version: 66.04
glider: 5
mission: 7
dive: 174
start: 9 27 109 22 47 10
data:
$ID,5
$MISSION,7
$DIVE,174
$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,-103534.55
$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,22
$R_STBD_OVSHOOT,39
$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
$GPS1,224001,6350.099,-1310.494,60,0.9,60,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-55.3
$GPS2,224620,6350.078,-1310.449,14,1.3,14,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,L1
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.199,-0.144
$KALMAN_X,-44642.8,-652.8,-406.2,-192579.1,2808.7
$KALMAN_Y,-1472.9,-497.9,-787.9,249956.0,5810.5
$MHEAD_RNG_PITCHd_Wd,246.6,24282,-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,16,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-61.03,0.000,2,0.000,0.000,425,2159,2709
$GC,82,-1.22,-146.6,2.8,-2.9,3,127,11.45,2.50,-24.95,0.000,4,0.160,0.076,2472,3517,3429
$GC,168,-1.10,-146.6,11.5,-13.9,7,173,0.15,2.50,0.00,0.000,6,0.099,0.048,2504,2116,3429
$GC,489,-1.10,-146.6,50.6,-9.4,23,494,0.00,2.58,0.00,0.000,4,0.000,0.063,2504,3518,3429
$GC,518,-1.06,-146.6,54.0,-11.8,24,522,0.00,2.47,0.00,0.000,6,0.000,0.049,2504,2134,3429
$GC,835,-1.06,-146.6,88.9,-11.0,39,840,0.00,2.55,0.00,0.000,4,0.000,0.064,2504,3527,3429
$GC,876,-1.06,-146.6,93.4,-10.7,41,880,0.00,2.50,0.00,0.000,6,0.000,0.048,2503,2122,3429
$GC,1204,-1.06,-146.6,128.1,-10.7,57,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2109,3429
$GC,1518,-1.06,-146.6,161.8,-10.5,74,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2109,3428
$GC,1830,-1.06,-146.6,194.2,-10.3,94,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2109,3429
$GC,2143,-1.06,-146.6,226.3,-10.0,114,2148,0.00,2.58,0.00,0.000,4,0.000,0.066,2503,3518,3429
$GC,2172,-1.06,-146.6,229.4,-10.7,116,2177,0.00,2.50,0.00,0.000,6,0.000,0.053,2503,2119,3429
$GC,2497,-1.06,-146.6,262.1,-10.0,137,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2106,3429
$GC,2810,-1.06,-146.6,294.1,-10.4,157,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2105,3429
$GC,3123,-1.06,-146.6,329.3,-11.4,177,3128,0.00,2.60,0.00,0.000,4,0.000,0.067,2504,3527,3429
$GC,3157,-1.06,-146.6,333.6,-12.0,179,3162,0.00,2.53,0.00,0.000,6,0.000,0.054,2503,2119,3429
$GC,3477,-1.06,-146.6,370.6,-11.5,199,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2106,3429
$GC,3788,-1.06,-146.6,405.6,-10.8,219,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2106,3429
$GC,4101,-1.06,-146.6,439.0,-10.6,239,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2096,3428
$GC,4413,-1.06,-146.6,472.9,-11.0,259,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2096,3428
$GC,4726,-1.06,-146.6,506.5,-11.0,279,4730,0.00,2.50,0.00,0.000,4,0.000,0.063,2503,713,3428
$GC,4748,-1.06,-146.6,509.1,-10.5,280,4754,0.00,2.50,0.00,0.000,6,0.000,0.054,2504,2123,3428
$GC,5067,-1.06,-146.6,543.6,-10.6,301,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2123,3428
$GC,5381,-1.06,-146.6,575.4,-10.1,321,5385,0.00,2.55,0.00,0.000,4,0.000,0.061,2503,714,3428
$GC,5444,-1.09,-146.6,582.2,-10.7,325,5448,0.00,2.53,0.00,0.000,6,0.000,0.051,2504,2136,3428
$GC,5769,-1.09,-146.6,614.3,-9.8,346,5773,0.00,2.55,0.00,0.000,4,0.000,0.062,2504,722,3428
$GC,5797,-1.09,-146.6,617.3,-11.0,348,5802,0.00,2.50,0.00,0.000,6,0.000,0.051,2504,2134,3428
$GC,6123,-1.09,-146.6,649.2,-9.4,369,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2133,3427
$GC,6435,-1.09,-146.6,677.4,-9.2,389,6440,0.00,2.58,0.00,0.000,4,0.000,0.063,2504,714,3427
$GC,6520,-1.13,-146.6,685.6,-9.8,394,6524,0.00,2.53,0.00,0.000,6,0.000,0.051,2504,2138,3427
$GC,6839,-1.13,-146.6,716.1,-9.5,414,6843,0.00,2.55,0.00,0.000,4,0.000,0.071,2504,3540,3426
$GC,6873,-1.13,-146.6,719.5,-9.8,416,6877,0.00,2.55,0.00,0.000,6,0.000,0.058,2504,2127,3427
$GC,7195,-1.13,-146.6,746.5,-7.9,436,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2114,3427
$GC,7505,-1.13,-146.6,772.2,-7.8,456,7510,0.00,2.53,0.00,0.000,4,0.000,0.068,2503,719,3426
$GC,7528,-1.16,-146.6,774.4,-9.1,457,7534,0.00,2.55,0.00,0.000,6,0.000,0.054,2503,2149,3427
$GC,7847,-1.16,-146.6,803.0,-9.4,478,7851,0.00,2.62,0.00,0.000,4,0.000,0.072,2504,722,3426
$GC,7876,-1.20,-146.6,805.7,-10.4,480,7880,0.00,2.55,0.00,0.000,6,0.000,0.056,2503,2142,3426
$STATE,8041,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8042,begin apogee
$GC,8049,-0.33,0.0,821.2,9.0,491,8184,0.77,0.00,131.15,1.364,6,0.077,0.000,2669,1847,2831
$STATE,8184,end apogee,CONTROL_FINISHED_OK
$STATE,8185,begin climb
$GC,8188,1.22,146.6,825.8,0.0,500,8327,1.55,0.00,133.45,1.322,6,0.058,0.000,3010,1847,2233
$GC,8640,1.13,146.6,794.8,8.7,529,8644,0.00,2.58,0.00,0.000,4,0.000,0.074,3010,448,2233
$GC,8703,0.98,146.6,789.0,9.3,533,8708,0.28,2.53,0.00,0.000,6,0.091,0.055,2957,1842,2233
$GC,9030,1.10,221.2,769.1,5.3,554,9103,0.12,2.65,66.70,1.298,4,0.060,0.068,2990,3254,1929
$GC,9151,1.15,253.8,761.0,6.8,560,9188,0.00,2.60,30.25,1.256,6,0.000,0.066,2990,1859,1796
$GC,9503,1.15,253.8,732.8,8.8,583,9507,0.00,2.60,0.00,0.000,4,0.000,0.067,2990,3264,1797
$GC,9549,1.19,253.8,728.5,8.6,586,9554,0.00,2.58,0.00,0.000,6,0.000,0.064,2990,1865,1796
$GC,9874,1.19,253.8,699.1,8.5,607,9879,0.00,2.62,0.00,0.000,4,0.000,0.075,2990,435,1796
$GC,9908,1.15,253.8,695.8,10.0,609,9913,0.00,2.58,0.00,0.000,6,0.000,0.055,2990,1861,1796
$GC,10228,1.15,253.8,668.6,9.2,629,10232,0.00,2.53,0.00,0.000,4,0.000,0.067,2990,3255,1795
$GC,10279,1.20,253.8,663.7,9.9,632,10284,0.00,2.60,0.00,0.000,6,0.000,0.062,2990,1840,1795
$GC,10598,1.20,253.8,635.3,8.8,652,10603,0.00,2.62,0.00,0.000,4,0.000,0.064,2990,3264,1795
$GC,10633,1.24,253.8,632.2,9.1,654,10638,0.12,2.60,0.00,0.000,6,0.058,0.061,3023,1842,1795
$GC,10954,1.19,253.8,598.3,10.5,674,10959,0.00,2.60,0.00,0.000,4,0.000,0.063,3023,3256,1795
$GC,10983,1.19,253.8,595.2,10.6,676,10988,0.00,2.53,0.00,0.000,6,0.000,0.058,3023,1867,1795
$GC,11309,1.14,253.8,563.4,9.8,697,11311,0.15,0.00,0.00,0.000,6,0.092,0.000,2995,1867,1795
$GC,11620,1.14,253.8,537.1,8.5,717,11625,0.00,2.55,0.00,0.000,4,0.000,0.061,2995,3261,1795
$GC,11655,1.18,253.8,534.0,9.1,719,11659,0.00,2.50,0.00,0.000,6,0.000,0.056,2995,1876,1795
$GC,11974,1.18,253.8,507.3,8.2,739,11978,0.00,2.50,0.00,0.000,4,0.000,0.061,2995,3255,1795
$GC,12003,1.22,253.8,504.8,9.0,741,12008,0.00,2.47,0.00,0.000,6,0.000,0.056,2995,1881,1795
$GC,12328,1.22,253.9,478.2,8.0,762,12333,0.00,2.60,0.00,0.000,4,0.000,0.070,2995,440,1796
$GC,12367,1.22,253.9,474.6,9.6,764,12373,0.00,2.60,0.00,0.000,6,0.000,0.050,2995,1904,1795
$GC,12687,1.22,256.3,449.3,7.9,785,12696,0.00,2.72,3.85,0.693,4,0.000,0.067,2995,436,1786
$GC,12720,1.22,256.3,446.4,8.3,787,12725,0.00,2.58,0.00,0.000,6,0.000,0.050,2995,1881,1786
$GC,13045,1.22,256.3,420.4,8.1,808,13046,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1896,1786
$GC,13358,1.22,256.3,393.9,8.5,828,13359,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1895,1786
$GC,13670,1.22,256.3,366.2,9.0,848,13671,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1896,1786
$GC,13982,1.22,256.3,337.1,9.4,868,13983,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1896,1787
$GC,14294,1.22,256.3,308.1,9.0,888,14299,0.00,2.62,0.00,0.000,4,0.000,0.064,2995,443,1787
$GC,14333,1.22,256.3,304.2,9.5,890,14340,0.00,2.55,0.00,0.000,6,0.000,0.049,2995,1884,1787
$GC,14653,1.22,256.3,276.2,8.8,911,14657,0.00,2.42,0.00,0.000,4,0.000,0.059,2995,3254,1787
$GC,14682,1.27,256.3,273.6,8.9,913,14687,0.12,2.47,0.00,0.000,6,0.054,0.053,3030,1867,1788
$GC,15009,1.23,256.3,239.0,10.7,934,15011,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1867,1788
$GC,15320,1.19,256.3,206.6,10.1,954,15325,0.12,2.53,0.00,0.000,4,0.090,0.058,3004,3263,1788
$GC,15359,1.23,256.3,202.9,9.0,956,15365,0.00,2.47,0.00,0.000,6,0.000,0.051,3005,1872,1788
$GC,15678,1.23,258.7,176.8,7.9,977,15685,0.00,0.00,4.35,0.640,6,0.000,0.000,3004,1872,1776
$GC,15991,1.26,274.9,153.2,7.4,997,16010,0.00,2.53,14.40,0.849,4,0.000,0.058,3004,3252,1710
$GC,16058,1.30,274.9,147.8,8.2,1001,16063,0.12,2.42,0.00,0.000,6,0.054,0.051,3039,1890,1710
$GC,16386,1.26,274.9,111.3,11.3,1017,16387,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1891,1710
$GC,16694,1.21,274.9,77.7,10.4,1032,16699,0.15,2.47,0.00,0.000,4,0.085,0.057,3009,3263,1710
$GC,16728,1.27,274.9,74.3,10.1,1033,16735,0.00,2.42,0.00,0.000,6,0.000,0.050,3009,1894,1710
$GC,17045,1.27,274.9,47.4,8.5,1049,17049,0.00,2.45,0.00,0.000,4,0.000,0.057,3009,3254,1710
$GC,17067,1.30,274.9,45.4,8.8,1050,17071,0.00,2.38,0.00,0.000,6,0.000,0.049,3009,1913,1710
$GC,17389,1.30,274.9,16.9,8.6,1066,17391,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1913,1711
$STATE,17552,end climb,SURFACE_DEPTH_REACHED
$STATE,17552,begin surface coast
$FINISH,0.8,1.027097
$STATE,17572,end surface coast,CONTROL_FINISHED_OK
$STATE,17572,begin surface
$SM_CCo,17596,13.62,0.733,0,0,1608,300.00
$SM_GC,1.64,0.00,0.00,13.62,0.000,0.000,0.733,419,2152,1608,-10.70,0.62,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1804
$TCM_TEMP,17.40
$XPDR_PINGS,72
$ALTIM_BOTTOM_PING,795.7,34.4
$24V_AH,23.8,31.147
$10V_AH,10.1,14.187
$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,26.325,148.300,384.150,13.625,0.000,37.761,28.922,179.949,25.250,0.000,0.000,17.074,1851.502,12981.961,529.483,2027.010,594.998,33.366,1541.813,0.000,1985.197,0.000,49.251,0.000
$DEVICE_MAMPS,160.303,75.933,1363.726,733.252,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,736.562,786.858,564.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53787,1075
$CAP_FILE_SIZE,138789,0
$CFSIZE,254472192,241913856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,280909,034206,6347.557,-1316.447,40,1.4,45,-12.5