version: 66.04
glider: 5
mission: 7
dive: 169
start: 9 26 109 22 32 10
data:
$ID,5
$MISSION,7
$DIVE,169
$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,-103415.9
$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,22
$R_STBD_OVSHOOT,22
$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
$GPS1,222501,6354.497,-1334.616,38,1.4,38,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-55.4
$GPS2,223120,6354.478,-1334.512,14,1.2,14,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,K1
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.228,-0.091
$KALMAN_X,-48942.5,-74.6,-279.6,-210166.6,-5411.6
$KALMAN_Y,-11615.9,204.0,-422.5,267167.4,2163.9
$MHEAD_RNG_PITCHd_Wd,124.5,21669,-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,-41.65,0.000,2,0.000,0.000,418,2138,2466
$GC,63,-1.22,-146.6,2.5,-5.9,2,119,11.02,2.60,-39.00,0.000,4,0.147,0.066,2470,718,3430
$GC,128,-1.15,-146.6,4.6,-5.3,5,133,0.12,2.50,0.00,0.000,6,0.113,0.045,2493,2136,3429
$GC,456,-1.15,-146.6,36.4,-8.6,21,460,0.00,2.58,0.00,0.000,4,0.000,0.057,2493,709,3430
$GC,713,-1.15,-146.6,69.7,-10.5,32,720,0.00,2.53,0.00,0.000,6,0.000,0.047,2494,2141,3430
$GC,1031,-1.11,-146.6,103.2,-10.4,48,1035,0.00,2.58,0.00,0.000,4,0.000,0.057,2494,708,3430
$GC,1149,-1.11,-146.6,116.7,-11.3,53,1153,0.00,2.55,0.00,0.000,6,0.000,0.047,2494,2149,3431
$GC,1465,-1.11,-146.6,151.5,-11.4,68,1469,0.00,2.58,0.00,0.000,4,0.000,0.060,2494,717,3430
$GC,1567,-1.11,-146.6,163.6,-11.6,74,1571,0.00,2.50,0.00,0.000,6,0.000,0.047,2494,2133,3430
$GC,1886,-1.11,-146.6,198.2,-9.8,94,1890,0.00,2.55,0.00,0.000,4,0.000,0.058,2494,717,3430
$GC,1924,-1.11,-146.6,202.4,-11.1,96,1930,0.00,2.47,0.00,0.000,6,0.000,0.049,2494,2114,3430
$GC,2243,-1.11,-146.6,236.5,-11.2,117,2248,0.00,2.58,0.00,0.000,4,0.000,0.066,2494,3535,3430
$GC,2311,-1.11,-146.6,244.3,-11.3,121,2315,0.00,2.55,0.00,0.000,6,0.000,0.052,2494,2108,3430
$GC,2630,-1.11,-146.6,278.0,-11.8,141,2634,0.00,2.47,0.00,0.000,4,0.000,0.061,2494,715,3430
$GC,2665,-1.11,-146.6,282.2,-11.6,143,2669,0.00,2.50,0.00,0.000,6,0.000,0.050,2494,2125,3430
$GC,2989,-1.11,-146.6,315.2,-10.2,164,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2124,3431
$GC,3302,-1.11,-146.6,347.4,-10.6,184,3306,0.00,2.55,0.00,0.000,4,0.000,0.064,2494,717,3430
$GC,3364,-1.11,-146.6,354.3,-11.4,188,3368,0.00,2.47,0.00,0.000,6,0.000,0.051,2493,2110,3430
$GC,3688,-1.11,-146.6,389.0,-10.7,209,3693,0.00,2.60,0.00,0.000,4,0.000,0.069,2494,3540,3430
$GC,3812,-1.11,-146.6,402.9,-9.7,216,3818,0.00,2.55,0.00,0.000,6,0.000,0.054,2494,2119,3430
$GC,4131,-1.11,-146.6,439.6,-12.2,237,4135,0.00,2.50,0.00,0.000,4,0.000,0.063,2493,717,3430
$GC,4159,-1.11,-146.6,443.1,-12.5,238,4165,0.00,2.50,0.00,0.000,6,0.000,0.051,2494,2126,3430
$GC,4478,-1.11,-146.6,478.0,-10.5,259,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2127,3430
$GC,4790,-1.11,-146.6,509.0,-10.1,279,4794,0.00,2.58,0.00,0.000,4,0.000,0.066,2494,715,3430
$GC,4874,-1.11,-146.6,517.5,-10.1,284,4878,0.00,2.50,0.00,0.000,6,0.000,0.053,2494,2117,3429
$GC,5193,-1.11,-146.6,550.2,-10.3,304,5197,0.00,2.60,0.00,0.000,4,0.000,0.071,2494,3541,3430
$GC,5265,-1.11,-146.6,558.1,-11.5,308,5272,0.00,2.58,0.00,0.000,6,0.000,0.058,2494,2115,3429
$GC,5584,-1.11,-146.6,589.8,-10.0,329,5589,0.00,2.50,0.00,0.000,4,0.000,0.066,2494,718,3429
$GC,5641,-1.11,-146.6,595.4,-10.4,332,5647,0.00,2.53,0.00,0.000,6,0.000,0.053,2494,2138,3429
$GC,5961,-1.11,-146.6,624.5,-9.3,353,5965,0.00,2.58,0.00,0.000,4,0.000,0.066,2494,723,3428
$GC,6017,-1.15,-146.6,630.0,-10.0,356,6023,0.00,2.50,0.00,0.000,6,0.000,0.054,2494,2124,3428
$GC,6336,-1.15,-146.6,659.4,-9.7,377,6340,0.00,2.60,0.00,0.000,4,0.000,0.077,2494,3534,3428
$GC,6374,-1.15,-146.6,663.7,-11.0,379,6380,0.00,2.60,0.00,0.000,6,0.000,0.063,2494,2107,3427
$GC,6693,-1.15,-146.6,696.7,-10.8,400,6698,0.00,2.67,0.00,0.000,4,0.000,0.075,2494,3537,3427
$GC,6727,-1.15,-146.6,700.7,-11.8,402,6731,0.00,2.58,0.00,0.000,6,0.000,0.062,2494,2123,3427
$GC,7046,-1.15,-146.6,733.5,-9.5,422,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2110,3426
$GC,7359,-1.15,-146.6,762.4,-9.5,442,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2110,3425
$STATE,7668,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7668,begin apogee
$GC,7676,-0.33,0.0,796.2,13.1,462,7813,0.82,0.00,133.27,1.371,6,0.082,0.000,2671,1848,2831
$STATE,7814,end apogee,CONTROL_FINISHED_OK
$STATE,7814,begin climb
$GC,7817,1.22,146.6,808.6,0.0,471,7961,1.55,2.70,134.68,1.335,4,0.062,0.076,3007,444,2233
$GC,8054,1.09,154.1,807.1,7.7,485,8070,0.12,2.55,8.75,1.108,6,0.099,0.057,2985,1851,2202
$GC,8394,1.09,168.8,783.8,7.5,507,8414,0.00,2.65,14.43,1.213,4,0.000,0.069,2985,3264,2142
$GC,8482,1.09,168.8,776.0,8.6,512,8487,0.00,2.60,0.00,0.000,6,0.000,0.067,2985,1869,2142
$GC,8801,1.09,168.8,748.3,9.0,532,8806,0.00,2.60,0.00,0.000,4,0.000,0.069,2985,3261,2142
$GC,8835,1.09,168.8,744.7,10.2,534,8839,0.00,2.58,0.00,0.000,6,0.000,0.065,2985,1870,2141
$GC,9154,1.09,168.8,717.2,8.1,554,9158,0.00,2.58,0.00,0.000,4,0.000,0.069,2985,3255,2141
$GC,9209,1.09,168.8,712.6,8.1,557,9215,0.00,2.53,0.00,0.000,6,0.000,0.064,2985,1887,2141
$GC,9529,1.12,189.0,689.1,7.3,578,9550,0.00,0.00,18.90,1.247,6,0.000,0.000,2985,1887,2060
$GC,9856,1.12,189.0,661.8,8.5,599,9860,0.00,2.55,0.00,0.000,4,0.000,0.067,2985,3261,2059
$GC,9935,1.12,189.0,654.9,9.2,604,9939,0.00,2.47,0.00,0.000,6,0.000,0.063,2985,1913,2059
$GC,10259,1.12,189.0,629.5,8.7,625,10263,0.00,2.47,0.00,0.000,4,0.000,0.067,2985,3257,2059
$GC,10298,1.12,189.0,625.8,10.0,627,10302,0.00,2.42,0.00,0.000,6,0.000,0.062,2985,1934,2059
$GC,10617,1.12,189.0,597.2,8.5,647,10622,0.00,2.75,0.00,0.000,4,0.000,0.074,2985,430,2059
$GC,10656,1.06,189.0,593.5,9.3,649,10662,0.00,2.70,0.00,0.000,6,0.000,0.054,2985,1931,2059
$GC,10975,1.06,189.0,565.6,9.0,670,10977,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1948,2058
$GC,11287,1.06,189.0,540.5,8.1,690,11288,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1947,2058
$GC,11600,1.09,207.6,516.8,7.3,710,11624,0.00,2.90,17.48,1.145,4,0.000,0.071,2985,438,1983
$GC,11643,1.11,217.5,513.3,7.6,712,11658,0.00,2.70,9.73,1.062,6,0.000,0.052,2985,1928,1944
$GC,11980,1.11,217.5,485.2,8.1,734,11984,0.00,2.38,0.00,0.000,4,0.000,0.065,2985,3255,1944
$GC,12025,1.15,217.5,480.9,8.2,736,12031,0.00,2.45,0.00,0.000,6,0.000,0.059,2985,1910,1944
$GC,12345,1.15,217.5,452.7,8.8,757,12349,0.00,2.47,0.00,0.000,4,0.000,0.064,2985,3259,1944
$GC,12408,1.19,217.5,447.0,9.2,761,12412,0.00,2.42,0.00,0.000,6,0.000,0.058,2985,1920,1944
$GC,12732,1.19,217.5,419.8,8.1,782,12737,0.00,2.45,0.00,0.000,4,0.000,0.064,2985,3264,1944
$GC,12783,1.24,217.5,415.6,8.3,785,12788,0.12,2.40,0.00,0.000,6,0.058,0.057,3019,1935,1944
$GC,13105,1.19,217.5,385.9,9.2,805,13106,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1936,1944
$GC,13415,1.16,217.5,357.0,9.2,825,13420,0.12,2.70,0.00,0.000,4,0.094,0.067,2996,436,1945
$GC,13448,1.12,217.5,353.9,8.4,827,13453,0.00,2.70,0.00,0.000,6,0.000,0.051,2995,1954,1944
$GC,13768,1.13,222.6,327.7,7.8,847,13784,0.00,2.83,6.35,0.854,4,0.000,0.066,2996,430,1922
$GC,13812,1.13,222.6,323.8,8.8,849,13818,0.00,2.70,0.00,0.000,6,0.000,0.049,2996,1943,1922
$GC,14131,1.16,241.9,300.0,7.3,870,14156,0.00,2.88,17.75,0.986,4,0.000,0.064,2996,440,1843
$GC,14181,1.16,241.9,296.2,8.5,873,14186,0.00,2.70,0.00,0.000,6,0.000,0.049,2996,1942,1843
$GC,14506,1.22,275.1,273.3,6.8,894,14542,0.00,2.85,28.40,0.986,4,0.000,0.065,2996,439,1709
$GC,14572,1.24,288.5,268.1,7.5,898,14592,0.00,2.65,12.50,0.916,6,0.000,0.049,2996,1916,1655
$GC,14922,1.30,296.8,242.4,7.7,920,14940,0.15,2.78,9.05,0.858,4,0.052,0.065,3036,433,1620
$GC,14975,1.23,296.8,236.8,10.2,923,14981,0.12,2.62,0.00,0.000,6,0.088,0.049,3011,1900,1620
$GC,15304,1.23,296.8,204.4,10.4,944,15308,0.00,2.70,0.00,0.000,4,0.000,0.065,3012,432,1620
$GC,15320,1.23,296.8,202.1,10.5,945,15324,0.00,2.60,0.00,0.000,6,0.000,0.049,3012,1893,1619
$GC,15639,1.23,296.8,167.4,10.7,965,15640,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1909,1620
$GC,15955,1.23,296.8,134.3,9.9,983,15959,0.00,2.67,0.00,0.000,4,0.000,0.065,3011,436,1620
$GC,16022,1.23,296.8,127.2,9.8,986,16026,0.00,2.55,0.00,0.000,6,0.000,0.048,3012,1872,1620
$GC,16344,1.27,318.5,100.5,7.2,1002,16369,0.00,2.55,18.70,0.845,4,0.000,0.057,3012,3259,1532
$GC,16389,1.35,339.8,97.3,7.2,1004,16415,0.12,2.50,18.80,0.838,6,0.055,0.051,3046,1873,1444
$GC,16745,1.35,339.8,57.9,12.5,1021,16750,0.00,2.58,0.00,0.000,4,0.000,0.063,3046,437,1444
$GC,16796,1.35,339.8,50.9,11.6,1023,16800,0.00,2.55,0.00,0.000,6,0.000,0.048,3046,1875,1444
$GC,17112,1.35,339.8,16.3,12.6,1038,17117,0.00,2.62,0.00,0.000,4,0.000,0.061,3046,436,1444
$GC,17135,1.32,339.8,12.6,14.5,1039,17139,0.00,2.50,0.00,0.000,6,0.000,0.046,3046,1851,1444
$STATE,17206,end climb,SURFACE_DEPTH_REACHED
$STATE,17206,begin surface coast
$FINISH,0.6,1.021272
$STATE,17228,end surface coast,CONTROL_FINISHED_OK
$STATE,17228,begin surface
$SM_CCo,17312,0.00,0.000,0,0,1443,340.48
$SM_GC,1.27,11.35,0.00,0.00,0.034,0.000,0.000,418,2141,1443,-10.61,0.31,340.48
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1815
$TCM_TEMP,17.30
$XPDR_PINGS,60
$ALTIM_BOTTOM_PING,770.1,34.7
$24V_AH,23.8,30.321
$10V_AH,10.1,13.741
$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,25.650,192.000,448.775,0.000,0.000,37.764,40.408,169.945,22.000,0.000,0.000,14.920,1849.691,12433.422,577.451,2221.935,603.170,33.364,1711.663,0.000,2169.054,0.000,47.659,0.000
$DEVICE_MAMPS,147.264,77.467,1370.629,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,715.769,759.598,547.460,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53630,1044
$CAP_FILE_SIZE,147393,0
$CFSIZE,254472192,242245632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,270909,032221,6354.439,-1328.178,42,2.3,61,-12.7