version: 66.04
glider: 5
mission: 7
dive: 191
start: 9 30 109 14 51 7
data:
$ID,5
$MISSION,7
$DIVE,191
$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,-103857.28
$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,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
$GPS1,144331,6347.248,-1314.839,40,1.7,40,-12.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-59.3
$GPS2,145019,6347.179,-1314.879,16,1.5,33,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.245,0.010
$KALMAN_X,-55289.4,-385.6,-632.3,-185877.0,1938.0
$KALMAN_Y,-835.5,-168.5,-818.1,243660.2,3307.5
$MHEAD_RNG_PITCHd_Wd,284.8,6976,-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,-146.6,0.0,0.0,0,58,0.00,0.00,-41.00,0.000,2,0.000,0.000,424,2137,2436
$GC,62,-1.22,-146.6,2.3,-3.7,2,126,11.32,2.55,-44.42,0.000,4,0.160,0.078,2468,3540,3429
$GC,380,-1.12,-146.6,43.8,-16.3,16,385,0.15,2.53,0.00,0.000,6,0.103,0.047,2499,2119,3430
$GC,704,-1.08,-146.6,79.5,-11.1,32,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2106,3430
$GC,1011,-1.05,-146.6,119.6,-11.9,47,1016,0.00,2.60,0.00,0.000,4,0.000,0.063,2499,3535,3430
$GC,1039,-1.00,-146.6,122.6,-10.9,48,1044,0.12,2.50,0.00,0.000,6,0.091,0.049,2526,2133,3430
$GC,1369,-1.03,-146.6,155.0,-9.8,65,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2119,3430
$GC,1678,-1.03,-146.6,184.2,-9.0,85,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2119,3431
$GC,1991,-1.07,-146.6,211.8,-9.2,105,1995,0.00,2.50,0.00,0.000,4,0.000,0.061,2526,722,3431
$GC,2030,-1.12,-146.6,215.6,-9.3,107,2037,0.12,2.50,0.00,0.000,6,0.056,0.048,2490,2137,3430
$GC,2352,-1.08,-146.6,252.2,-11.6,128,2356,0.00,2.58,0.00,0.000,4,0.000,0.060,2490,713,3430
$GC,2385,-1.08,-146.6,256.6,-11.6,130,2389,0.00,2.50,0.00,0.000,6,0.000,0.050,2490,2124,3430
$GC,2704,-1.04,-146.6,292.0,-11.0,150,2706,0.12,0.00,0.00,0.000,6,0.097,0.000,2516,2124,3431
$GC,3016,-1.04,-146.6,322.3,-9.6,170,3021,0.00,2.55,0.00,0.000,4,0.000,0.063,2516,719,3431
$GC,3073,-1.08,-146.6,328.2,-10.5,173,3079,0.00,2.50,0.00,0.000,6,0.000,0.051,2516,2127,3430
$GC,3393,-1.08,-146.6,361.3,-10.6,194,3397,0.00,2.55,0.00,0.000,4,0.000,0.064,2516,722,3430
$GC,3422,-1.11,-146.6,364.5,-10.4,196,3426,0.00,2.47,0.00,0.000,6,0.000,0.051,2516,2114,3430
$GC,3748,-1.11,-146.6,397.5,-9.9,217,3752,0.00,2.53,0.00,0.000,4,0.000,0.062,2516,718,3430
$GC,3787,-1.15,-146.6,401.8,-10.5,219,3793,0.00,2.47,0.00,0.000,6,0.000,0.051,2516,2114,3430
$GC,4106,-1.15,-146.6,433.6,-9.8,240,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2114,3430
$GC,4419,-1.15,-146.6,463.6,-9.3,260,4423,0.00,2.53,0.00,0.000,4,0.000,0.062,2516,718,3430
$GC,4471,-1.19,-146.6,468.5,-9.4,263,4476,0.15,2.45,0.00,0.000,6,0.055,0.051,2473,2099,3430
$GC,4792,-1.13,-146.6,505.5,-11.7,283,4794,0.12,0.00,0.00,0.000,6,0.097,0.000,2498,2099,3430
$GC,5102,-1.13,-146.6,535.5,-9.0,303,5107,0.00,2.50,0.00,0.000,4,0.000,0.063,2498,718,3429
$GC,5154,-1.13,-146.6,540.3,-8.7,306,5158,0.00,2.45,0.00,0.000,6,0.000,0.051,2498,2097,3429
$GC,5475,-1.13,-146.6,570.7,-10.1,326,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2098,3430
$GC,5786,-1.13,-146.6,602.9,-10.4,346,5790,0.00,2.50,0.00,0.000,4,0.000,0.064,2497,719,3429
$GC,5819,-1.13,-146.6,606.4,-10.3,348,5823,0.00,2.42,0.00,0.000,6,0.000,0.051,2498,2080,3429
$GC,6138,-1.13,-146.6,641.0,-11.2,368,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2081,3429
$GC,6450,-1.13,-146.6,673.3,-9.6,388,6454,0.00,2.50,0.00,0.000,4,0.000,0.067,2498,715,3429
$GC,6489,-1.13,-146.6,677.1,-9.6,390,6495,0.00,2.42,0.00,0.000,6,0.000,0.053,2498,2075,3429
$GC,6809,-1.13,-146.6,705.3,-8.8,411,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2075,3429
$GC,7120,-1.13,-146.6,734.0,-8.9,431,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2075,3428
$GC,7433,-1.13,-146.6,764.1,-9.9,451,7437,0.00,2.47,0.00,0.000,4,0.000,0.071,2498,721,3428
$GC,7460,-1.13,-146.6,767.0,-10.2,452,7466,0.00,2.42,0.00,0.000,6,0.000,0.055,2498,2074,3428
$GC,7779,-1.13,-146.6,798.3,-9.8,473,7783,0.00,2.47,0.00,0.000,4,0.000,0.073,2498,723,3428
$GC,7842,-1.13,-146.6,804.4,-9.6,477,7846,0.00,2.40,0.00,0.000,6,0.000,0.058,2498,2052,3428
$GC,8167,-1.13,-146.6,835.0,-9.3,498,8171,0.00,2.47,0.00,0.000,4,0.000,0.076,2498,721,3427
$GC,8188,-1.13,-146.6,837.2,-9.6,499,8194,0.00,2.40,0.00,0.000,6,0.000,0.059,2497,2049,3427
$GC,8508,-1.13,-146.6,866.3,-9.3,520,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2049,3426
$STATE,8599,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8599,begin apogee
$GC,8606,-0.33,0.0,875.0,9.0,526,8744,0.80,0.00,134.88,1.414,6,0.080,0.000,2668,1843,2831
$STATE,8745,end apogee,CONTROL_FINISHED_OK
$STATE,8745,begin climb
$GC,8748,1.22,146.6,879.6,0.0,535,8893,1.55,2.65,136.02,1.371,4,0.062,0.074,3006,439,2233
$GC,8934,1.07,146.6,871.5,8.5,547,8939,0.15,2.58,0.00,0.000,6,0.096,0.056,2978,1850,2233
$GC,9254,1.12,172.2,849.3,7.1,567,9282,0.00,0.00,24.05,1.303,6,0.000,0.000,2978,1865,2128
$GC,9595,1.13,183.4,823.3,7.6,589,9612,0.00,2.70,11.20,1.215,4,0.000,0.077,2978,447,2083
$GC,9641,1.09,183.4,819.5,8.3,591,9647,0.00,2.58,0.00,0.000,6,0.000,0.058,2978,1857,2082
$GC,9961,1.14,212.8,796.4,6.9,612,9994,0.00,2.72,26.90,1.324,4,0.000,0.074,2978,442,1963
$GC,10029,1.14,212.8,791.2,8.0,616,10034,0.00,2.58,0.00,0.000,6,0.000,0.057,2978,1848,1962
$GC,10357,1.23,252.4,768.8,6.6,637,10399,0.15,2.62,35.62,1.333,4,0.056,0.070,3016,3257,1801
$GC,10434,1.23,252.4,762.3,8.8,641,10439,0.00,2.65,0.00,0.000,6,0.000,0.067,3016,1833,1801
$GC,10762,1.18,252.4,733.0,9.2,662,10766,0.00,2.65,0.00,0.000,4,0.000,0.068,3016,3257,1801
$GC,10800,1.18,252.4,728.9,9.6,664,10806,0.00,2.62,0.00,0.000,6,0.000,0.065,3016,1839,1801
$GC,11120,1.14,252.4,697.9,10.3,685,11121,0.12,0.00,0.00,0.000,6,0.096,0.000,2994,1839,1800
$GC,11432,1.14,252.4,669.6,8.9,705,11436,0.00,2.62,0.00,0.000,4,0.000,0.066,2994,3259,1801
$GC,11494,1.18,252.4,663.7,9.9,709,11499,0.00,2.58,0.00,0.000,6,0.000,0.061,2994,1853,1801
$GC,11819,1.18,252.4,632.8,9.4,730,11823,0.00,2.58,0.00,0.000,4,0.000,0.072,2993,433,1801
$GC,11863,1.18,252.4,628.3,10.4,732,11869,0.00,2.58,0.00,0.000,6,0.000,0.053,2993,1871,1800
$GC,12182,1.18,252.4,600.6,8.3,753,12186,0.00,2.50,0.00,0.000,4,0.000,0.064,2994,3261,1801
$GC,12206,1.21,252.4,598.5,9.2,754,12212,0.00,2.60,0.00,0.000,6,0.000,0.061,2994,1837,1801
$GC,12525,1.21,252.4,570.5,8.5,775,12529,0.00,2.60,0.00,0.000,4,0.000,0.062,2994,3256,1801
$GC,12558,1.26,252.4,567.4,9.0,777,12563,0.12,2.55,0.00,0.000,6,0.057,0.058,3027,1846,1801
$GC,12880,1.21,252.4,533.6,10.7,797,12882,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1846,1801
$GC,13190,1.15,252.4,500.0,10.6,817,13195,0.15,2.58,0.00,0.000,4,0.091,0.060,2998,3258,1801
$GC,13229,1.20,252.4,496.2,9.5,819,13236,0.00,2.53,0.00,0.000,6,0.000,0.056,2998,1859,1801
$GC,13548,1.20,252.4,467.6,8.9,840,13549,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1859,1801
$GC,13861,1.20,252.4,438.5,9.9,860,13865,0.00,2.55,0.00,0.000,4,0.000,0.060,2998,3261,1801
$GC,13890,1.24,252.4,435.7,10.1,862,13894,0.00,2.50,0.00,0.000,6,0.000,0.056,2998,1873,1802
$GC,14214,1.24,252.4,405.8,9.0,883,14215,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1873,1802
$GC,14526,1.24,252.4,378.7,8.5,903,14531,0.00,2.53,0.00,0.000,4,0.000,0.061,2997,3262,1802
$GC,14556,1.28,252.4,376.2,9.2,905,14561,0.12,2.47,0.00,0.000,6,0.057,0.054,3032,1876,1802
$GC,14884,1.23,252.4,342.5,10.5,926,14885,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1875,1803
$GC,15194,1.18,252.4,310.1,10.4,946,15196,0.15,0.00,0.00,0.000,6,0.087,0.000,3002,1875,1802
$GC,15505,1.18,252.4,281.9,9.3,966,15510,0.00,2.50,0.00,0.000,4,0.000,0.060,3002,3255,1803
$GC,15552,1.22,252.4,277.6,9.4,969,15556,0.00,2.42,0.00,0.000,6,0.000,0.053,3002,1888,1803
$GC,15877,1.22,252.4,248.9,8.6,990,15878,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1888,1803
$GC,16189,1.22,252.4,221.6,9.1,1010,16190,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1887,1803
$GC,16501,1.23,260.4,194.7,7.7,1030,16518,0.00,2.53,8.88,0.829,4,0.000,0.059,3002,3256,1769
$GC,16541,1.28,260.4,191.5,8.3,1032,16545,0.00,2.45,0.00,0.000,6,0.000,0.051,3002,1891,1769
$GC,16860,1.28,260.4,165.9,8.7,1052,16861,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1890,1769
$GC,17178,1.31,260.4,135.8,9.3,1070,17183,0.12,2.60,0.00,0.000,4,0.054,0.064,3037,439,1769
$GC,17241,1.23,260.4,128.6,10.6,1073,17246,0.12,2.58,0.00,0.000,6,0.090,0.048,3012,1897,1769
$GC,17571,1.23,260.4,96.0,9.1,1089,17575,0.00,2.40,0.00,0.000,4,0.000,0.058,3012,3257,1769
$GC,17604,1.28,260.4,92.6,8.3,1090,17611,0.00,2.45,0.00,0.000,6,0.000,0.050,3012,1871,1769
$GC,17921,1.28,260.4,65.7,8.3,1106,17925,0.00,2.50,0.00,0.000,4,0.000,0.057,3012,3259,1769
$GC,17971,1.32,260.4,61.1,10.4,1108,17976,0.00,2.45,0.00,0.000,6,0.000,0.049,3012,1878,1769
$GC,18288,1.32,260.4,32.9,9.3,1123,18289,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1878,1769
$GC,18597,1.36,285.8,10.3,7.1,1138,18624,0.12,2.55,20.83,0.784,4,0.054,0.057,3048,3261,1666
$GC,18653,1.36,285.8,3.2,13.5,1140,18659,0.00,2.45,0.00,0.000,6,0.000,0.046,3048,1878,1666
$STATE,18677,end climb,SURFACE_DEPTH_REACHED
$STATE,18677,begin surface coast
$FINISH,0.8,1.014253
$STATE,18701,end surface coast,CONTROL_FINISHED_OK
$STATE,18701,begin surface
$SM_CCo,18724,7.70,0.688,0,0,1608,300.00
$SM_GC,2.28,0.00,0.00,7.70,0.000,0.000,0.688,417,2143,1608,-10.71,0.37,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1799
$TCM_TEMP,17.50
$XPDR_PINGS,57
$ALTIM_BOTTOM_PING,795.2,89.8
$24V_AH,23.7,33.721
$10V_AH,10.1,15.406
$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,27.275,162.600,398.375,7.700,0.000,37.761,28.640,185.625,21.500,0.000,0.000,33.083,1973.335,13745.567,556.262,2230.762,628.274,33.360,1660.500,0.000,2165.247,0.000,49.400,0.000
$DEVICE_MAMPS,159.536,78.234,1414.348,687.999,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,782.968,837.272,587.939,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56745,1143
$CAP_FILE_SIZE,151561,0
$CFSIZE,254472192,240963584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,300909,200437,6346.413,-1320.925,36,1.1,36,-12.5