version: 66.04
glider: 5
mission: 7
dive: 179
start: 9 28 109 23 51 2
data:
$ID,5
$MISSION,7
$DIVE,179
$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,-103616.53
$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,16
$R_STBD_OVSHOOT,30
$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
$GPS1,234024,6357.667,-1327.250,41,1.1,41,-12.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-63.3
$GPS2,235013,6357.584,-1327.210,14,1.1,14,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,L1
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.033,0.243
$KALMAN_X,-53032.6,522.4,-86.9,-200450.2,-3173.3
$KALMAN_Y,-8558.0,111.0,-330.2,269850.8,-1720.4
$MHEAD_RNG_PITCHd_Wd,20.5,5015,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.05,0.000,2,0.000,0.000,418,2143,2729
$GC,103,-1.22,-146.6,3.1,-2.4,4,146,11.43,2.62,-23.77,0.000,4,0.165,0.071,2471,701,3429
$GC,174,-1.12,-146.6,11.0,-14.2,7,179,0.15,2.55,0.00,0.000,6,0.106,0.049,2501,2129,3430
$GC,496,-1.12,-146.6,51.1,-12.5,23,501,0.00,2.58,0.00,0.000,4,0.000,0.060,2502,710,3430
$GC,547,-1.12,-146.6,57.1,-11.9,25,551,0.00,2.55,0.00,0.000,6,0.000,0.050,2502,2139,3430
$GC,863,-1.12,-146.6,94.9,-11.7,40,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2139,3430
$GC,1172,-1.12,-146.6,132.5,-12.1,55,1176,0.00,2.60,0.00,0.000,4,0.000,0.059,2501,702,3430
$GC,1239,-1.12,-146.6,140.5,-11.9,58,1243,0.00,2.53,0.00,0.000,6,0.000,0.048,2501,2124,3430
$GC,1568,-1.12,-146.6,177.3,-10.9,78,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2123,3430
$GC,1879,-1.12,-146.6,211.6,-11.0,98,1884,0.00,2.58,0.00,0.000,4,0.000,0.062,2502,707,3430
$GC,1936,-1.12,-146.6,218.1,-11.5,101,1942,0.00,2.50,0.00,0.000,6,0.000,0.050,2502,2114,3430
$GC,2254,-1.12,-146.6,253.4,-11.0,122,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2114,3430
$GC,2567,-1.12,-146.6,287.1,-10.5,142,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2115,3430
$GC,2880,-1.12,-146.6,319.4,-10.4,162,2885,0.00,2.55,0.00,0.000,4,0.000,0.061,2502,704,3431
$GC,2935,-1.12,-146.6,325.6,-10.3,165,2940,0.00,2.50,0.00,0.000,6,0.000,0.051,2502,2112,3430
$GC,3254,-1.12,-146.6,360.0,-10.7,185,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2112,3430
$GC,3567,-1.12,-146.6,392.7,-10.1,205,3571,0.00,2.55,0.00,0.000,4,0.000,0.062,2502,702,3430
$GC,3680,-1.15,-146.6,404.1,-9.5,212,3684,0.00,2.50,0.00,0.000,6,0.000,0.049,2502,2112,3430
$GC,4004,-1.15,-146.6,435.0,-9.7,233,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2112,3430
$GC,4316,-1.15,-146.6,467.9,-10.1,253,4320,0.00,2.55,0.00,0.000,4,0.000,0.064,2502,707,3430
$GC,4482,-1.18,-146.6,487.4,-13.2,263,4486,0.00,2.47,0.00,0.000,6,0.000,0.051,2502,2096,3430
$GC,4812,-1.18,-146.6,522.6,-10.4,284,4817,0.00,2.53,0.00,0.000,4,0.000,0.064,2502,704,3430
$GC,4920,-1.25,-146.6,532.5,-6.3,290,4927,0.12,2.47,0.00,0.000,6,0.060,0.052,2466,2099,3430
$GC,5242,-1.18,-146.6,559.7,-11.7,311,5247,0.10,2.53,0.00,0.000,4,0.107,0.067,2485,714,3430
$GC,5288,-1.18,-146.6,565.1,-9.0,314,5292,0.00,2.47,0.00,0.000,6,0.000,0.055,2485,2092,3430
$GC,5612,-1.18,-146.6,604.9,-12.4,335,5616,0.00,2.53,0.00,0.000,4,0.000,0.067,2485,715,3429
$GC,5662,-1.18,-146.6,610.9,-11.2,338,5666,0.00,2.45,0.00,0.000,6,0.000,0.056,2485,2075,3429
$GC,5984,-1.14,-146.6,638.1,-6.4,358,5989,0.00,2.70,0.00,0.000,4,0.000,0.078,2485,3540,3429
$GC,6040,-1.14,-146.6,644.4,-12.1,361,6047,0.00,2.70,0.00,0.000,6,0.000,0.065,2485,2067,3429
$STATE,6341,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6341,begin apogee
$GC,6351,-0.33,0.0,678.0,10.6,381,6485,0.85,0.00,130.05,1.280,6,0.084,0.000,2668,1837,2831
$STATE,6486,end apogee,CONTROL_FINISHED_OK
$STATE,6486,begin climb
$GC,6489,1.22,146.6,684.1,0.0,390,6630,1.55,2.65,131.40,1.239,4,0.061,0.077,3009,442,2233
$GC,6891,1.08,146.6,660.9,8.6,414,6896,0.15,2.55,0.00,0.000,6,0.100,0.054,2981,1853,2232
$GC,7218,1.27,283.5,642.4,3.0,435,7347,0.17,2.75,121.53,1.221,4,0.055,0.075,3028,450,1675
$GC,7438,1.15,283.5,620.7,14.0,448,7445,0.17,2.55,0.00,0.000,6,0.098,0.056,2996,1850,1676
$GC,7757,1.15,283.5,589.0,8.0,469,7762,0.00,2.65,0.00,0.000,4,0.000,0.077,2996,445,1676
$GC,7787,1.15,283.5,586.0,11.4,471,7791,0.00,2.55,0.00,0.000,6,0.000,0.057,2996,1845,1676
$GC,8111,1.22,329.6,562.7,6.3,492,8159,0.00,2.70,41.38,1.187,4,0.000,0.076,2996,448,1486
$GC,8199,1.22,329.6,554.4,12.5,497,8203,0.00,2.53,0.00,0.000,6,0.000,0.058,2996,1831,1486
$GC,8519,1.22,329.6,521.4,11.7,517,8524,0.00,2.60,0.00,0.000,4,0.000,0.074,2996,446,1487
$GC,8553,1.22,329.6,517.0,11.1,519,8557,0.00,2.50,0.00,0.000,6,0.000,0.056,2996,1827,1487
$GC,8872,1.22,329.6,479.1,9.6,539,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1845,1487
$GC,9185,1.26,329.6,449.1,8.9,559,9190,0.10,2.60,0.00,0.000,4,0.063,0.074,3022,437,1487
$GC,9231,1.20,329.6,444.6,10.9,562,9235,0.00,2.47,0.00,0.000,6,0.000,0.054,3022,1809,1487
$GC,9555,1.20,329.6,405.7,11.7,583,9559,0.00,2.53,0.00,0.000,4,0.000,0.071,3022,439,1486
$GC,9605,1.13,329.6,399.2,13.2,586,9610,0.17,2.42,0.00,0.000,6,0.091,0.053,2989,1791,1486
$GC,9926,1.19,329.6,366.4,9.4,606,9927,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1808,1486
$GC,10237,1.25,329.6,339.2,8.7,626,10239,0.12,0.00,0.00,0.000,6,0.058,0.000,3022,1809,1486
$GC,10550,1.25,329.6,303.2,12.2,646,10551,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1809,1486
$GC,10862,1.25,329.6,265.9,11.6,666,10863,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1809,1486
$GC,11174,1.25,329.6,231.0,11.1,686,11175,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1809,1487
$GC,11487,1.25,329.6,195.0,11.2,706,11491,0.00,2.62,0.00,0.000,4,0.000,0.059,3022,3265,1487
$GC,11515,1.25,329.6,191.6,11.8,708,11519,0.00,2.67,0.00,0.000,6,0.000,0.054,3022,1777,1487
$GC,11839,1.25,329.6,154.9,11.1,729,11844,0.00,2.67,0.00,0.000,4,0.000,0.058,3022,3255,1487
$GC,11903,1.29,329.6,148.2,10.2,733,11907,0.00,2.60,0.00,0.000,6,0.000,0.052,3022,1802,1487
$GC,12230,1.29,329.6,113.1,11.4,749,12235,0.00,2.65,0.00,0.000,4,0.000,0.058,3022,3267,1488
$GC,12326,1.34,329.6,102.6,10.3,753,12331,0.00,2.58,0.00,0.000,6,0.000,0.050,3022,1824,1487
$GC,12644,1.34,329.6,67.6,10.6,768,12645,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1824,1488
$GC,12952,1.34,329.6,34.1,10.9,783,12956,0.00,2.60,0.00,0.000,4,0.000,0.058,3022,3260,1489
$GC,13002,1.40,329.6,28.5,10.7,785,13007,0.12,2.53,0.00,0.000,6,0.054,0.051,3057,1833,1489
$STATE,13212,end climb,SURFACE_DEPTH_REACHED
$STATE,13212,begin surface coast
$FINISH,0.7,1.014193
$STATE,13236,end surface coast,CONTROL_FINISHED_OK
$STATE,13236,begin surface
$SM_CCo,13320,0.00,0.000,0,0,1488,329.19
$SM_GC,1.59,11.43,0.00,0.00,0.037,0.000,0.000,422,2169,1488,-10.59,1.13,329.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1826
$TCM_TEMP,17.10
$XPDR_PINGS,41
$ALTIM_BOTTOM_PING,671.2,15.4
$24V_AH,23.8,32.036
$10V_AH,10.1,14.622
$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,26.650,113.900,424.350,0.000,0.000,75.524,61.092,254.131,16.250,0.000,0.000,14.011,1401.863,9614.947,519.769,1690.739,675.406,33.366,1382.087,0.000,1652.746,0.000,42.214,0.000
$DEVICE_MAMPS,164.905,78.234,1280.123,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,545.088,583.473,449.382,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41120,796
$CAP_FILE_SIZE,110544,0
$CFSIZE,254472192,241610752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290909,033409,6359.216,-1327.850,28,1.5,30,-12.7