version: 66.04
glider: 5
mission: 7
dive: 168
start: 9 26 109 18 14 20
data:
$ID,5
$MISSION,7
$DIVE,168
$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,-103400.34
$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,25
$R_STBD_OVSHOOT,18
$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
$GPS1,180802,6357.765,-1333.673,53,1.9,55,-12.7
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-60.5
$GPS2,181331,6357.774,-1333.506,12,1.8,17,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,K1
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.137,-0.204
$KALMAN_X,-43091.7,-757.3,-498.1,-214217.2,3838.6
$KALMAN_Y,-9643.1,-477.7,282.7,271251.6,10672.0
$MHEAD_RNG_PITCHd_Wd,158.8,23997,-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,15,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.58,0.000,2,0.000,0.000,417,2129,2497
$GC,63,-1.22,-146.6,2.3,-3.7,2,114,11.62,2.60,-33.62,0.000,4,0.166,0.075,2475,3542,3430
$GC,243,-1.11,-146.6,26.4,-9.2,10,249,0.12,2.53,0.00,0.000,6,0.100,0.045,2501,2118,3430
$GC,565,-1.11,-146.6,66.1,-16.1,26,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2107,3430
$GC,874,-1.11,-146.6,103.4,-10.9,41,878,0.00,2.47,0.00,0.000,4,0.000,0.058,2501,720,3430
$GC,919,-1.11,-146.6,108.2,-9.9,43,924,0.00,2.55,0.00,0.000,6,0.000,0.047,2501,2161,3430
$GC,1242,-1.11,-146.6,140.8,-10.7,59,1246,0.00,2.50,0.00,0.000,4,0.000,0.064,2501,3544,3430
$GC,1284,-1.11,-146.6,145.3,-11.7,61,1288,0.00,2.47,0.00,0.000,6,0.000,0.049,2501,2152,3430
$GC,1609,-1.11,-146.6,179.9,-9.9,81,1613,0.00,2.55,0.00,0.000,4,0.000,0.059,2500,715,3430
$GC,1636,-1.11,-146.6,183.1,-10.1,82,1643,0.00,2.60,0.00,0.000,6,0.000,0.049,2501,2177,3430
$GC,1956,-1.11,-146.6,215.4,-10.6,103,1960,0.00,2.47,0.00,0.000,4,0.000,0.067,2501,3545,3430
$GC,1990,-1.11,-146.6,219.0,-10.7,105,1994,0.00,2.50,0.00,0.000,6,0.000,0.052,2501,2147,3431
$GC,2316,-1.11,-146.6,253.3,-11.2,126,2321,0.00,2.55,0.00,0.000,4,0.000,0.061,2501,714,3430
$GC,2368,-1.14,-146.6,259.8,-12.4,129,2372,0.00,2.58,0.00,0.000,6,0.000,0.049,2501,2164,3430
$GC,2686,-1.14,-146.6,294.9,-11.1,149,2691,0.00,2.50,0.00,0.000,4,0.000,0.069,2501,3539,3430
$GC,2759,-1.14,-146.6,304.1,-12.6,153,2763,0.00,2.47,0.00,0.000,6,0.000,0.054,2500,2158,3430
$GC,3078,-1.14,-146.6,344.9,-13.7,173,3083,0.00,2.58,0.00,0.000,4,0.000,0.071,2501,3544,3430
$GC,3112,-1.14,-146.6,349.8,-14.5,175,3116,0.00,2.47,0.00,0.000,6,0.000,0.057,2501,2169,3430
$GC,3437,-1.14,-146.6,394.2,-12.5,196,3441,0.00,2.53,0.00,0.000,4,0.000,0.071,2501,3535,3429
$GC,3464,-1.14,-146.6,397.7,-11.6,197,3471,0.00,2.45,0.00,0.000,6,0.000,0.057,2501,2174,3429
$GC,3783,-1.14,-146.6,434.5,-10.1,218,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2163,3429
$GC,4096,-1.14,-146.6,465.1,-9.2,238,4100,0.00,2.60,0.00,0.000,4,0.000,0.065,2501,719,3429
$GC,4154,-1.17,-146.6,470.3,-9.2,241,4160,0.00,2.62,0.00,0.000,6,0.000,0.052,2501,2194,3429
$GC,4473,-1.17,-146.6,505.8,-11.1,262,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2194,3428
$GC,4786,-1.17,-146.6,539.7,-10.4,282,4790,0.00,2.70,0.00,0.000,4,0.000,0.069,2501,721,3428
$GC,4816,-1.17,-146.6,542.5,-9.8,284,4820,0.00,2.62,0.00,0.000,6,0.000,0.054,2501,2185,3427
$GC,5140,-1.17,-146.6,569.5,-8.5,305,5148,0.00,2.67,0.00,0.000,4,0.000,0.067,2501,721,3428
$GC,5239,-1.21,-146.6,578.9,-9.7,310,5245,0.00,2.55,0.00,0.000,6,0.000,0.054,2501,2150,3427
$GC,5558,-1.21,-146.6,612.9,-10.0,331,5562,0.00,2.58,0.00,0.000,4,0.000,0.077,2501,3545,3426
$GC,5604,-1.21,-146.6,617.1,-9.5,334,5608,0.00,2.53,0.00,0.000,6,0.000,0.064,2501,2159,3426
$GC,5928,-1.21,-146.6,641.4,-7.3,355,5932,0.00,2.60,0.00,0.000,4,0.000,0.071,2501,719,3425
$GC,5984,-1.24,-146.6,646.3,-8.6,358,5991,0.12,2.58,0.00,0.000,6,0.063,0.057,2468,2157,3425
$GC,6306,-1.19,-146.6,675.5,-8.3,379,6310,0.00,2.65,0.00,0.000,4,0.000,0.071,2467,718,3424
$GC,6344,-1.19,-146.6,679.0,-8.4,381,6350,0.00,2.55,0.00,0.000,6,0.000,0.058,2467,2139,3424
$GC,6665,-1.13,-146.6,702.8,-7.6,402,6670,0.15,2.62,0.00,0.000,4,0.101,0.074,2496,722,3424
$GC,6749,-1.16,-146.6,707.9,-5.3,407,6753,0.00,2.47,0.00,0.000,6,0.000,0.058,2496,2095,3423
$GC,7069,-1.40,-146.6,718.1,2.8,427,7071,0.25,0.00,0.00,0.000,6,0.062,0.000,2436,2114,3422
$GC,7381,-1.50,-146.6,716.6,0.1,447,7385,0.00,2.55,0.00,0.000,4,0.000,0.075,2435,720,3421
$STATE,7462,end dive,NO_VERTICAL_VELOCITY
$STATE,7462,begin apogee
$GC,7472,-0.33,0.0,716.6,0.0,452,7605,1.02,0.00,129.88,1.327,6,0.067,0.000,2668,1871,2831
$STATE,7606,end apogee,CONTROL_FINISHED_OK
$STATE,7606,begin climb
$GC,7609,1.22,146.6,713.9,0.0,461,7750,1.55,2.60,132.07,1.271,4,0.061,0.067,3006,3254,2233
$GC,8011,1.10,146.6,670.7,12.2,485,8016,0.00,2.60,0.00,0.000,6,0.000,0.066,3006,1853,2233
$GC,8340,1.21,265.1,651.1,3.7,506,8452,0.00,2.67,106.72,1.241,4,0.000,0.071,3006,3252,1750
$GC,8544,1.22,270.7,638.1,7.8,519,8560,0.00,2.58,6.95,0.990,6,0.000,0.067,3006,1865,1727
$GC,8873,1.24,286.4,614.0,7.4,540,8893,0.00,2.62,15.12,1.147,4,0.000,0.067,3006,3252,1663
$GC,8941,1.25,290.1,608.7,7.9,544,8951,0.00,2.55,5.15,0.894,6,0.000,0.067,3006,1887,1648
$GC,9265,1.25,290.1,574.8,11.0,564,9270,0.00,2.55,0.00,0.000,4,0.000,0.069,3006,3261,1648
$GC,9299,1.25,290.1,570.9,10.7,566,9303,0.00,2.53,0.00,0.000,6,0.000,0.065,3006,1898,1648
$GC,9618,1.25,290.1,534.5,11.4,586,9619,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1899,1648
$GC,9931,1.25,290.1,501.2,10.2,606,9935,0.00,2.67,0.00,0.000,4,0.000,0.074,3006,439,1648
$GC,9947,1.25,290.1,499.1,11.1,607,9951,0.00,2.62,0.00,0.000,6,0.000,0.054,3006,1894,1648
$GC,10266,1.25,290.1,460.4,10.9,627,10270,0.00,2.47,0.00,0.000,4,0.000,0.067,3007,3264,1648
$GC,10312,1.25,290.1,455.0,11.9,630,10316,0.00,2.53,0.00,0.000,6,0.000,0.062,3006,1884,1648
$GC,10637,1.25,290.1,418.3,11.5,651,10641,0.00,2.53,0.00,0.000,4,0.000,0.065,3006,3255,1648
$GC,10648,1.25,290.1,416.8,11.0,651,10654,0.00,2.50,0.00,0.000,6,0.000,0.060,3006,1882,1648
$GC,10967,1.25,290.1,381.1,10.2,672,10971,0.00,2.62,0.00,0.000,4,0.000,0.071,3006,437,1648
$GC,10983,1.25,290.1,379.1,10.4,673,10987,0.00,2.58,0.00,0.000,6,0.000,0.053,3006,1877,1648
$GC,11302,1.25,290.1,350.1,8.4,693,11307,0.00,2.65,0.00,0.000,4,0.000,0.070,3006,443,1648
$GC,11325,1.25,290.1,347.6,10.5,694,11331,0.00,2.55,0.00,0.000,6,0.000,0.053,3006,1867,1648
$GC,11644,1.27,303.7,322.9,7.5,715,11662,0.00,2.60,12.90,0.983,4,0.000,0.063,3006,3258,1593
$GC,11685,1.30,303.7,319.4,8.4,717,11690,0.00,2.58,0.00,0.000,6,0.000,0.057,3006,1852,1593
$GC,12004,1.30,303.7,289.9,10.2,737,12009,0.00,2.58,0.00,0.000,4,0.000,0.062,3006,3258,1593
$GC,12068,1.35,303.7,283.3,10.7,741,12073,0.15,2.47,0.00,0.000,6,0.057,0.056,3045,1886,1593
$GC,12396,1.29,303.7,244.1,12.3,762,12397,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1886,1593
$GC,12705,1.24,303.7,206.9,11.5,782,12710,0.17,2.50,0.00,0.000,4,0.091,0.059,3011,3260,1594
$GC,12722,1.24,303.7,204.7,11.4,783,12726,0.00,2.45,0.00,0.000,6,0.000,0.054,3011,1894,1594
$GC,13041,1.24,303.7,172.1,10.5,803,13045,0.00,2.47,0.00,0.000,4,0.000,0.060,3011,3258,1594
$GC,13062,1.24,303.7,169.4,12.0,804,13068,0.00,2.40,0.00,0.000,6,0.000,0.052,3011,1915,1594
$GC,13387,1.24,303.7,136.0,8.9,823,13392,0.00,2.65,0.00,0.000,4,0.000,0.066,3011,441,1595
$GC,13432,1.24,303.7,131.4,9.1,825,13436,0.00,2.60,0.00,0.000,6,0.000,0.048,3011,1908,1595
$GC,13753,1.24,303.7,97.1,10.8,841,13755,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1925,1595
$GC,14063,1.24,303.7,69.7,8.6,856,14067,0.00,2.70,0.00,0.000,4,0.000,0.066,3011,436,1595
$GC,14096,1.24,303.7,66.5,9.2,857,14102,0.00,2.58,0.00,0.000,6,0.000,0.048,3011,1898,1595
$GC,14414,1.27,303.7,42.1,8.1,873,14418,0.00,2.65,0.00,0.000,4,0.000,0.060,3011,434,1595
$GC,14454,1.27,303.7,37.9,11.3,875,14459,0.00,2.55,0.00,0.000,6,0.000,0.046,3011,1886,1595
$GC,14782,1.31,303.7,6.8,10.2,891,14787,0.00,2.62,0.00,0.000,4,0.000,0.061,3011,439,1596
$GC,14794,1.35,303.7,4.6,12.6,891,14801,0.12,2.53,0.00,0.000,6,0.057,0.047,3045,1878,1596
$STATE,14839,end climb,SURFACE_DEPTH_REACHED
$STATE,14839,begin surface coast
$FINISH,0.4,1.005366
$STATE,14881,end surface coast,CONTROL_FINISHED_OK
$STATE,14881,begin surface
$SM_CCo,14966,0.00,0.000,0,0,1596,302.95
$SM_GC,1.26,11.38,0.00,0.00,0.038,0.000,0.000,419,2138,1596,-10.59,0.20,302.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1810
$TCM_TEMP,17.50
$XPDR_PINGS,29
$ALTIM_BOTTOM_PING,670.3,74.5
$24V_AH,23.8,30.149
$10V_AH,10.1,13.649
$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,26.675,174.150,408.800,0.000,0.000,37.758,32.784,153.528,13.250,0.000,0.000,17.800,1599.241,10743.566,523.613,1904.330,531.396,33.362,1507.976,0.000,1856.659,0.000,41.710,0.000
$DEVICE_MAMPS,165.672,77.467,1326.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,614.447,656.850,508.094,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47421,896
$CAP_FILE_SIZE,128665,0
$CFSIZE,254472192,242339840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,260909,222501,6354.497,-1334.616,38,1.4,38,-12.7