version: 66.04
glider: 5
mission: 7
dive: 161
start: 9 25 109 14 45 3
data:
$ID,5
$MISSION,7
$DIVE,161
$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,-103244.66
$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,24
$R_STBD_OVSHOOT,26
$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
$GPS1,142400,6353.226,-1313.987,38,1.5,43,-12.5
$_CALLS,4
$_XMS_NAKs,38
$_XMS_TOUTs,3
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-55.1
$GPS2,144414,6353.281,-1313.367,9,2.0,9,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.226,-0.096
$KALMAN_X,-48770.1,-918.9,-59.1,-191065.4,5584.0
$KALMAN_Y,-11372.6,-1069.7,-41.1,265614.2,2372.3
$MHEAD_RNG_PITCHd_Wd,259.6,18363,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-66.03,0.000,2,0.000,0.000,417,2107,2945
$GC,88,-1.22,-146.6,3.0,-2.8,4,119,11.45,2.62,-13.82,0.000,4,0.163,0.077,2471,3536,3430
$GC,176,-1.10,-146.6,16.4,-19.3,8,181,0.17,2.53,0.00,0.000,6,0.094,0.045,2509,2112,3430
$GC,497,-1.10,-146.6,60.2,-14.5,24,502,0.00,2.62,0.00,0.000,4,0.000,0.063,2509,3538,3430
$GC,621,-1.10,-146.6,74.3,-10.5,29,628,0.00,2.47,0.00,0.000,6,0.000,0.046,2509,2143,3430
$GC,939,-1.10,-146.6,107.2,-10.3,45,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2131,3430
$GC,1247,-1.10,-146.6,135.4,-8.6,60,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2130,3430
$GC,1557,-1.10,-146.6,161.6,-8.4,77,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2131,3431
$GC,1869,-1.10,-146.6,188.6,-9.1,97,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2131,3430
$GC,2182,-1.10,-146.6,217.5,-9.4,117,2186,0.00,2.53,0.00,0.000,4,0.000,0.059,2509,719,3430
$GC,2203,-1.10,-146.6,219.8,-9.8,118,2210,0.00,2.53,0.00,0.000,6,0.000,0.049,2509,2144,3430
$GC,2522,-1.10,-146.6,251.4,-10.6,139,2527,0.00,2.55,0.00,0.000,4,0.000,0.060,2509,719,3430
$GC,2545,-1.10,-146.6,253.9,-11.0,140,2551,0.00,2.53,0.00,0.000,6,0.000,0.050,2509,2144,3430
$GC,2864,-1.10,-146.6,286.4,-10.2,161,2869,0.00,2.58,0.00,0.000,4,0.000,0.059,2509,717,3431
$GC,2904,-1.14,-146.6,290.4,-10.0,163,2910,0.00,2.53,0.00,0.000,6,0.000,0.050,2509,2141,3430
$GC,3224,-1.14,-146.6,321.0,-9.6,184,3228,0.00,2.55,0.00,0.000,4,0.000,0.059,2509,723,3430
$GC,3270,-1.19,-146.6,325.5,-9.8,187,3275,0.10,2.50,0.00,0.000,6,0.063,0.050,2479,2134,3430
$GC,3597,-1.16,-146.6,359.8,-10.3,208,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2134,3429
$GC,3907,-1.12,-146.6,391.3,-10.3,228,3912,0.12,2.55,0.00,0.000,4,0.097,0.061,2505,721,3430
$GC,3947,-1.17,-146.6,395.2,-10.0,230,3953,0.00,2.47,0.00,0.000,6,0.000,0.051,2505,2118,3430
$GC,4266,-1.17,-146.6,424.0,-8.9,251,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2119,3429
$GC,4579,-1.17,-146.6,453.1,-10.0,271,4582,0.00,2.53,0.00,0.000,4,0.000,0.061,2505,719,3429
$GC,4631,-1.21,-146.6,458.5,-10.5,274,4636,0.10,2.47,0.00,0.000,6,0.065,0.051,2475,2115,3428
$GC,4958,-1.17,-146.6,497.4,-12.1,295,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2113,3428
$GC,5268,-1.13,-146.6,537.3,-12.9,315,5270,0.12,0.00,0.00,0.000,6,0.095,0.000,2500,2113,3427
$GC,5580,-1.13,-146.6,573.1,-11.4,335,5584,0.00,2.53,0.00,0.000,4,0.000,0.062,2500,715,3428
$GC,5608,-1.13,-146.6,576.3,-12.0,337,5612,0.00,2.47,0.00,0.000,6,0.000,0.051,2500,2115,3428
$GC,5932,-1.13,-146.6,611.9,-10.5,358,5936,0.00,2.50,0.00,0.000,4,0.000,0.062,2500,725,3427
$GC,5972,-1.16,-146.6,616.2,-10.8,360,5976,0.00,2.45,0.00,0.000,6,0.000,0.051,2500,2112,3427
$GC,6297,-1.16,-146.6,652.8,-11.7,381,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2113,3427
$GC,6609,-1.16,-146.6,689.3,-12.5,401,6613,0.00,2.58,0.00,0.000,4,0.000,0.071,2500,3537,3427
$GC,6694,-1.16,-146.6,699.0,-11.5,406,6698,0.00,2.62,0.00,0.000,6,0.000,0.058,2501,2076,3427
$GC,7014,-1.16,-146.6,733.6,-10.4,426,7018,0.00,2.42,0.00,0.000,4,0.000,0.067,2501,722,3427
$GC,7043,-1.20,-146.6,736.8,-10.6,428,7047,0.00,2.45,0.00,0.000,6,0.000,0.054,2500,2090,3427
$GC,7367,-1.20,-146.6,768.8,-9.5,449,7371,0.00,2.50,0.00,0.000,4,0.000,0.071,2501,721,3426
$GC,7389,-1.24,-146.6,771.0,-9.5,450,7394,0.12,2.45,0.00,0.000,6,0.064,0.055,2466,2089,3426
$GC,7710,-1.20,-146.6,805.6,-10.8,470,7715,0.00,2.65,0.00,0.000,4,0.000,0.075,2466,3535,3426
$GC,7733,-1.15,-146.6,808.5,-11.1,471,7740,0.12,2.65,0.00,0.000,6,0.097,0.063,2490,2083,3426
$STATE,7784,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7784,begin apogee
$GC,7791,-0.33,0.0,813.8,10.0,475,7926,0.85,0.00,130.65,1.371,6,0.077,0.000,2675,1840,2831
$STATE,7926,end apogee,CONTROL_FINISHED_OK
$STATE,7926,begin climb
$GC,7929,1.22,146.6,818.5,0.0,484,8067,1.52,0.00,132.75,1.332,6,0.058,0.000,3008,1840,2233
$GC,8371,1.13,146.6,790.2,8.1,513,8375,0.00,2.65,0.00,0.000,4,0.000,0.067,3008,3263,2232
$GC,8404,1.05,146.6,787.2,8.4,515,8409,0.17,2.60,0.00,0.000,6,0.102,0.064,2977,1858,2232
$GC,8726,1.09,168.0,764.1,7.2,535,8751,0.00,2.65,20.17,1.249,4,0.000,0.067,2977,3259,2146
$GC,8774,1.09,168.0,760.1,8.3,537,8778,0.00,2.60,0.00,0.000,6,0.000,0.064,2977,1862,2146
$GC,9093,1.12,186.3,735.8,7.3,557,9118,0.00,2.72,17.70,1.243,4,0.000,0.075,2977,437,2071
$GC,9136,1.09,186.3,732.2,8.4,559,9142,0.00,2.62,0.00,0.000,6,0.000,0.055,2977,1875,2071
$GC,9456,1.09,187.9,707.8,7.9,580,9460,0.00,2.70,0.00,0.000,4,0.000,0.074,2977,432,2070
$GC,9502,1.05,187.9,703.8,8.8,583,9506,0.00,2.60,0.00,0.000,6,0.000,0.056,2977,1870,2070
$GC,9826,1.11,229.6,682.6,6.5,604,9874,0.00,2.62,38.42,1.285,4,0.000,0.067,2977,3256,1895
$GC,9944,1.17,229.6,674.4,8.2,611,9949,0.12,2.55,0.00,0.000,6,0.060,0.064,3009,1870,1895
$GC,10271,1.13,229.6,642.4,9.6,632,10272,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1870,1895
$GC,10581,1.10,229.6,612.3,9.9,652,10586,0.12,2.58,0.00,0.000,4,0.094,0.064,2984,3265,1894
$GC,10661,1.14,229.6,605.3,8.8,657,10665,0.00,2.47,0.00,0.000,6,0.000,0.059,2985,1906,1894
$GC,10985,1.16,242.0,580.5,7.5,678,11003,0.00,2.78,12.48,1.131,4,0.000,0.068,2984,436,1844
$GC,11042,1.16,242.0,575.8,8.8,681,11047,0.00,2.67,0.00,0.000,6,0.000,0.052,2984,1921,1844
$GC,11362,1.19,260.5,551.4,7.3,701,11387,0.00,2.85,17.33,1.150,4,0.000,0.067,2984,437,1769
$GC,11422,1.19,260.5,546.4,8.5,704,11428,0.00,2.65,0.00,0.000,6,0.000,0.051,2984,1907,1769
$GC,11742,1.23,260.5,520.5,8.8,725,11747,0.12,2.42,0.00,0.000,4,0.056,0.062,3019,3257,1769
$GC,11775,1.23,260.5,516.8,10.5,727,11779,0.00,2.47,0.00,0.000,6,0.000,0.058,3019,1895,1768
$GC,12095,1.19,260.5,481.0,11.3,747,12099,0.00,2.50,0.00,0.000,4,0.000,0.061,3019,3262,1769
$GC,12123,1.19,260.5,477.6,11.7,749,12128,0.00,2.45,0.00,0.000,6,0.000,0.056,3019,1906,1769
$GC,12448,1.19,260.5,441.1,10.8,770,12449,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1905,1770
$GC,12761,1.16,260.5,409.2,9.9,790,12763,0.12,0.00,0.00,0.000,6,0.093,0.000,2996,1906,1770
$GC,13073,1.16,260.5,383.0,8.9,810,13074,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1906,1770
$GC,13385,1.16,260.5,355.7,8.0,830,13390,0.00,2.65,0.00,0.000,4,0.000,0.066,2996,430,1771
$GC,13414,1.16,260.5,352.9,9.4,832,13419,0.00,2.62,0.00,0.000,6,0.000,0.049,2996,1909,1770
$GC,13739,1.16,260.5,322.5,9.4,853,13740,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1924,1771
$GC,14051,1.16,260.5,292.1,9.5,873,14056,0.00,2.70,0.00,0.000,4,0.000,0.066,2996,434,1771
$GC,14084,1.16,260.5,288.6,10.8,875,14089,0.00,2.60,0.00,0.000,6,0.000,0.048,2996,1903,1772
$GC,14403,1.16,260.5,259.1,8.8,895,14404,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1918,1772
$GC,14716,1.19,260.5,232.4,8.3,915,14721,0.00,2.67,0.00,0.000,4,0.000,0.064,2996,437,1772
$GC,14750,1.19,260.5,229.2,9.2,917,14754,0.00,2.60,0.00,0.000,6,0.000,0.048,2995,1907,1772
$GC,15070,1.22,260.5,204.1,8.2,937,15074,0.00,2.70,0.00,0.000,4,0.000,0.064,2995,430,1772
$GC,15102,1.22,260.5,201.0,8.6,939,15107,0.00,2.58,0.00,0.000,6,0.000,0.048,2996,1886,1772
$GC,15422,1.26,260.5,172.9,9.1,959,15424,0.10,0.00,0.00,0.000,6,0.060,0.000,3024,1889,1772
$GC,15744,1.26,260.5,138.5,10.2,978,15748,0.00,2.42,0.00,0.000,4,0.000,0.059,3024,3256,1773
$GC,15776,1.26,260.5,135.0,9.5,979,15783,0.00,2.47,0.00,0.000,6,0.000,0.051,3024,1864,1773
$GC,16094,1.26,260.5,103.7,10.0,995,16099,0.00,2.53,0.00,0.000,4,0.000,0.058,3023,3263,1773
$GC,16128,1.26,260.5,99.8,10.1,996,16134,0.00,2.45,0.00,0.000,6,0.000,0.049,3024,1881,1773
$GC,16444,1.26,260.5,68.9,9.1,1012,16449,0.00,2.58,0.00,0.000,4,0.000,0.063,3024,435,1773
$GC,16553,1.20,260.5,58.5,8.8,1017,16557,0.00,2.47,0.00,0.000,6,0.000,0.046,3024,1847,1773
$GC,16881,1.22,271.7,28.0,7.6,1033,16902,0.00,2.53,11.52,0.760,4,0.000,0.058,3024,3254,1722
$GC,16949,1.22,271.7,23.7,8.7,1036,16953,0.00,2.53,0.00,0.000,6,0.000,0.045,3024,1829,1722
$STATE,17150,end climb,SURFACE_DEPTH_REACHED
$STATE,17150,begin surface coast
$FINISH,0.8,1.027031
$STATE,17171,end surface coast,CONTROL_FINISHED_OK
$STATE,17171,begin surface
$SM_CCo,17195,15.07,0.755,0,0,1607,300.00
$SM_GC,1.54,0.00,0.00,15.07,0.000,0.000,0.755,415,2156,1607,-10.71,0.68,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1812
$TCM_TEMP,17.40
$XPDR_PINGS,54
$ALTIM_BOTTOM_PING,795.4,26.9
$24V_AH,23.8,29.086
$10V_AH,10.1,13.133
$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,26.700,165.075,381.025,15.075,0.000,151.050,128.357,604.555,20.750,0.000,0.000,12.052,1828.697,12759.299,552.245,2033.133,1244.856,33.366,1571.700,0.000,1991.263,0.000,52.293,0.000
$DEVICE_MAMPS,163.371,76.700,1370.629,755.495,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,717.169,768.167,556.979,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53742,1047
$CAP_FILE_SIZE,153969,0
$CFSIZE,254472192,242704384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,250909,193306,6351.561,-1317.365,32,1.3,32,-12.5