version: 66.04
glider: 5
mission: 7
dive: 173
start: 9 27 109 17 54 33
data:
$ID,5
$MISSION,7
$DIVE,173
$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,-103516.84
$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,24
$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
$GPS1,174651,6353.045,-1310.080,36,2.1,55,-12.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-59.8
$GPS2,175346,6353.060,-1309.934,15,2.2,34,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,K1
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.011,-0.245
$KALMAN_X,-45213.0,-350.9,577.9,-192865.8,-514.7
$KALMAN_Y,-2613.8,-441.3,72.1,255692.6,4999.4
$MHEAD_RNG_PITCHd_Wd,189.9,5667,-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,13,begin dive
$GC,16,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-60.80,0.000,2,0.000,0.000,422,2150,2871
$GC,83,-1.22,-146.6,3.2,-4.4,3,118,11.52,2.53,-15.55,0.000,4,0.160,0.077,2478,3535,3428
$GC,321,-1.15,-146.6,35.6,-9.7,13,328,0.00,2.50,0.00,0.000,6,0.000,0.048,2478,2123,3428
$GC,638,-1.08,-146.6,72.0,-12.1,29,643,0.15,2.50,0.00,0.000,4,0.100,0.058,2510,713,3428
$GC,671,-1.08,-146.6,75.9,-10.1,30,678,0.00,2.53,0.00,0.000,6,0.000,0.048,2510,2138,3428
$GC,989,-1.08,-146.6,106.2,-9.5,46,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2138,3428
$GC,1297,-1.08,-146.6,136.3,-9.6,61,1301,0.00,2.55,0.00,0.000,4,0.000,0.059,2510,722,3428
$GC,1337,-1.11,-146.6,140.3,-9.7,63,1342,0.00,2.50,0.00,0.000,6,0.000,0.048,2510,2137,3428
$GC,1664,-1.11,-146.6,170.6,-9.7,82,1668,0.00,2.55,0.00,0.000,4,0.000,0.059,2510,722,3428
$GC,1686,-1.11,-146.6,173.2,-10.1,83,1692,0.00,2.50,0.00,0.000,6,0.000,0.049,2510,2132,3428
$GC,2005,-1.11,-146.6,204.2,-9.9,104,2009,0.00,2.55,0.00,0.000,4,0.000,0.060,2510,719,3428
$GC,2033,-1.11,-146.6,207.1,-10.3,106,2038,0.00,2.47,0.00,0.000,6,0.000,0.049,2510,2116,3428
$GC,2358,-1.11,-146.6,239.6,-10.0,127,2363,0.00,2.55,0.00,0.000,4,0.000,0.067,2510,3537,3429
$GC,2387,-1.11,-146.6,242.6,-10.4,129,2392,0.00,2.55,0.00,0.000,6,0.000,0.054,2510,2111,3428
$GC,2712,-1.11,-146.6,274.1,-9.7,150,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2097,3428
$GC,3024,-1.11,-146.6,303.6,-8.9,170,3029,0.00,2.62,0.00,0.000,4,0.000,0.067,2510,3535,3428
$GC,3058,-1.11,-146.6,306.7,-9.5,172,3062,0.00,2.55,0.00,0.000,6,0.000,0.054,2511,2113,3428
$GC,3377,-1.11,-146.6,335.8,-9.3,192,3381,0.00,2.47,0.00,0.000,4,0.000,0.061,2511,717,3428
$GC,3404,-1.11,-146.6,338.6,-9.6,193,3410,0.00,2.50,0.00,0.000,6,0.000,0.049,2510,2130,3428
$GC,3723,-1.11,-146.6,369.6,-9.7,214,3728,0.00,2.55,0.00,0.000,4,0.000,0.062,2510,710,3428
$GC,3775,-1.15,-146.6,374.8,-10.1,217,3779,0.00,2.50,0.00,0.000,6,0.000,0.050,2510,2117,3428
$GC,4099,-1.15,-146.6,404.9,-9.0,238,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2116,3428
$GC,4411,-1.15,-146.6,433.1,-9.6,258,4415,0.00,2.53,0.00,0.000,4,0.000,0.061,2510,719,3428
$GC,4467,-1.20,-146.6,438.6,-9.9,261,4474,0.12,2.45,0.00,0.000,6,0.055,0.051,2473,2100,3428
$GC,4789,-1.14,-146.6,474.8,-11.4,282,4794,0.10,2.60,0.00,0.000,4,0.102,0.067,2493,3542,3428
$GC,4818,-1.14,-146.6,478.5,-11.7,284,4822,0.00,2.62,0.00,0.000,6,0.000,0.055,2492,2082,3428
$GC,5142,-1.14,-146.6,512.7,-10.4,305,5146,0.00,2.67,0.00,0.000,4,0.000,0.067,2493,3535,3427
$GC,5170,-1.14,-146.6,515.9,-11.4,307,5174,0.00,2.60,0.00,0.000,6,0.000,0.055,2493,2090,3428
$GC,5495,-1.14,-146.6,549.3,-10.1,328,5499,0.00,2.67,0.00,0.000,4,0.000,0.068,2493,3542,3428
$GC,5523,-1.14,-146.6,552.3,-10.8,330,5527,0.00,2.60,0.00,0.000,6,0.000,0.055,2492,2099,3427
$GC,5848,-1.14,-146.6,586.0,-10.8,351,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2090,3427
$GC,6160,-1.14,-146.6,619.0,-10.0,371,6164,0.00,2.45,0.00,0.000,4,0.000,0.064,2492,713,3427
$GC,6195,-1.14,-146.6,622.6,-10.7,373,6199,0.00,2.47,0.00,0.000,6,0.000,0.051,2493,2113,3427
$GC,6525,-1.14,-146.6,655.2,-9.9,394,6529,0.00,2.58,0.00,0.000,4,0.000,0.069,2493,3533,3427
$GC,6614,-1.14,-146.6,664.5,-10.2,399,6620,0.00,2.55,0.00,0.000,6,0.000,0.056,2493,2115,3427
$GC,6936,-1.14,-146.6,695.1,-9.7,420,6940,0.00,2.62,0.00,0.000,4,0.000,0.071,2493,3533,3427
$GC,6968,-1.14,-146.6,698.9,-10.4,422,6973,0.00,2.50,0.00,0.000,6,0.000,0.058,2493,2147,3427
$GC,7288,-1.14,-146.6,731.6,-10.2,442,7292,0.00,2.58,0.00,0.000,4,0.000,0.072,2493,3540,3427
$GC,7309,-1.14,-146.6,734.1,-10.7,443,7316,0.00,2.50,0.00,0.000,6,0.000,0.060,2493,2161,3427
$GC,7628,-1.14,-146.6,765.8,-10.0,464,7633,0.00,2.60,0.00,0.000,4,0.000,0.070,2493,717,3426
$GC,7708,-1.14,-146.6,774.0,-10.6,469,7712,0.00,2.55,0.00,0.000,6,0.000,0.055,2493,2141,3426
$STATE,7733,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7733,begin apogee
$GC,7741,-0.33,0.0,776.8,10.4,471,7875,0.82,0.00,130.82,1.331,6,0.078,0.000,2670,1842,2831
$STATE,7876,end apogee,CONTROL_FINISHED_OK
$STATE,7876,begin climb
$GC,7879,1.22,146.6,782.0,0.0,480,8021,1.55,2.67,133.00,1.288,4,0.059,0.072,3006,447,2233
$GC,8076,1.08,146.6,773.2,8.5,492,8082,0.15,2.55,0.00,0.000,6,0.096,0.054,2979,1854,2233
$GC,8403,1.16,196.3,751.5,6.2,513,8451,0.00,0.00,44.85,1.253,6,0.000,0.000,2979,1865,2030
$GC,8764,1.19,216.6,725.4,7.3,536,8789,0.10,2.67,19.20,1.205,4,0.063,0.074,3005,452,1948
$GC,8796,1.13,216.6,722.4,9.2,538,8800,0.00,2.55,0.00,0.000,6,0.000,0.054,3006,1844,1948
$GC,9121,1.07,216.6,692.2,9.4,559,9123,0.15,0.00,0.00,0.000,6,0.094,0.000,2977,1860,1947
$GC,9433,1.10,232.3,667.0,7.4,579,9450,0.00,0.00,15.02,1.175,6,0.000,0.000,2977,1860,1884
$GC,9760,1.10,234.8,643.5,7.9,600,9769,0.00,2.60,4.20,0.818,4,0.000,0.066,2977,3261,1873
$GC,9794,1.16,234.8,640.6,8.7,602,9799,0.00,2.62,0.00,0.000,6,0.000,0.061,2977,1836,1873
$GC,10121,1.19,234.8,613.4,8.3,623,10126,0.12,2.62,0.00,0.000,4,0.060,0.064,3010,3258,1873
$GC,10143,1.19,234.8,611.1,9.4,624,10149,0.00,2.62,0.00,0.000,6,0.000,0.060,3010,1821,1873
$GC,10463,1.15,234.8,579.6,10.1,645,10464,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1821,1873
$GC,10774,1.12,234.8,548.6,9.9,665,10779,0.12,2.62,0.00,0.000,4,0.096,0.061,2987,3255,1873
$GC,10842,1.16,234.8,542.3,9.0,669,10846,0.00,2.58,0.00,0.000,6,0.000,0.057,2986,1832,1873
$GC,11163,1.16,234.8,514.9,8.4,689,11167,0.00,2.60,0.00,0.000,4,0.000,0.061,2986,3262,1873
$GC,11202,1.20,234.8,511.0,9.6,691,11208,0.00,2.53,0.00,0.000,6,0.000,0.056,2986,1863,1873
$GC,11521,1.20,234.8,482.3,9.1,712,11525,0.00,2.55,0.00,0.000,4,0.000,0.061,2986,3261,1873
$GC,11543,1.24,234.8,480.3,8.8,713,11550,0.12,2.53,0.00,0.000,6,0.058,0.057,3020,1864,1873
$GC,11865,1.19,234.8,447.7,10.0,734,11866,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1864,1873
$GC,12174,1.13,234.8,416.9,9.7,754,12179,0.15,2.55,0.00,0.000,4,0.093,0.059,2991,3264,1873
$GC,12208,1.17,234.8,413.6,8.5,756,12212,0.00,2.50,0.00,0.000,6,0.000,0.055,2991,1874,1873
$GC,12528,1.17,234.8,386.5,8.3,776,12529,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1874,1874
$GC,12840,1.17,234.8,360.9,8.3,796,12844,0.00,2.47,0.00,0.000,4,0.000,0.060,2992,3255,1874
$GC,12885,1.21,234.8,357.1,8.7,798,12891,0.00,2.47,0.00,0.000,6,0.000,0.054,2991,1875,1874
$GC,13204,1.23,243.6,332.3,7.7,819,13221,0.00,2.53,9.32,0.907,4,0.000,0.059,2991,3255,1837
$GC,13233,1.26,246.8,330.0,7.9,820,13244,0.12,2.47,4.53,0.713,6,0.056,0.054,3025,1887,1823
$GC,13573,1.21,246.8,299.2,9.1,842,13577,0.00,2.47,0.00,0.000,4,0.000,0.059,3025,3259,1823
$GC,13596,1.18,246.8,296.6,9.1,843,13603,0.12,2.42,0.00,0.000,6,0.090,0.052,3002,1898,1823
$GC,13915,1.18,246.8,270.9,8.2,864,13916,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1898,1824
$GC,14229,1.18,246.8,245.5,8.0,884,14233,0.00,2.47,0.00,0.000,4,0.000,0.059,3002,3264,1823
$GC,14275,1.23,258.6,241.7,7.6,887,14291,0.00,2.40,11.23,0.884,6,0.000,0.051,3002,1916,1776
$GC,14604,1.23,258.6,215.2,8.4,908,14605,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1916,1775
$GC,14916,1.23,258.6,187.4,9.1,928,14917,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1915,1776
$GC,15229,1.23,258.6,158.7,9.1,948,15230,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1916,1775
$GC,15544,1.23,258.6,131.1,8.6,965,15545,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1915,1775
$GC,15853,1.23,258.6,103.3,9.1,980,15858,0.00,2.42,0.00,0.000,4,0.000,0.058,3002,3258,1776
$GC,15888,1.28,258.6,99.8,10.5,981,15894,0.00,2.38,0.00,0.000,6,0.000,0.049,3002,1917,1776
$GC,16204,1.32,284.6,73.2,7.1,997,16229,0.15,0.00,22.05,0.823,6,0.051,0.000,3043,1917,1669
$GC,16535,1.26,284.6,41.2,9.5,1013,16537,0.12,0.00,0.00,0.000,6,0.086,0.000,3018,1916,1669
$GC,16842,1.26,284.6,11.4,9.8,1028,16847,0.00,2.42,0.00,0.000,4,0.000,0.058,3018,3258,1669
$GC,16883,1.41,380.8,8.4,4.5,1030,16935,0.15,2.40,45.75,0.788,2,0.052,0.051,3060,1911,1436
$STATE,16936,end climb,SURFACE_DEPTH_REACHED
$STATE,16936,begin surface coast
$FINISH,0.9,1.027110
$STATE,16947,end surface coast,CONTROL_FINISHED_OK
$STATE,16947,begin surface
$SM_CCo,17031,0.00,0.000,0,0,1434,342.68
$SM_GC,1.71,11.55,0.00,0.00,0.036,0.000,0.000,425,2138,1434,-10.58,0.23,342.68
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1802
$TCM_TEMP,17.50
$XPDR_PINGS,67
$ALTIM_BOTTOM_PING,720.1,65.6
$24V_AH,23.8,30.986
$10V_AH,10.1,14.097
$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,27.425,163.300,439.975,0.000,0.000,37.763,28.520,192.214,23.250,0.000,0.000,35.661,1795.510,12430.478,561.409,2045.500,602.332,33.364,1597.821,0.000,1982.171,0.000,44.581,0.000
$DEVICE_MAMPS,160.303,76.700,1330.745,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,706.539,758.899,556.985,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53655,1033
$CAP_FILE_SIZE,140831,0
$CFSIZE,254472192,241975296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,270909,224001,6350.099,-1310.494,60,0.9,60,-12.5