version: 66.04
glider: 5
mission: 7
dive: 158
start: 9 25 109 0 3 9
data:
$ID,5
$MISSION,7
$DIVE,158
$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,-103185.48
$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,52
$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
$GPS1,235541,6355.419,-1305.859,43,1.5,46,-12.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-57.7
$GPS2,000222,6355.462,-1305.717,16,2.5,35,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.191,-0.154
$KALMAN_X,-50797.4,-2633.6,-807.9,-179794.2,14982.0
$KALMAN_Y,-12010.2,-992.5,297.9,269868.0,5056.9
$MHEAD_RNG_PITCHd_Wd,243.6,10703,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.03,0.000,2,0.000,0.000,422,2155,2385
$GC,63,-1.22,-146.6,2.0,-2.4,2,128,11.07,2.53,-48.47,0.000,4,0.154,0.077,2469,3515,3429
$GC,140,-1.04,-146.6,5.4,-10.3,5,145,0.22,2.50,0.00,0.000,6,0.090,0.048,2516,2111,3430
$GC,456,-1.04,-146.6,40.3,-10.2,20,460,0.00,2.58,0.00,0.000,4,0.000,0.062,2516,3514,3430
$GC,524,-1.04,-146.6,47.4,-10.1,23,528,0.00,2.42,0.00,0.000,6,0.000,0.046,2516,2148,3430
$GC,845,-1.04,-146.6,77.8,-9.1,39,849,0.00,2.53,0.00,0.000,4,0.000,0.058,2516,718,3430
$GC,945,-1.04,-146.6,87.2,-9.6,43,952,0.00,2.45,0.00,0.000,6,0.000,0.046,2516,2110,3430
$GC,1262,-1.04,-146.6,117.8,-10.0,59,1266,0.00,2.58,0.00,0.000,4,0.000,0.064,2516,3538,3431
$GC,1284,-1.04,-146.6,120.3,-10.4,60,1288,0.00,2.53,0.00,0.000,6,0.000,0.049,2516,2120,3431
$GC,1606,-1.04,-146.6,151.6,-9.6,76,1610,0.00,2.60,0.00,0.000,4,0.000,0.064,2516,3538,3431
$GC,1673,-1.04,-146.6,158.4,-9.7,80,1677,0.00,2.50,0.00,0.000,6,0.000,0.050,2516,2128,3431
$GC,1998,-1.04,-146.6,187.5,-8.7,101,2002,0.00,2.50,0.00,0.000,4,0.000,0.060,2516,718,3431
$GC,2031,-1.08,-146.6,190.6,-8.9,103,2036,0.00,2.50,0.00,0.000,6,0.000,0.048,2516,2133,3431
$GC,2350,-1.08,-146.6,216.3,-8.1,123,2355,0.00,2.55,0.00,0.000,4,0.000,0.060,2516,719,3430
$GC,2380,-1.11,-146.6,218.8,-8.6,125,2384,0.00,2.50,0.00,0.000,6,0.000,0.049,2516,2134,3431
$GC,2705,-1.11,-146.6,244.9,-8.2,146,2710,0.00,2.55,0.00,0.000,4,0.000,0.061,2516,720,3431
$GC,2757,-1.16,-146.6,249.0,-7.4,149,2762,0.12,2.47,0.00,0.000,6,0.055,0.049,2482,2120,3430
$GC,3084,-1.11,-146.6,280.1,-9.5,170,3089,0.10,2.53,0.00,0.000,4,0.101,0.059,2502,721,3431
$GC,3113,-1.11,-146.6,282.9,-9.0,172,3117,0.00,2.45,0.00,0.000,6,0.000,0.050,2502,2104,3431
$GC,3437,-1.11,-146.6,309.6,-8.1,193,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2104,3431
$GC,3749,-1.11,-146.6,335.6,-8.9,213,3754,0.00,2.50,0.00,0.000,4,0.000,0.062,2502,721,3431
$GC,3816,-1.11,-146.6,342.5,-10.3,217,3821,0.00,2.45,0.00,0.000,6,0.000,0.050,2502,2107,3430
$GC,4141,-1.11,-146.6,376.8,-11.1,238,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2107,3431
$GC,4453,-1.11,-146.6,411.6,-11.1,258,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2107,3430
$GC,4766,-1.11,-146.6,446.3,-11.1,278,4771,0.00,2.53,0.00,0.000,4,0.000,0.063,2502,714,3429
$GC,4823,-1.11,-146.6,452.8,-11.8,281,4829,0.00,2.45,0.00,0.000,6,0.000,0.050,2502,2097,3429
$GC,5142,-1.11,-146.6,490.3,-12.3,302,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2097,3429
$GC,5454,-1.11,-146.6,529.8,-12.0,322,5459,0.00,2.50,0.00,0.000,4,0.000,0.062,2502,714,3429
$GC,5485,-1.11,-146.6,533.4,-12.7,324,5489,0.00,2.42,0.00,0.000,6,0.000,0.050,2502,2084,3428
$GC,5809,-1.11,-146.6,567.5,-9.1,345,5813,0.00,2.47,0.00,0.000,4,0.000,0.066,2503,723,3428
$GC,5838,-1.11,-146.6,570.3,-9.9,347,5842,0.00,2.42,0.00,0.000,6,0.000,0.051,2502,2086,3428
$GC,6164,-1.11,-146.6,603.6,-10.8,368,6168,0.00,2.47,0.00,0.000,4,0.000,0.064,2502,723,3428
$GC,6197,-1.14,-146.6,607.4,-10.9,370,6201,0.00,2.40,0.00,0.000,6,0.000,0.052,2502,2070,3428
$GC,6517,-1.14,-146.6,637.0,-8.7,390,6521,0.00,2.65,0.00,0.000,4,0.000,0.069,2502,3532,3427
$GC,6555,-1.14,-146.6,640.7,-9.5,392,6561,0.00,2.60,0.00,0.000,6,0.000,0.058,2502,2092,3428
$GC,6876,-1.14,-146.6,667.8,-8.1,413,6880,0.00,2.67,0.00,0.000,4,0.000,0.072,2502,3532,3428
$GC,6910,-1.14,-146.6,670.9,-8.8,415,6915,0.00,2.58,0.00,0.000,6,0.000,0.059,2502,2109,3428
$GC,7229,-1.14,-146.6,698.1,-8.5,435,7234,0.00,2.65,0.00,0.000,4,0.000,0.074,2502,3538,3427
$GC,7275,-1.14,-146.6,702.2,-8.9,438,7279,0.00,2.58,0.00,0.000,6,0.000,0.061,2502,2119,3427
$GC,7599,-1.14,-146.6,731.7,-9.4,459,7604,0.00,2.62,0.00,0.000,4,0.000,0.076,2502,3534,3427
$GC,7645,-1.14,-146.6,736.1,-10.9,462,7650,0.00,2.58,0.00,0.000,4,0.000,0.062,2502,2123,3426
$STATE,7650,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7650,begin apogee
$GC,7658,-0.33,0.0,736.8,10.4,462,7793,0.75,0.00,130.90,1.312,6,0.081,0.000,2666,1848,2831
$STATE,7793,end apogee,CONTROL_FINISHED_OK
$STATE,7793,begin climb
$GC,7796,1.22,146.6,742.1,0.0,471,7935,1.58,0.00,131.43,1.274,6,0.062,0.000,3008,1848,2233
$GC,8248,1.12,146.6,712.2,8.1,500,8252,0.00,2.62,0.00,0.000,4,0.000,0.067,3008,3255,2233
$GC,8321,1.04,146.6,706.2,8.2,504,8327,0.20,2.58,0.00,0.000,6,0.092,0.063,2972,1858,2233
$GC,8640,1.11,189.5,685.8,6.4,525,8687,0.00,2.67,38.88,1.243,4,0.000,0.066,2972,3252,2058
$GC,8750,1.14,211.7,678.0,7.2,531,8776,0.00,2.55,21.12,1.205,6,0.000,0.065,2972,1879,1968
$GC,9100,1.28,275.3,655.5,5.7,554,9164,0.20,2.62,56.30,1.248,4,0.051,0.066,3024,3255,1708
$GC,9209,1.28,275.3,645.0,10.8,560,9216,0.00,2.53,0.00,0.000,6,0.000,0.064,3025,1895,1707
$GC,9531,1.21,275.3,610.2,12.2,581,9535,0.00,2.53,0.00,0.000,4,0.000,0.067,3025,3251,1708
$GC,9576,1.21,275.3,604.0,12.3,584,9581,0.00,2.45,0.00,0.000,6,0.000,0.063,3025,1918,1708
$GC,9901,1.14,275.3,562.7,13.5,605,9906,0.17,2.72,0.00,0.000,4,0.091,0.073,2992,433,1708
$GC,9931,1.11,275.3,559.0,12.2,607,9936,0.00,2.70,0.00,0.000,6,0.000,0.054,2992,1927,1708
$GC,10256,1.11,275.3,523.3,11.1,628,10261,0.00,2.78,0.00,0.000,4,0.000,0.072,2992,437,1707
$GC,10295,1.11,275.3,518.7,11.5,630,10302,0.00,2.65,0.00,0.000,6,0.000,0.052,2992,1915,1707
$GC,10615,1.11,275.3,486.9,9.4,651,10620,0.00,2.75,0.00,0.000,4,0.000,0.071,2992,435,1707
$GC,10643,1.11,275.3,483.9,9.8,653,10648,0.00,2.65,0.00,0.000,6,0.000,0.051,2992,1914,1707
$GC,10968,1.11,275.3,455.4,8.6,674,10972,0.00,2.72,0.00,0.000,4,0.000,0.068,2992,439,1707
$GC,11001,1.11,275.3,452.2,9.3,676,11006,0.00,2.60,0.00,0.000,6,0.000,0.050,2992,1899,1707
$GC,11321,1.11,275.3,424.8,8.6,696,11322,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1914,1707
$GC,11633,1.11,275.3,397.7,8.1,716,11637,0.00,2.67,0.00,0.000,4,0.000,0.065,2992,439,1707
$GC,11678,1.11,275.3,393.5,9.1,719,11683,0.00,2.58,0.00,0.000,6,0.000,0.049,2992,1891,1707
$GC,12005,1.11,276.4,366.9,8.0,740,12009,0.00,2.67,0.00,0.000,4,0.000,0.067,2992,435,1708
$GC,12028,1.11,276.4,364.9,8.3,741,12034,0.00,2.55,0.00,0.000,6,0.000,0.049,2992,1872,1708
$GC,12347,1.13,286.6,340.0,7.6,762,12361,0.00,0.00,11.20,0.950,6,0.000,0.000,2992,1887,1662
$GC,12674,1.16,286.6,311.7,9.1,783,12676,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1887,1662
$GC,12987,1.20,286.6,282.7,9.3,803,12991,0.00,2.62,0.00,0.000,4,0.000,0.065,2992,438,1662
$GC,13020,1.20,286.6,279.2,10.3,805,13024,0.00,2.53,0.00,0.000,6,0.000,0.048,2992,1865,1663
$GC,13339,1.23,286.6,249.9,9.0,825,13343,0.00,2.47,0.00,0.000,4,0.000,0.061,2992,3256,1663
$GC,13373,1.31,286.6,246.7,9.1,827,13378,0.17,2.50,0.00,0.000,6,0.049,0.053,3038,1862,1663
$GC,13695,1.24,286.6,209.2,12.0,847,13697,0.12,0.00,0.00,0.000,6,0.091,0.000,3014,1862,1663
$GC,14005,1.24,286.6,178.6,8.5,867,14009,0.00,2.53,0.00,0.000,4,0.000,0.059,3014,3258,1663
$GC,14068,1.24,286.6,172.7,9.3,871,14072,0.00,2.47,0.00,0.000,6,0.000,0.051,3014,1867,1663
$GC,14391,1.24,286.6,143.5,8.6,891,14393,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1867,1663
$GC,14701,1.24,286.6,116.8,8.6,906,14706,0.00,2.53,0.00,0.000,4,0.000,0.058,3014,3264,1663
$GC,14735,1.24,286.6,113.8,8.6,907,14741,0.00,2.45,0.00,0.000,6,0.000,0.050,3014,1880,1663
$GC,15051,1.24,286.6,83.5,10.6,923,15052,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1880,1663
$GC,15361,1.24,286.6,49.3,10.1,938,15365,0.00,2.55,0.00,0.000,4,0.000,0.062,3014,444,1663
$GC,15405,1.24,286.6,44.9,9.4,940,15409,0.00,2.58,0.00,0.000,6,0.000,0.047,3014,1912,1664
$GC,15726,1.24,286.6,8.2,14.6,956,15731,0.00,2.67,0.00,0.000,4,0.000,0.060,3014,435,1664
$GC,15754,1.24,286.6,4.6,12.4,957,15758,0.00,2.58,0.00,0.000,6,0.000,0.046,3014,1904,1664
$STATE,15778,end climb,SURFACE_DEPTH_REACHED
$STATE,15779,begin surface coast
$FINISH,1.1,1.027049
$STATE,15801,end surface coast,CONTROL_FINISHED_OK
$STATE,15801,begin surface
$SM_CCo,15824,7.60,0.688,0,0,1608,300.00
$SM_GC,1.47,0.00,0.00,7.60,0.000,0.000,0.688,417,2157,1608,-10.71,0.79,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1834
$TCM_TEMP,17.40
$XPDR_PINGS,59
$ALTIM_BOTTOM_PING,695.4,51.0
$24V_AH,23.8,28.552
$10V_AH,10.1,12.857
$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,25.925,174.700,389.825,7.600,0.000,37.763,28.380,179.466,21.250,0.000,0.000,36.562,1690.311,11470.350,537.906,1953.338,576.042,33.361,1529.098,0.000,1885.728,0.000,45.866,0.000
$DEVICE_MAMPS,154.167,76.700,1312.337,687.999,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,656.418,699.929,531.378,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47453,959
$CAP_FILE_SIZE,134511,0
$CFSIZE,254472192,242933760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250909,042824,6354.778,-1306.422,42,1.3,42,-12.5