00,2.47,0.00,0.000,6,0.000,0.054,2492,2147,3428
$GC,3093,-1.12,-146.6,356.6,-11.0,173,3097,0.00,2.53,0.00,0.000,4,0.000,0.061,2492,722,3428
$GC,3124,-1.12,-146.6,359.9,-11.5,175,3128,0.00,2.55,0.00,0.000,6,0.000,0.049,2492,2158,3428
$GC,3449,-1.12,-146.6,395.3,-10.9,196,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2156,3428
$GC,3761,-1.12,-146.6,429.2,-11.1,216,3766,0.00,2.60,0.00,0.000,4,0.000,0.061,2492,715,3427
$GC,3824,-1.12,-146.6,436.1,-10.7,220,3828,0.00,2.55,0.00,0.000,6,0.000,0.051,2492,2158,3427
$GC,4151,-1.12,-146.6,470.1,-10.0,241,4155,0.00,2.60,0.00,0.000,4,0.000,0.061,2492,721,3427
$GC,4179,-1.12,-146.6,473.3,-10.4,243,4184,0.00,2.53,0.00,0.000,6,0.000,0.050,2492,2142,3427
$GC,4504,-1.12,-146.6,506.7,-10.6,264,4508,0.00,2.53,0.00,0.000,4,0.000,0.068,2491,3535,3427
$GC,4593,-1.12,-146.6,516.7,-11.0,269,4600,0.00,2.50,0.00,0.000,6,0.000,0.056,2492,2146,3427
$GC,4912,-1.12,-146.6,552.0,-11.1,290,4917,0.00,2.55,0.00,0.000,4,0.000,0.064,2492,715,3427
$GC,4941,-1.12,-146.6,555.2,-11.5,292,4946,0.00,2.55,0.00,0.000,6,0.000,0.051,2492,2147,3427
$GC,5266,-1.12,-146.6,591.8,-11.3,313,5271,0.00,2.60,0.00,0.000,4,0.000,0.066,2492,719,3427
$GC,5299,-1.12,-146.6,595.7,-11.4,315,5304,0.00,2.53,0.00,0.000,6,0.000,0.053,2492,2139,3427
$GC,5618,-1.12,-146.6,629.3,-10.5,335,5622,0.00,2.55,0.00,0.000,4,0.000,0.071,2492,3538,3427
$GC,5720,-1.12,-146.6,640.2,-11.0,341,5724,0.00,2.53,0.00,0.000,6,0.000,0.058,2492,2140,3427
$GC,6039,-1.12,-146.6,672.2,-10.3,361,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2125,3426
$GC,6353,-1.12,-146.6,704.5,-10.6,381,6358,0.00,2.60,0.00,0.000,4,0.000,0.073,2492,3535,3426
$GC,6399,-1.12,-146.6,709.8,-11.0,384,6403,0.00,2.50,0.00,0.000,6,0.000,0.061,2492,2155,3426
$GC,6723,-1.12,-146.6,744.0,-10.6,405,6727,0.00,2.58,0.00,0.000,4,0.000,0.070,2492,723,3425
$GC,6779,-1.15,-146.6,750.2,-11.4,408,6786,0.00,2.58,0.00,0.000,6,0.000,0.056,2492,2162,3425
$STATE,7002,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7002,begin apogee
$GC,7009,-0.33,0.0,773.5,10.4,423,7144,0.82,0.00,130.68,1.336,6,0.076,0.000,2669,1838,2831
$STATE,7144,end apogee,CONTROL_FINISHED_OK
$STATE,7144,begin climb
$GC,7148,1.22,146.6,778.8,0.0,432,7289,1.55,2.62,132.68,1.297,4,0.060,0.074,3007,444,2233
$GC,7310,1.09,146.6,772.1,8.2,442,7316,0.15,2.58,0.00,0.000,6,0.092,0.055,2980,1854,2233
$GC,7638,1.13,175.5,749.5,6.9,463,7670,0.00,2.65,26.73,1.233,4,0.000,0.067,2979,3256,2115
$GC,7722,1.13,175.5,742.4,9.0,468,7727,0.00,2.58,0.00,0.000,6,0.000,0.065,2980,1866,2114
$GC,8047,1.13,175.6,716.2,8.0,489,8051,0.00,2.62,0.00,0.000,4,0.000,0.074,2979,437,2114
$GC,8064,1.13,175.6,714.6,8.5,490,8068,0.00,2.58,0.00,0.000,6,0.000,0.056,2980,1861,2114
$GC,8383,1.14,176.1,684.9,8.0,510,8388,0.00,2.55,0.00,0.000,4,0.000,0.068,2980,3262,2113
$GC,8405,1.14,176.1,682.9,8.5,511,8411,0.00,2.60,0.00,0.000,6,0.000,0.064,2979,1853,2113
$GC,8725,1.16,189.8,658.3,7.5,532,8745,0.00,2.67,13.52,1.176,4,0.000,0.066,2979,3255,2057
$GC,8793,1.18,203.9,653.4,7.5,536,8813,0.10,2.55,14.20,1.177,6,0.064,0.064,3006,1867,1999
$GC,9138,1.15,210.2,625.8,7.8,558,9154,0.00,2.70,6.82,1.023,4,0.000,0.074,3006,443,1974
$GC,9166,1.09,210.2,623.3,9.5,559,9173,0.12,2.60,0.00,0.000,6,0.097,0.054,2983,1874,1974
$GC,9486,1.13,235.7,599.7,7.1,580,9518,0.00,2.78,23.45,1.201,4,0.000,0.071,2982,442,1869
$GC,9524,1.14,245.5,596.7,7.6,582,9539,0.00,2.60,9.95,1.083,6,0.000,0.054,2982,1881,1831
$GC,9862,1.19,248.4,571.0,7.9,604,9872,0.00,0.00,4.53,0.834,6,0.000,0.000,2982,1881,1818
$GC,10186,1.22,248.4,545.1,8.0,625,10191,0.12,2.47,0.00,0.000,4,0.059,0.064,3016,3239,1818
$GC,10202,1.22,248.4,543.4,8.6,626,10207,0.00,2.50,0.00,0.000,6,0.000,0.059,3016,1869,1818
$GC,10523,1.19,248.4,511.0,10.3,646,10527,0.00,2.53,0.00,0.000,4,0.000,0.063,3016,3245,1817
$GC,10561,1.19,248.4,506.7,10.7,648,10567,0.00,2.47,0.00,0.000,6,0.000,0.057,3016,1879,1817
$GC,10881,1.16,248.4,473.5,10.4,669,10885,0.00,2.50,0.00,0.000,4,0.000,0.062,3016,3245,1818
$GC,10919,1.16,248.4,469.4,10.5,671,10925,0.00,2.42,0.00,0.000,6,0.000,0.056,3016,1900,1818
$GC,11238,1.16,248.4,437.3,10.3,692,11242,0.00,2.45,0.00,0.000,4,0.000,0.061,3016,3242,1818
$GC,11260,1.16,248.4,434.8,11.1,693,11266,0.00,2.42,0.00,0.000,6,0.000,0.055,3016,1896,1818
$GC,11580,1.16,248.4,402.1,9.9,714,11581,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1896,1818
$GC,11892,1.16,248.4,372.4,9.7,734,11896,0.00,2.45,0.00,0.000,4,0.000,0.061,3016,3241,1818
$GC,11913,1.16,248.4,370.2,9.8,735,11920,0.00,2.40,0.00,0.000,6,0.000,0.054,3016,1903,1818
$GC,12233,1.16,248.4,341.4,9.0,756,12237,0.00,2.62,0.00,0.000,4,0.000,0.067,3016,443,1818
$GC,12255,1.11,248.4,339.0,10.3,757,12262,0.17,2.60,0.00,0.000,6,0.086,0.050,2981,1907,1819
$GC,12577,1.18,264.0,314.1,7.4,778,12594,0.00,0.00,15.00,0.959,6,0.000,0.000,2982,1923,1754
$GC,12902,1.24,264.0,287.4,8.5,799,12904,0.15,0.00,0.00,0.000,6,0.051,0.000,3022,1923,1754
$GC,13214,1.24,264.0,255.5,10.2,819,13219,0.00,2.70,0.00,0.000,4,0.000,0.066,3022,436,1754
$GC,13247,1.18,264.0,251.9,10.8,821,13252,0.00,2.60,0.00,0.000,6,0.000,0.049,3022,1900,1754
$GC,13567,1.18,264.0,221.3,9.7,841,13571,0.00,2.67,0.00,0.000,4,0.000,0.064,3022,437,1754
$GC,13589,1.14,264.0,219.0,10.4,842,13596,0.15,2.60,0.00,0.000,6,0.085,0.048,2994,1904,1755
$GC,13911,1.19,271.5,193.8,7.7,863,13923,0.00,0.00,7.80,0.808,6,0.000,0.000,2994,1919,1724
$GC,14237,1.24,272.7,167.9,8.0,884,14241,0.00,2.67,0.00,0.000,4,0.000,0.064,2994,442,1724
$GC,14269,1.24,272.7,164.8,8.3,886,14274,0.00,2.55,0.00,0.000,6,0.000,0.048,2994,1883,1724
$GC,14588,1.28,272.7,137.5,9.4,904,14593,0.15,2.45,0.00,0.000,4,0.052,0.058,3034,3265,1724
$GC,14606,1.28,272.7,135.5,10.0,905,14610,0.00,2.47,0.00,0.000,6,0.000,0.050,3034,1871,1724
$GC,14940,1.25,272.7,97.2,11.1,921,14941,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1871,1724
$GC,15250,1.25,272.7,61.2,11.8,936,15255,0.00,2.55,0.00,0.000,4,0.000,0.064,3034,443,1725
$GC,15269,1.21,272.7,58.7,12.0,937,15274,0.15,2.53,0.00,0.000,6,0.087,0.048,3005,1876,1724
$GC,15597,1.23,290.3,33.1,7.4,953,15619,0.00,2.65,16.60,0.790,4,0.000,0.062,3004,443,1646
$GC,15631,1.27,290.3,29.6,10.1,954,15636,0.00,2.55,0.00,0.000,6,0.000,0.047,3004,1871,1646
$GC,15948,1.54,424.2,3.8,3.1,969,15968,0.32,0.00,17.12,0.769,2,0.041,0.000,3087,1888,1556
$STATE,15969,end climb,SURFACE_DEPTH_REACHED
$STATE,15969,begin surface coast
$FINISH,0.5,1.027103
$STATE,16029,end surface coast,CONTROL_FINISHED_OK
$STATE,16029,begin surface
$SM_CCo,16113,0.00,0.000,0,0,1555,313.00
$SM_GC,1.32,11.75,0.00,0.00,0.041,0.000,0.000,422,2137,1555,-10.61,0.20,313.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1807
$TCM_TEMP,17.30
$XPDR_PINGS,53
$ALTIM_BOTTOM_PING,696.3,86.9
$24V_AH,23.8,30.664
$10V_AH,10.1,13.920
$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,27.200,169.700,419.075,0.000,0.000,190.161,144.172,483.365,19.500,0.000,0.000,14.807,1715.616,11925.751,553.028,1952.248,1173.112,33.363,1557.677,0.000,1904.640,0.000,47.296,0.000
$DEVICE_MAMPS,155.701,76.700,1336.114,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,665.697,713.698,522.327,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50664,973
$CAP_FILE_SIZE,147345,0
$CFSIZE,254472192,242114560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,270909,125551,6354.287,-1314.995,42,2.5,61,-12.5