version: 66.04
glider: 5
mission: 7
dive: 193
start: 10 1 109 1 33 58
data:
$ID,5
$MISSION,7
$DIVE,193
$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,-103888.58
$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,21
$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
$GPS1,012706,6347.633,-1319.813,29,1.1,29,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-62.2
$GPS2,013307,6347.577,-1319.870,14,1.2,14,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P6
$TGT_LATLONG,6402.820,-1325.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.037,0.242
$KALMAN_X,-56157.6,508.5,-340.9,-190597.5,-372.9
$KALMAN_Y,-6074.9,-1241.9,-762.4,250646.2,1386.4
$MHEAD_RNG_PITCHd_Wd,3.8,28597,-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,-146.5,0.0,0.0,0,59,0.00,0.00,-41.17,0.000,2,0.000,0.000,420,2145,2438
$GC,63,-1.22,-146.6,2.3,-3.0,2,125,11.50,0.00,-44.78,0.000,6,0.166,0.000,2472,2137,3428
$GC,437,-1.13,-146.6,42.6,-12.4,20,442,0.12,2.58,0.00,0.000,4,0.107,0.057,2497,706,3428
$GC,515,-1.13,-146.6,52.5,-12.0,23,521,0.00,2.53,0.00,0.000,6,0.000,0.048,2498,2138,3429
$GC,833,-1.10,-146.6,89.9,-12.9,39,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2139,3429
$GC,1141,-1.07,-146.6,129.8,-11.5,54,1145,0.00,2.58,0.00,0.000,4,0.000,0.058,2498,707,3429
$GC,1208,-1.07,-146.6,137.7,-11.4,57,1212,0.00,2.53,0.00,0.000,6,0.000,0.049,2498,2133,3429
$GC,1526,-1.07,-146.6,174.3,-11.3,76,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2133,3429
$GC,1838,-1.07,-146.6,210.1,-11.4,96,1843,0.00,2.55,0.00,0.000,4,0.000,0.059,2498,706,3429
$GC,1889,-1.07,-146.6,216.2,-11.6,99,1893,0.00,2.53,0.00,0.000,6,0.000,0.049,2498,2133,3429
$GC,2208,-1.07,-146.6,253.1,-11.5,119,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2133,3429
$GC,2520,-1.07,-146.6,288.6,-11.0,139,2524,0.00,2.55,0.00,0.000,4,0.000,0.060,2498,719,3429
$GC,2588,-1.07,-146.6,296.3,-10.9,143,2592,0.00,2.47,0.00,0.000,6,0.000,0.049,2498,2115,3429
$GC,2907,-1.07,-146.6,330.4,-10.8,163,2911,0.00,2.53,0.00,0.000,4,0.000,0.060,2498,713,3429
$GC,2956,-1.07,-146.6,335.7,-10.7,166,2961,0.00,2.45,0.00,0.000,6,0.000,0.050,2497,2107,3429
$GC,3276,-1.07,-146.6,368.5,-10.3,186,3280,0.00,2.53,0.00,0.000,4,0.000,0.063,2497,707,3429
$GC,3310,-1.07,-146.6,372.4,-11.4,188,3314,0.00,2.47,0.00,0.000,6,0.000,0.051,2498,2109,3429
$GC,3641,-1.07,-146.6,408.2,-11.1,209,3645,0.00,2.53,0.00,0.000,4,0.000,0.061,2498,711,3428
$GC,3686,-1.07,-146.6,413.4,-11.8,212,3690,0.00,2.47,0.00,0.000,6,0.000,0.051,2498,2103,3429
$GC,4010,-1.07,-146.6,449.3,-11.1,233,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2103,3428
$GC,4323,-1.07,-146.6,482.6,-10.4,253,4327,0.00,2.53,0.00,0.000,4,0.000,0.064,2498,715,3428
$GC,4385,-1.07,-146.6,489.3,-10.5,257,4389,0.00,2.45,0.00,0.000,6,0.000,0.051,2498,2096,3428
$GC,4715,-1.07,-146.6,522.5,-10.0,278,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2096,3428
$GC,5027,-1.07,-146.6,554.0,-10.2,298,5031,0.00,2.50,0.00,0.000,4,0.000,0.062,2498,716,3428
$GC,5106,-1.07,-146.6,562.3,-10.7,303,5110,0.00,2.45,0.00,0.000,6,0.000,0.051,2498,2095,3428
$GC,5431,-1.07,-146.6,598.0,-11.0,324,5435,0.00,2.50,0.00,0.000,4,0.000,0.062,2498,713,3428
$GC,5469,-1.07,-146.6,602.7,-11.4,326,5475,0.00,2.42,0.00,0.000,6,0.000,0.051,2498,2075,3428
$GC,5788,-1.07,-146.6,638.3,-11.2,347,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2076,3428
$GC,6101,-1.07,-146.6,672.2,-10.1,367,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2076,3428
$GC,6413,-1.07,-146.6,702.7,-9.8,387,6414,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2076,3428
$GC,6726,-1.07,-146.6,734.9,-10.2,407,6730,0.00,2.50,0.00,0.000,4,0.000,0.067,2498,708,3428
$GC,6759,-1.07,-146.6,738.4,-11.0,409,6763,0.00,2.42,0.00,0.000,6,0.000,0.053,2497,2067,3428
$GC,7078,-1.07,-146.6,768.1,-8.6,429,7082,0.00,2.47,0.00,0.000,4,0.000,0.066,2498,709,3427
$GC,7118,-1.07,-146.6,771.6,-9.1,431,7124,0.00,2.42,0.00,0.000,6,0.000,0.054,2498,2067,3427
$GC,7437,-1.07,-146.6,798.8,-8.8,452,7441,0.00,2.47,0.00,0.000,4,0.000,0.067,2498,719,3426
$GC,7470,-1.07,-146.6,801.9,-9.4,454,7474,0.00,2.42,0.00,0.000,6,0.000,0.055,2498,2069,3426
$GC,7789,-1.07,-146.6,833.4,-10.3,474,7790,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2069,3426
$GC,8101,-1.07,-146.6,864.4,-9.9,494,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2069,3426
$GC,8417,-1.07,-146.6,895.1,-9.9,514,8421,0.00,2.50,0.00,0.000,4,0.000,0.072,2498,710,3425
$GC,8468,-1.10,-146.6,900.7,-10.2,517,8473,0.00,2.42,0.00,0.000,6,0.000,0.058,2498,2052,3425
$STATE,8696,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8697,begin apogee
$GC,8704,-0.33,0.0,922.7,10.0,532,8839,0.80,0.00,131.32,1.459,6,0.080,0.000,2669,1835,2831
$STATE,8840,end apogee,CONTROL_FINISHED_OK
$STATE,8840,begin climb
$GC,8843,1.22,146.6,927.8,0.0,541,8988,1.55,2.75,131.98,1.416,4,0.062,0.067,3009,3255,2233
$GC,9075,1.15,149.5,917.5,7.9,556,9084,0.00,2.60,4.47,0.893,6,0.000,0.066,3009,1853,2221
$GC,9408,1.08,160.7,892.7,7.6,577,9422,0.15,0.00,11.50,1.234,6,0.097,0.000,2980,1853,2175
$GC,9732,1.15,202.2,871.1,6.5,598,9776,0.00,0.00,38.40,1.369,6,0.000,0.000,2980,1853,2006
$GC,10089,1.16,207.4,843.2,7.8,621,10105,0.00,2.65,6.47,1.088,4,0.000,0.069,2980,3255,1984
$GC,10144,1.16,207.4,838.4,8.6,624,10149,0.00,2.62,0.00,0.000,6,0.000,0.065,2980,1844,1984
$GC,10464,1.20,234.9,815.3,7.0,644,10494,0.12,0.00,25.40,1.337,6,0.060,0.000,3012,1844,1873
$GC,10809,1.14,234.9,784.1,9.8,666,10810,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1844,1873
$GC,11119,1.09,234.9,752.2,10.6,686,11121,0.15,0.00,0.00,0.000,6,0.095,0.000,2983,1844,1873
$GC,11431,1.09,234.9,723.1,9.0,706,11432,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1844,1872
$GC,11743,1.10,237.1,698.1,7.9,726,11748,0.00,2.60,0.00,0.000,4,0.000,0.064,2984,3255,1872
$GC,11828,1.14,237.1,691.6,9.0,731,11832,0.00,2.55,0.00,0.000,6,0.000,0.060,2984,1859,1872
$GC,12147,1.14,237.1,664.5,8.3,751,12152,0.00,2.58,0.00,0.000,4,0.000,0.063,2984,3262,1872
$GC,12177,1.19,237.1,662.0,9.0,753,12182,0.00,2.55,0.00,0.000,6,0.000,0.060,2984,1862,1872
$GC,12501,1.19,237.1,633.5,8.8,774,12502,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1861,1872
$GC,12813,1.19,237.1,604.8,9.1,794,12818,0.00,2.55,0.00,0.000,4,0.000,0.061,2984,3258,1872
$GC,12866,1.24,237.1,600.0,9.4,797,12871,0.15,2.50,0.00,0.000,6,0.054,0.057,3023,1873,1872
$GC,13188,1.18,237.1,565.9,10.8,817,13193,0.12,2.60,0.00,0.000,4,0.093,0.067,3000,433,1872
$GC,13227,1.14,237.1,561.2,10.4,819,13233,0.00,2.60,0.00,0.000,6,0.000,0.051,3000,1895,1872
$GC,13546,1.14,237.1,530.9,9.2,840,13547,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1910,1872
$GC,13858,1.14,237.1,502.8,8.7,860,13867,0.00,2.70,3.85,0.719,4,0.000,0.066,3000,438,1864
$GC,13910,1.11,237.1,498.2,9.3,863,13915,0.00,2.58,0.00,0.000,6,0.000,0.049,3000,1887,1864
$GC,14234,1.11,237.1,471.2,8.0,884,14235,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1901,1864
$GC,14548,1.11,237.1,445.6,8.4,904,14553,0.00,2.65,0.00,0.000,4,0.000,0.067,3000,442,1864
$GC,14594,1.07,237.1,441.4,8.8,907,14599,0.10,2.55,0.00,0.000,6,0.097,0.050,2980,1877,1864
$GC,14922,1.17,257.9,417.4,7.2,928,14947,0.00,0.00,19.42,1.044,6,0.000,0.000,2980,1893,1779
$GC,15261,1.29,290.7,393.7,6.8,950,15298,0.20,2.75,28.52,1.052,4,0.048,0.064,3036,438,1645
$GC,15338,1.20,290.7,385.8,11.4,954,15344,0.15,2.58,0.00,0.000,6,0.091,0.048,3007,1876,1645
$GC,15657,1.20,290.7,358.1,8.4,975,15658,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1891,1645
$GC,15969,1.20,290.7,332.8,8.2,995,15970,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1891,1645
$GC,16282,1.20,290.7,307.0,8.5,1015,16286,0.00,2.62,0.00,0.000,4,0.000,0.064,3007,440,1645
$GC,16337,1.20,290.7,301.7,9.0,1018,16343,0.00,2.53,0.00,0.000,6,0.000,0.048,3007,1865,1646
$GC,16656,1.20,290.7,274.7,8.5,1039,16660,0.00,2.47,0.00,0.000,4,0.000,0.059,3007,3258,1646
$GC,16696,1.27,296.6,271.3,7.8,1041,16708,0.00,2.50,6.90,0.828,6,0.000,0.053,3006,1861,1622
$GC,17029,1.27,296.6,242.3,9.1,1063,17030,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1861,1621
$GC,17340,1.27,296.6,212.2,10.2,1083,17344,0.00,2.53,0.00,0.000,4,0.000,0.058,3006,3255,1621
$GC,17373,1.33,296.6,208.7,9.5,1085,17378,0.12,2.50,0.00,0.000,6,0.054,0.051,3042,1856,1621
$GC,17695,1.28,296.6,169.4,11.7,1105,17696,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1856,1621
$GC,18009,1.23,296.6,132.0,12.2,1123,18011,0.15,0.00,0.00,0.000,6,0.086,0.000,3012,1856,1621
$GC,18318,1.23,296.6,100.6,9.1,1138,18319,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1857,1622
$GC,18627,1.27,296.6,72.1,8.5,1153,18632,0.00,2.55,0.00,0.000,4,0.000,0.066,3012,433,1622
$GC,18678,1.27,296.6,67.3,8.9,1155,18682,0.00,2.55,0.00,0.000,6,0.000,0.048,3011,1879,1622
$GC,18995,1.31,296.6,39.2,9.2,1170,18999,0.00,2.62,0.00,0.000,4,0.000,0.064,3011,439,1622
$GC,19045,1.31,296.6,34.1,10.1,1172,19049,0.00,2.50,0.00,0.000,6,0.000,0.047,3011,1860,1623
$GC,19362,1.35,296.6,6.4,9.5,1187,19364,0.12,0.00,0.00,0.000,6,0.054,0.000,3047,1876,1623
$STATE,19399,end climb,SURFACE_DEPTH_REACHED
$STATE,19399,begin surface coast
$FINISH,0.8,1.014472
$STATE,19421,end surface coast,CONTROL_FINISHED_OK
$STATE,19421,begin surface
$SM_CCo,19445,2.00,0.117,0,0,1608,300.00
$SM_GC,2.18,0.00,0.00,2.00,0.000,0.000,0.117,422,2140,1608,-10.69,0.25,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1825
$TCM_TEMP,17.30
$XPDR_PINGS,59
$ALTIM_BOTTOM_PING,895.1,36.3
$24V_AH,23.7,34.061
$10V_AH,10.1,15.597
$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,26.875,142.950,408.250,2.000,0.000,37.763,32.788,156.405,23.000,0.000,0.000,14.908,2029.643,14365.079,559.919,2257.219,592.489,33.359,1664.123,0.000,2210.681,0.000,55.594,0.000
$DEVICE_MAMPS,166.439,72.098,1458.834,117.351,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,815.749,873.244,598.402,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59997,1190
$CAP_FILE_SIZE,147738,0
$CFSIZE,254472192,240824320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,011009,065946,6349.356,-1322.815,43,1.8,59,-12.6