version: 66.04
glider: 5
mission: 7
dive: 176
start: 9 28 109 9 11 45
data:
$ID,5
$MISSION,7
$DIVE,176
$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,-103569.91
$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,24
$R_STBD_OVSHOOT,34
$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
$GPS1,090130,6349.732,-1322.444,41,1.2,41,-12.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-63.9
$GPS2,091055,6349.701,-1322.455,11,1.2,16,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,L1
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.085,0.230
$KALMAN_X,-47612.8,74.2,-245.9,-201063.3,-815.6
$KALMAN_Y,-4156.5,-928.8,-397.8,251981.0,2647.7
$MHEAD_RNG_PITCHd_Wd,352.4,20033,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.33,0.000,2,0.000,0.000,417,2154,2482
$GC,63,-1.22,-146.6,2.4,-4.8,2,119,11.40,2.53,-39.55,0.000,4,0.158,0.080,2471,3530,3429
$GC,150,-1.07,-146.6,8.5,-14.7,6,155,0.20,2.50,0.00,0.000,6,0.094,0.048,2513,2121,3429
$GC,477,-1.07,-146.6,46.5,-11.7,22,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2103,3430
$GC,786,-1.07,-146.6,84.8,-12.0,37,790,0.00,2.60,0.00,0.000,4,0.000,0.064,2513,3535,3430
$GC,826,-1.07,-146.6,89.5,-11.6,39,831,0.00,2.50,0.00,0.000,6,0.000,0.048,2513,2124,3430
$GC,1153,-1.07,-146.6,128.5,-12.3,55,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2112,3430
$GC,1463,-1.07,-146.6,164.5,-11.4,72,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2112,3430
$GC,1776,-1.07,-146.6,199.3,-10.9,92,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2112,3430
$GC,2088,-1.07,-146.6,232.7,-10.3,112,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2109,3430
$GC,2400,-1.07,-146.6,266.3,-11.0,132,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2109,3430
$GC,2713,-1.07,-146.6,299.6,-10.1,152,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2110,3430
$GC,3025,-1.07,-146.6,331.2,-10.0,172,3029,0.00,2.60,0.00,0.000,4,0.000,0.068,2513,3533,3430
$GC,3058,-1.07,-146.6,334.7,-10.0,174,3062,0.00,2.50,0.00,0.000,6,0.000,0.055,2513,2141,3430
$GC,3377,-1.07,-146.6,367.2,-10.1,194,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2127,3430
$GC,3689,-1.07,-146.6,397.9,-9.5,214,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2128,3430
$GC,4002,-1.07,-146.6,427.5,-9.4,234,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2128,3430
$GC,4314,-1.07,-146.6,456.5,-9.5,254,4318,0.00,2.53,0.00,0.000,4,0.000,0.062,2513,719,3429
$GC,4343,-1.11,-146.6,459.1,-9.3,256,4347,0.00,2.53,0.00,0.000,6,0.000,0.051,2513,2140,3429
$GC,4667,-1.11,-146.6,488.8,-8.8,277,4672,0.00,2.58,0.00,0.000,4,0.000,0.061,2513,714,3429
$GC,4707,-1.16,-146.6,492.6,-9.1,279,4713,0.00,2.53,0.00,0.000,6,0.000,0.050,2513,2138,3429
$GC,5027,-1.16,-146.6,521.0,-8.7,300,5031,0.00,2.58,0.00,0.000,4,0.000,0.061,2513,709,3429
$GC,5066,-1.20,-146.6,524.6,-8.8,302,5073,0.15,2.53,0.00,0.000,6,0.057,0.051,2471,2136,3429
$GC,5389,-1.15,-146.6,560.3,-11.6,323,5394,0.12,2.58,0.00,0.000,4,0.099,0.061,2496,711,3428
$GC,5439,-1.15,-146.6,566.4,-11.2,326,5444,0.00,2.50,0.00,0.000,6,0.000,0.051,2496,2120,3428
$GC,5760,-1.15,-146.6,601.1,-10.5,346,5765,0.00,2.55,0.00,0.000,4,0.000,0.062,2496,710,3428
$GC,5795,-1.15,-146.6,605.1,-10.5,348,5800,0.00,2.50,0.00,0.000,6,0.000,0.051,2496,2120,3428
$GC,6115,-1.15,-146.6,638.6,-10.4,368,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2120,3428
$GC,6428,-1.15,-146.6,670.2,-10.1,388,6432,0.00,2.53,0.00,0.000,4,0.000,0.063,2496,722,3428
$GC,6491,-1.15,-146.6,677.3,-11.7,392,6495,0.00,2.47,0.00,0.000,6,0.000,0.051,2496,2116,3428
$GC,6815,-1.15,-146.6,709.8,-10.3,413,6819,0.00,2.53,0.00,0.000,4,0.000,0.064,2496,722,3428
$GC,6887,-1.15,-146.6,717.9,-11.3,417,6893,0.00,2.45,0.00,0.000,6,0.000,0.051,2496,2103,3428
$GC,7206,-1.15,-146.6,747.9,-8.2,438,7210,0.00,2.53,0.00,0.000,4,0.000,0.067,2495,719,3427
$GC,7251,-1.15,-146.6,752.0,-8.8,440,7257,0.00,2.42,0.00,0.000,6,0.000,0.054,2496,2080,3428
$GC,7571,-1.15,-146.6,781.7,-9.6,461,7575,0.00,2.65,0.00,0.000,4,0.000,0.074,2496,3531,3427
$GC,7609,-1.15,-146.6,785.7,-10.2,463,7615,0.00,2.65,0.00,0.000,6,0.000,0.061,2496,2067,3427
$GC,7930,-1.15,-146.6,815.5,-9.6,484,7934,0.00,2.42,0.00,0.000,4,0.000,0.069,2495,718,3427
$GC,8031,-1.15,-146.6,825.9,-10.1,490,8035,0.00,2.42,0.00,0.000,6,0.000,0.054,2496,2075,3426
$GC,8350,-1.15,-146.6,856.1,-9.3,510,8354,0.00,2.50,0.00,0.000,4,0.000,0.072,2496,718,3426
$GC,8412,-1.15,-146.6,862.2,-10.1,514,8416,0.00,2.40,0.00,0.000,6,0.000,0.056,2496,2052,3426
$GC,8736,-1.15,-146.6,892.5,-9.5,535,8741,0.00,2.47,0.00,0.000,4,0.000,0.074,2496,718,3425
$GC,8770,-1.19,-146.6,896.3,-12.2,537,8774,0.00,2.40,0.00,0.000,6,0.000,0.059,2496,2048,3425
$STATE,8915,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8915,begin apogee
$GC,8923,-0.33,0.0,909.6,9.8,546,9062,0.82,0.00,135.43,1.423,6,0.077,0.000,2674,1830,2831
$STATE,9062,end apogee,CONTROL_FINISHED_OK
$STATE,9063,begin climb
$GC,9066,1.22,146.6,913.0,0.0,555,9208,1.55,0.00,137.23,1.381,6,0.060,0.000,3011,1829,2233
$GC,9517,1.10,147.4,883.8,8.0,584,9522,0.15,2.65,0.00,0.000,4,0.096,0.068,2984,3258,2232
$GC,9580,1.07,147.4,878.4,9.3,588,9585,0.00,2.58,0.00,0.000,6,0.000,0.065,2984,1862,2233
$GC,9905,1.06,164.3,854.4,7.4,609,9929,0.00,2.72,16.70,1.286,4,0.000,0.074,2984,440,2161
$GC,9964,0.98,164.3,849.7,8.5,612,9971,0.12,2.58,0.00,0.000,6,0.095,0.056,2961,1854,2161
$GC,10284,1.02,187.4,828.0,7.2,633,10311,0.00,0.00,21.70,1.320,6,0.000,0.000,2961,1869,2067
$GC,10625,1.10,213.6,803.1,7.1,655,10658,0.10,2.75,24.00,1.322,4,0.064,0.073,2987,442,1960
$GC,10711,1.04,213.6,795.8,9.0,660,10715,0.00,2.55,0.00,0.000,6,0.000,0.056,2987,1851,1960
$GC,11035,1.04,213.6,767.5,8.4,681,11037,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1865,1960
$GC,11348,1.07,235.4,744.8,7.2,701,11373,0.00,2.62,20.25,1.284,4,0.000,0.067,2987,3261,1871
$GC,11425,1.07,235.4,738.5,8.2,705,11430,0.00,2.58,0.00,0.000,6,0.000,0.064,2987,1866,1871
$GC,11750,1.07,235.4,709.7,8.7,726,11755,0.00,2.60,0.00,0.000,4,0.000,0.072,2987,440,1871
$GC,11797,1.03,235.4,705.5,9.6,729,11801,0.00,2.58,0.00,0.000,6,0.000,0.054,2987,1865,1871
$GC,12121,1.06,249.2,678.5,7.5,750,12136,0.00,0.00,13.35,1.200,6,0.000,0.000,2987,1881,1815
$GC,12448,1.06,249.2,652.0,8.6,771,12453,0.00,2.67,0.00,0.000,4,0.000,0.072,2987,434,1815
$GC,12499,1.06,249.2,647.2,9.3,774,12503,0.00,2.55,0.00,0.000,6,0.000,0.054,2987,1853,1814
$GC,12818,1.08,266.6,622.0,7.4,794,12842,0.00,2.58,16.55,1.185,4,0.000,0.062,2987,3258,1744
$GC,12872,1.17,284.4,617.8,7.4,797,12898,0.00,2.60,16.55,1.174,6,0.000,0.058,2987,1843,1671
$GC,13213,1.20,284.4,590.9,8.0,819,13215,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1843,1671
$GC,13523,1.23,284.4,565.9,8.3,839,13528,0.12,2.60,0.00,0.000,4,0.058,0.061,3021,3261,1671
$GC,13575,1.23,284.4,560.7,10.2,842,13580,0.00,2.55,0.00,0.000,6,0.000,0.056,3021,1854,1672
$GC,13895,1.20,284.4,526.1,11.1,862,13896,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1854,1672
$GC,14209,1.17,284.4,492.3,10.8,882,14214,0.12,2.58,0.00,0.000,4,0.091,0.061,2997,3262,1673
$GC,14255,1.23,284.4,487.6,9.2,885,14259,0.00,2.53,0.00,0.000,6,0.000,0.055,2998,1854,1672
$GC,14580,1.23,284.4,458.4,9.0,906,14584,0.00,2.58,0.00,0.000,4,0.000,0.061,2997,3265,1673
$GC,14608,1.27,284.4,455.7,9.7,908,14613,0.12,2.50,0.00,0.000,6,0.055,0.055,3031,1871,1673
$GC,14935,1.23,284.4,422.1,10.3,929,14936,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1871,1673
$GC,15246,1.18,284.4,388.0,11.1,949,15251,0.15,2.53,0.00,0.000,4,0.086,0.060,3001,3258,1673
$GC,15285,1.24,284.4,383.8,9.9,951,15291,0.00,2.47,0.00,0.000,6,0.000,0.054,3001,1879,1673
$GC,15604,1.24,284.4,353.9,9.5,972,15605,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1879,1673
$GC,15916,1.24,284.4,323.4,10.3,992,15920,0.00,2.50,0.00,0.000,4,0.000,0.060,3001,3256,1674
$GC,15955,1.30,284.4,319.4,10.0,994,15961,0.12,2.45,0.00,0.000,6,0.054,0.053,3035,1888,1674
$GC,16275,1.25,284.4,280.5,12.5,1015,16276,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1888,1675
$GC,16587,1.20,284.4,242.0,11.8,1035,16589,0.15,0.00,0.00,0.000,6,0.087,0.000,3005,1888,1675
$GC,16899,1.20,284.4,209.8,10.3,1055,16903,0.00,2.47,0.00,0.000,4,0.000,0.059,3005,3257,1675
$GC,16944,1.26,284.4,205.2,9.6,1058,16949,0.00,2.42,0.00,0.000,6,0.000,0.051,3005,1888,1674
$GC,17269,1.26,284.4,173.2,10.1,1079,17270,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1888,1675
$GC,17583,1.26,284.4,142.9,9.8,1098,17587,0.00,2.47,0.00,0.000,4,0.000,0.058,3005,3258,1675
$GC,17616,1.31,284.4,139.4,8.7,1099,17623,0.12,2.42,0.00,0.000,6,0.055,0.050,3040,1894,1675
$GC,17933,1.26,284.4,105.0,10.8,1115,17937,0.00,2.60,0.00,0.000,4,0.000,0.062,3040,435,1675
$GC,17961,1.19,284.4,101.8,12.0,1116,17966,0.17,2.60,0.00,0.000,6,0.085,0.048,3004,1909,1675
$GC,18279,1.22,284.4,72.9,9.4,1131,18281,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1924,1675
$GC,18588,1.28,294.9,47.1,7.6,1146,18604,0.00,2.72,10.98,0.763,4,0.000,0.061,3004,432,1628
$GC,18628,1.31,294.9,43.7,9.1,1147,18633,0.12,2.62,0.00,0.000,6,0.054,0.047,3038,1908,1627
$GC,18956,1.31,294.9,10.4,10.4,1163,18957,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1923,1627
$STATE,19036,end climb,SURFACE_DEPTH_REACHED
$STATE,19037,begin surface coast
$FINISH,0.7,1.013270
$STATE,19057,end surface coast,CONTROL_FINISHED_OK
$STATE,19057,begin surface
$SM_CCo,19081,2.67,0.359,0,0,1607,300.00
$SM_GC,2.44,0.00,0.00,2.67,0.000,0.000,0.359,419,2149,1607,-10.70,0.54,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1833
$TCM_TEMP,17.30
$XPDR_PINGS,69
$ALTIM_BOTTOM_PING,870.9,47.6
$24V_AH,23.8,31.494
$10V_AH,10.1,14.378
$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,27.200,158.425,412.725,2.675,0.000,75.528,65.776,222.320,25.250,0.000,0.000,16.795,2012.155,14115.177,559.091,2228.701,728.192,33.360,1663.053,0.000,2179.140,0.000,54.622,0.000
$DEVICE_MAMPS,158.002,79.768,1422.785,358.956,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,800.722,855.575,589.522,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59918,1168
$CAP_FILE_SIZE,153634,0
$CFSIZE,254472192,241750016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,280909,143107,6352.071,-1327.849,37,1.1,37,-12.6