version: 66.04
glider: 5
mission: 7
dive: 172
start: 9 27 109 13 3 20
data:
$ID,5
$MISSION,7
$DIVE,172
$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,-103480.55
$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,31
$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
$GPS1,125551,6354.287,-1314.995,42,2.5,61,-12.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-56.4
$GPS2,130231,6354.296,-1314.844,16,0.9,16,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,K1
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.140,-0.202
$KALMAN_X,-47687.7,958.2,376.8,-195812.6,-3652.8
$KALMAN_Y,-4777.8,-223.1,-389.1,260380.4,5349.1
$MHEAD_RNG_PITCHd_Wd,157.8,8886,-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,-41.72,0.000,2,0.000,0.000,421,2152,2435
$GC,63,-1.22,-146.6,2.3,-4.5,2,135,11.32,2.58,-52.97,0.000,4,0.154,0.077,2471,3525,3430
$GC,388,-1.11,-146.6,37.5,-17.3,16,395,0.15,2.50,0.00,0.000,6,0.091,0.049,2503,2121,3430
$GC,706,-1.11,-146.6,74.0,-9.5,32,710,0.00,2.50,0.00,0.000,4,0.000,0.058,2503,714,3430
$GC,792,-1.11,-146.6,82.9,-10.4,36,796,0.00,2.50,0.00,0.000,6,0.000,0.048,2503,2124,3430
$GC,1119,-1.11,-146.6,119.7,-11.2,52,1124,0.00,2.55,0.00,0.000,4,0.000,0.061,2503,717,3430
$GC,1146,-1.11,-146.6,123.1,-11.6,53,1151,0.00,2.50,0.00,0.000,6,0.000,0.049,2503,2125,3430
$GC,1464,-1.11,-146.6,160.6,-11.6,70,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2124,3431
$GC,1776,-1.11,-146.6,193.9,-10.3,90,1780,0.00,2.55,0.00,0.000,4,0.000,0.061,2503,717,3431
$GC,1804,-1.11,-146.6,197.0,-10.7,92,1808,0.00,2.47,0.00,0.000,6,0.000,0.050,2503,2112,3430
$GC,2128,-1.11,-146.6,232.8,-11.4,113,2132,0.00,2.58,0.00,0.000,4,0.000,0.066,2503,3542,3430
$GC,2167,-1.11,-146.6,237.5,-12.0,115,2173,0.00,2.60,0.00,0.000,6,0.000,0.052,2503,2088,3430
$GC,2486,-1.11,-146.6,273.7,-11.3,136,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2077,3430
$GC,2798,-1.11,-146.6,309.1,-11.1,156,2803,0.00,2.67,0.00,0.000,4,0.000,0.067,2503,3541,3430
$GC,2855,-1.11,-146.6,315.4,-10.9,159,2861,0.00,2.58,0.00,0.000,6,0.000,0.054,2503,2105,3430
$GC,3174,-1.11,-146.6,348.5,-9.9,180,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2092,3430
$GC,3486,-1.11,-146.6,379.8,-10.4,200,3491,0.00,2.65,0.00,0.000,4,0.000,0.068,2503,3540,3430
$GC,3553,-1.11,-146.6,387.2,-10.9,204,3558,0.00,2.55,0.00,0.000,6,0.000,0.054,2503,2119,3430
$GC,3873,-1.11,-146.6,420.6,-10.5,224,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2106,3430
$GC,4185,-1.11,-146.6,453.1,-10.4,244,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2099,3429
$GC,4497,-1.11,-146.6,483.7,-9.6,264,4501,0.00,2.62,0.00,0.000,4,0.000,0.068,2502,3542,3429
$GC,4547,-1.11,-146.6,488.6,-9.7,267,4551,0.00,2.55,0.00,0.000,6,0.000,0.055,2502,2117,3429
$GC,4866,-1.11,-146.6,517.1,-8.8,287,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2105,3429
$GC,5179,-1.11,-146.6,544.5,-8.9,307,5184,0.00,2.50,0.00,0.000,4,0.000,0.063,2502,714,3429
$GC,5201,-1.11,-146.6,546.7,-9.2,308,5205,0.00,2.53,0.00,0.000,6,0.000,0.050,2503,2139,3429
$GC,5520,-1.11,-146.6,575.4,-9.0,328,5524,0.00,2.55,0.00,0.000,4,0.000,0.069,2503,3544,3428
$GC,5551,-1.11,-146.6,578.2,-10.1,330,5555,0.00,2.55,0.00,0.000,6,0.000,0.057,2503,2125,3429
$GC,5876,-1.11,-146.6,607.6,-8.8,351,5880,0.00,2.50,0.00,0.000,4,0.000,0.064,2503,719,3428
$GC,5904,-1.11,-146.6,610.1,-9.1,353,5909,0.00,2.50,0.00,0.000,6,0.000,0.050,2503,2131,3429
$GC,6228,-1.11,-146.6,640.2,-9.4,374,6233,0.00,2.58,0.00,0.000,4,0.000,0.067,2503,717,3428
$GC,6275,-1.15,-146.6,644.9,-10.1,377,6280,0.00,2.50,0.00,0.000,6,0.000,0.052,2503,2119,3428
$GC,6605,-1.15,-146.6,675.3,-8.7,398,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2118,3428
$GC,6919,-1.15,-146.6,701.9,-8.6,418,6923,0.00,2.58,0.00,0.000,4,0.000,0.071,2503,3535,3429
$GC,6940,-1.15,-146.6,703.9,-8.2,419,6946,0.00,2.60,0.00,0.000,6,0.000,0.060,2503,2098,3429
$GC,7259,-1.15,-146.6,732.2,-8.7,440,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2087,3428
$GC,7572,-1.15,-146.6,760.0,-9.4,460,7576,0.00,2.67,0.00,0.000,4,0.000,0.074,2502,3534,3428
$GC,7623,-1.15,-146.6,765.4,-10.4,463,7628,0.00,2.60,0.00,0.000,6,0.000,0.061,2502,2101,3428
$STATE,7767,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7768,begin apogee
$GC,7775,-0.33,0.0,779.9,10.0,472,7909,0.80,0.00,130.57,1.342,6,0.074,0.000,2674,1839,2831
$STATE,7910,end apogee,CONTROL_FINISHED_OK
$STATE,7910,begin climb
$GC,7914,1.22,146.6,785.0,0.0,481,8055,1.52,2.67,132.68,1.298,4,0.060,0.074,3007,447,2233
$GC,8103,1.07,146.6,777.1,8.2,492,8109,0.15,2.55,0.00,0.000,6,0.093,0.054,2980,1850,2233
$GC,8425,1.11,187.9,755.8,6.5,513,8473,0.00,2.65,38.05,1.253,4,0.000,0.067,2979,3248,2064
$GC,8491,1.15,212.7,750.9,7.1,517,8523,0.00,2.58,23.58,1.220,6,0.000,0.065,2979,1864,1963
$GC,8838,1.15,212.7,723.7,8.2,539,8843,0.00,2.60,0.00,0.000,4,0.000,0.067,2979,3262,1962
$GC,8873,1.18,212.7,720.5,8.8,541,8878,0.10,2.58,0.00,0.000,6,0.065,0.064,3006,1870,1963
$GC,9193,1.14,212.7,692.6,8.2,561,9194,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1870,1962
$GC,9505,1.10,212.7,667.6,9.1,581,9509,0.00,2.58,0.00,0.000,4,0.000,0.067,3006,3258,1961
$GC,9567,1.10,212.7,661.5,10.0,585,9571,0.00,2.50,0.00,0.000,6,0.000,0.063,3006,1896,1961
$GC,9892,1.07,212.7,632.2,9.0,606,9897,0.15,2.67,0.00,0.000,4,0.092,0.072,2978,432,1960
$GC,9909,1.07,212.7,630.6,8.4,607,9913,0.00,2.65,0.00,0.000,6,0.000,0.054,2976,1907,1960
$GC,10228,1.07,212.7,605.0,8.3,627,10232,0.00,2.75,0.00,0.000,4,0.000,0.073,2977,433,1960
$GC,10278,1.07,212.7,600.6,8.9,630,10282,0.00,2.62,0.00,0.000,6,0.000,0.053,2977,1897,1960
$GC,10597,1.10,212.7,573.4,8.6,650,10598,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1912,1959
$GC,10909,1.14,212.7,545.5,9.0,670,10914,0.00,2.70,0.00,0.000,4,0.000,0.070,2977,438,1960
$GC,10931,1.14,212.7,543.4,9.8,671,10937,0.00,2.58,0.00,0.000,6,0.000,0.051,2977,1882,1960
$GC,11250,1.17,212.7,515.2,8.7,692,11252,0.10,0.00,0.00,0.000,6,0.063,0.000,3005,1897,1960
$GC,11563,1.17,212.7,486.9,8.9,712,11567,0.00,2.65,0.00,0.000,4,0.000,0.067,3005,439,1960
$GC,11579,1.13,212.7,485.2,8.6,713,11583,0.00,2.55,0.00,0.000,6,0.000,0.049,3005,1877,1960
$GC,11898,1.13,212.7,457.8,8.7,733,11899,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1892,1960
$GC,12210,1.13,212.7,430.9,8.4,753,12215,0.00,2.65,0.00,0.000,4,0.000,0.066,3005,430,1960
$GC,12233,1.08,212.7,428.7,9.2,754,12239,0.12,2.55,0.00,0.000,6,0.095,0.049,2981,1870,1960
$GC,12555,1.18,249.2,406.0,6.7,775,12589,0.00,0.00,31.77,1.058,6,0.000,0.000,2981,1885,1814
$GC,12897,1.23,251.8,379.6,7.9,797,12907,0.15,2.67,3.92,0.674,4,0.054,0.066,3020,430,1804
$GC,12925,1.18,251.8,376.6,10.2,798,12931,0.00,2.55,0.00,0.000,6,0.000,0.049,3020,1859,1803
$GC,13244,1.15,251.8,344.3,10.0,819,13246,0.15,0.00,0.00,0.000,6,0.085,0.000,2991,1874,1804
$GC,13556,1.15,251.8,317.2,8.7,839,13560,0.00,2.60,0.00,0.000,4,0.000,0.065,2991,439,1804
$GC,13572,1.15,251.8,315.7,9.2,840,13576,0.00,2.50,0.00,0.000,6,0.000,0.048,2991,1854,1804
$GC,13897,1.15,251.8,286.1,9.2,861,13898,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1868,1804
$GC,14210,1.18,251.8,257.0,9.3,881,14212,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1868,1804
$GC,14522,1.21,251.8,228.0,9.6,901,14526,0.00,2.50,0.00,0.000,4,0.000,0.058,2991,3262,1804
$GC,14552,1.27,251.8,225.0,9.8,903,14557,0.15,2.55,0.00,0.000,6,0.053,0.051,3031,1835,1804
$GC,14879,1.22,251.8,189.6,10.4,924,14884,0.00,2.58,0.00,0.000,4,0.000,0.058,3031,3259,1804
$GC,14902,1.18,251.8,186.9,10.4,925,14909,0.15,2.50,0.00,0.000,6,0.086,0.051,3001,1858,1804
$GC,15222,1.20,265.2,161.2,7.5,946,15242,0.00,2.58,12.88,0.845,4,0.000,0.057,3001,3249,1749
$GC,15273,1.27,274.4,157.2,7.7,949,15289,0.00,2.47,8.93,0.798,6,0.000,0.051,3001,1870,1712
$GC,15617,1.27,277.9,130.6,7.9,967,15627,0.00,2.53,4.70,0.653,4,0.000,0.058,3001,3263,1698
$GC,15657,1.33,277.9,127.2,8.9,969,15662,0.17,2.45,0.00,0.000,6,0.050,0.050,3047,1889,1698
$GC,15985,1.27,277.9,86.5,12.7,985,15990,0.15,2.47,0.00,0.000,4,0.087,0.058,3017,3255,1698
$GC,16007,1.27,277.9,83.7,12.1,986,16012,0.00,2.42,0.00,0.000,6,0.000,0.049,3018,1893,1698
$GC,16330,1.27,277.9,54.7,9.2,1002,16334,0.00,2.47,0.00,0.000,4,0.000,0.057,3017,3264,1698
$GC,16358,1.30,277.9,51.9,9.2,1003,16362,0.00,2.42,0.00,0.000,6,0.000,0.050,3017,1900,1697
$GC,16675,1.30,277.9,21.5,9.9,1018,16679,0.00,2.60,0.00,0.000,4,0.000,0.062,3017,442,1698
$GC,16687,1.30,277.9,20.0,11.0,1018,16693,0.00,2.58,0.00,0.000,6,0.000,0.048,3017,1906,1698
$STATE,16855,end climb,SURFACE_DEPTH_REACHED
$STATE,16856,begin surface coast
$FINISH,0.7,1.013225
$STATE,16878,end surface coast,CONTROL_FINISHED_OK
$STATE,16878,begin surface
$SM_CCo,16901,11.75,0.731,0,0,1608,300.00
$SM_GC,1.86,0.00,0.00,11.75,0.000,0.000,0.731,422,2152,1608,-10.69,0.65,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1822
$TCM_TEMP,17.40
$XPDR_PINGS,63
$ALTIM_BOTTOM_PING,770.6,18.5
$24V_AH,23.8,30.821
$10V_AH,10.1,14.008
$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,26.575,164.950,387.075,11.750,0.000,37.761,35.830,185.605,23.000,0.000,0.000,16.265,1799.447,12331.740,542.529,2025.549,609.378,33.359,1574.187,0.000,1976.375,0.000,50.539,0.000
$DEVICE_MAMPS,154.167,77.467,1342.250,730.951,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,703.738,750.626,543.122,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50632,1028
$CAP_FILE_SIZE,139582,0
$CFSIZE,254472192,242049024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,270909,174651,6353.045,-1310.080,36,2.1,55,-12.5