version: 66.04
glider: 5
mission: 7
dive: 194
start: 10 1 109 7 7 15
data:
$ID,5
$MISSION,7
$DIVE,194
$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,-103921.12
$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,29
$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
$GPS1,065946,6349.356,-1322.815,43,1.8,59,-12.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-64.9
$GPS2,070627,6349.321,-1322.687,12,2.4,31,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P6
$TGT_LATLONG,6402.820,-1325.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.063,0.236
$KALMAN_X,-57541.6,-266.9,175.4,-191417.9,-1815.7
$KALMAN_Y,-11054.5,-81.5,-56.5,256990.0,-3216.1
$MHEAD_RNG_PITCHd_Wd,27.5,25103,-14.9,-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,-145.6,0.0,0.0,0,59,0.00,0.00,-41.78,0.000,2,0.000,0.000,422,2142,2440
$GC,63,-1.23,-146.6,2.3,-2.9,2,126,11.23,0.00,-44.03,0.000,6,0.158,0.000,2471,2144,3429
$GC,437,-1.13,-146.6,46.9,-13.9,20,442,0.12,2.58,0.00,0.000,4,0.105,0.057,2496,719,3429
$GC,487,-1.13,-146.6,53.7,-12.5,22,492,0.00,2.50,0.00,0.000,6,0.000,0.049,2496,2125,3430
$GC,806,-1.08,-146.6,91.4,-12.2,37,810,0.00,2.55,0.00,0.000,4,0.000,0.058,2496,712,3429
$GC,855,-1.08,-146.6,97.7,-11.8,39,860,0.00,2.50,0.00,0.000,6,0.000,0.048,2497,2124,3429
$GC,1172,-1.08,-146.6,132.9,-10.9,54,1176,0.00,2.55,0.00,0.000,4,0.000,0.059,2497,711,3430
$GC,1295,-1.08,-146.6,147.5,-11.5,59,1301,0.00,2.47,0.00,0.000,6,0.000,0.048,2497,2114,3430
$GC,1619,-1.08,-146.6,183.4,-11.4,80,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2114,3430
$GC,1932,-1.08,-146.6,218.4,-11.1,100,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2114,3430
$GC,2244,-1.08,-146.6,256.4,-12.7,120,2248,0.00,2.53,0.00,0.000,4,0.000,0.060,2497,715,3430
$GC,2306,-1.08,-146.6,264.4,-13.4,124,2311,0.00,2.45,0.00,0.000,6,0.000,0.050,2497,2095,3430
$GC,2631,-1.08,-146.6,303.7,-12.1,145,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2095,3430
$GC,2943,-1.08,-146.6,340.3,-11.5,165,2947,0.00,2.50,0.00,0.000,4,0.000,0.061,2497,709,3430
$GC,2998,-1.08,-146.6,346.8,-11.7,168,3005,0.00,2.47,0.00,0.000,6,0.000,0.050,2497,2109,3430
$GC,3317,-1.08,-146.6,383.0,-11.1,189,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2109,3430
$GC,3629,-1.08,-146.6,417.7,-10.6,209,3634,0.00,2.53,0.00,0.000,4,0.000,0.062,2497,711,3429
$GC,3697,-1.08,-146.6,425.1,-10.9,213,3702,0.00,2.45,0.00,0.000,6,0.000,0.051,2496,2091,3429
$GC,4016,-1.08,-146.6,456.4,-9.4,233,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2091,3429
$GC,4329,-1.08,-146.6,486.5,-9.5,253,4333,0.00,2.50,0.00,0.000,4,0.000,0.062,2497,709,3429
$GC,4367,-1.08,-146.6,490.4,-10.4,255,4374,0.00,2.47,0.00,0.000,6,0.000,0.051,2497,2106,3429
$GC,4689,-1.08,-146.6,521.6,-10.1,276,4693,0.00,2.53,0.00,0.000,4,0.000,0.064,2497,716,3429
$GC,4722,-1.08,-146.6,525.4,-10.8,278,4727,0.00,2.45,0.00,0.000,6,0.000,0.051,2497,2091,3429
$GC,5041,-1.08,-146.6,557.1,-9.9,298,5046,0.00,2.47,0.00,0.000,4,0.000,0.063,2497,718,3428
$GC,5075,-1.08,-146.6,560.6,-10.1,300,5079,0.00,2.42,0.00,0.000,6,0.000,0.051,2497,2080,3429
$GC,5394,-1.08,-146.6,590.8,-9.4,320,5399,0.00,2.65,0.00,0.000,4,0.000,0.070,2497,3541,3428
$GC,5422,-1.08,-146.6,593.7,-9.8,322,5427,0.00,2.65,0.00,0.000,6,0.000,0.058,2497,2068,3428
$GC,5747,-1.08,-146.6,626.3,-10.4,343,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2068,3428
$GC,6059,-1.08,-146.6,660.6,-10.6,363,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2054,3428
$GC,6372,-1.08,-146.6,691.1,-10.2,383,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2055,3428
$GC,6684,-1.08,-146.6,726.0,-11.4,403,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2054,3428
$GC,6996,-1.08,-146.6,760.6,-10.8,423,7000,0.00,2.42,0.00,0.000,4,0.000,0.067,2497,718,3427
$GC,7047,-1.11,-146.6,766.0,-10.2,426,7051,0.00,2.45,0.00,0.000,6,0.000,0.054,2497,2090,3428
$GC,7367,-1.11,-146.6,796.6,-9.3,446,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2090,3427
$GC,7680,-1.11,-146.6,826.1,-9.7,466,7685,0.00,2.53,0.00,0.000,4,0.000,0.070,2497,718,3427
$GC,7726,-1.11,-146.6,830.8,-9.6,469,7731,0.00,2.45,0.00,0.000,6,0.000,0.057,2497,2078,3427
$GC,8051,-1.11,-146.6,860.7,-9.5,490,8052,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2078,3426
$GC,8363,-1.11,-146.6,890.4,-9.5,510,8368,0.00,2.50,0.00,0.000,4,0.000,0.074,2497,717,3425
$STATE,8434,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8434,begin apogee
$GC,8444,-0.33,0.0,897.3,9.6,514,8578,0.77,0.00,131.38,1.435,6,0.077,0.000,2668,1862,2831
$STATE,8579,end apogee,CONTROL_FINISHED_OK
$STATE,8579,begin climb
$GC,8582,1.23,146.6,902.0,0.0,523,8724,1.55,0.00,133.52,1.392,6,0.059,0.000,3009,1864,2233
$GC,9040,1.18,165.7,873.9,7.3,553,9064,0.00,2.72,18.42,1.281,4,0.000,0.077,3008,446,2155
$GC,9150,1.06,165.7,864.4,9.0,559,9157,0.17,2.55,0.00,0.000,6,0.097,0.057,2977,1848,2155
$GC,9470,1.13,211.0,844.1,6.3,580,9514,0.00,0.00,41.70,1.351,6,0.000,0.000,2976,1864,1970
$GC,9828,1.21,236.9,819.3,7.0,603,9860,0.15,2.72,24.02,1.313,4,0.057,0.076,3013,439,1865
$GC,9889,1.11,236.9,813.6,10.4,606,9896,0.15,2.58,0.00,0.000,6,0.095,0.057,2985,1847,1865
$GC,10208,1.11,236.9,784.4,9.5,627,10212,0.00,2.58,0.00,0.000,4,0.000,0.070,2986,3262,1865
$GC,10237,1.15,236.9,781.7,9.8,629,10241,0.00,2.60,0.00,0.000,6,0.000,0.065,2986,1851,1865
$GC,10561,1.15,236.9,751.8,8.8,650,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1851,1864
$GC,10873,1.15,236.9,720.6,10.2,670,10877,0.00,2.60,0.00,0.000,4,0.000,0.076,2985,435,1864
$GC,10929,1.15,236.9,714.3,11.4,673,10935,0.00,2.58,0.00,0.000,6,0.000,0.057,2986,1861,1864
$GC,11248,1.18,236.9,680.7,10.1,694,11252,0.00,2.65,0.00,0.000,4,0.000,0.074,2985,439,1864
$GC,11293,1.18,236.9,676.0,10.2,697,11298,0.00,2.55,0.00,0.000,6,0.000,0.055,2985,1854,1864
$GC,11619,1.26,288.3,652.8,6.1,718,11667,0.15,0.00,45.80,1.275,6,0.058,0.000,3023,1870,1656
$GC,11976,1.26,288.3,616.6,10.9,741,11980,0.00,2.62,0.00,0.000,4,0.000,0.069,3023,432,1656
$GC,12060,1.20,288.3,606.9,11.4,746,12064,0.00,2.53,0.00,0.000,6,0.000,0.052,3023,1839,1656
$GC,12380,1.17,288.3,572.1,10.7,766,12381,0.12,0.00,0.00,0.000,6,0.094,0.000,3000,1854,1656
$GC,12692,1.17,288.3,544.4,8.4,786,12693,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1854,1656
$GC,13004,1.17,288.3,517.5,9.0,806,13005,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1854,1657
$GC,13316,1.17,288.3,485.9,10.9,826,13320,0.00,2.58,0.00,0.000,4,0.000,0.066,3000,435,1657
$GC,13349,1.17,288.3,481.9,12.0,828,13354,0.00,2.50,0.00,0.000,6,0.000,0.050,3000,1841,1657
$GC,13668,1.17,288.3,448.5,10.4,848,13673,0.00,2.53,0.00,0.000,4,0.000,0.061,3000,3257,1658
$GC,13702,1.23,288.3,444.9,10.6,850,13707,0.00,2.58,0.00,0.000,6,0.000,0.056,3000,1832,1658
$GC,14022,1.23,288.3,410.4,11.3,870,14026,0.00,2.60,0.00,0.000,4,0.000,0.060,3000,3260,1658
$GC,14050,1.29,288.3,407.1,11.5,872,14055,0.12,2.55,0.00,0.000,6,0.057,0.055,3034,1846,1658
$GC,14378,1.24,288.3,363.5,13.4,893,14379,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1845,1658
$GC,14687,1.21,288.3,324.2,12.4,913,14692,0.15,2.58,0.00,0.000,4,0.087,0.059,3004,3262,1658
$GC,14739,1.28,288.3,318.5,10.8,916,14744,0.00,2.53,0.00,0.000,6,0.000,0.053,3004,1852,1658
$GC,15059,1.28,288.3,287.4,9.3,936,15063,0.00,2.53,0.00,0.000,4,0.000,0.066,3004,442,1658
$GC,15087,1.28,288.3,284.6,9.4,938,15092,0.00,2.53,0.00,0.000,6,0.000,0.049,3004,1865,1658
$GC,15413,1.31,288.3,254.5,9.3,959,15418,0.12,2.47,0.00,0.000,4,0.054,0.059,3039,3258,1659
$GC,15446,1.31,288.3,250.7,10.8,961,15450,0.00,2.50,0.00,0.000,6,0.000,0.052,3039,1860,1659
$GC,15766,1.26,288.3,215.2,11.4,981,15770,0.00,2.55,0.00,0.000,4,0.000,0.065,3039,435,1659
$GC,15805,1.18,288.3,210.2,13.3,983,15812,0.17,2.53,0.00,0.000,6,0.084,0.049,3004,1862,1659
$GC,16124,1.22,288.3,179.0,9.2,1004,16125,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1877,1659
$GC,16443,1.26,288.3,147.8,9.2,1024,16447,0.00,2.60,0.00,0.000,4,0.000,0.064,3003,436,1659
$GC,16487,1.26,288.3,142.8,12.1,1026,16491,0.00,2.47,0.00,0.000,6,0.000,0.048,3003,1839,1659
$GC,16809,1.30,288.3,110.9,10.6,1042,16814,0.12,2.50,0.00,0.000,4,0.055,0.057,3038,3255,1660
$GC,16842,1.30,288.3,107.1,10.9,1043,16849,0.00,2.53,0.00,0.000,6,0.000,0.050,3038,1833,1660
$GC,17159,1.27,288.3,72.4,10.4,1059,17163,0.00,2.58,0.00,0.000,4,0.000,0.056,3038,3261,1660
$GC,17203,1.27,288.3,67.4,12.3,1061,17207,0.00,2.50,0.00,0.000,6,0.000,0.049,3038,1854,1660
$GC,17525,1.27,288.3,34.2,10.2,1077,17529,0.00,2.53,0.00,0.000,4,0.000,0.058,3038,3253,1660
$GC,17569,1.27,288.3,28.9,10.5,1079,17573,0.00,2.47,0.00,0.000,6,0.000,0.049,3038,1861,1660
$STATE,17806,end climb,SURFACE_DEPTH_REACHED
$STATE,17806,begin surface coast
$FINISH,0.9,1.020889
$STATE,17827,end surface coast,CONTROL_FINISHED_OK
$STATE,17827,begin surface
$SM_CCo,17850,6.55,0.653,0,0,1608,300.00
$SM_GC,2.14,0.00,0.00,6.55,0.000,0.000,0.653,417,2159,1608,-10.70,0.82,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1813
$TCM_TEMP,17.20
$XPDR_PINGS,58
$ALTIM_BOTTOM_PING,871.3,35.7
$24V_AH,23.7,34.232
$10V_AH,10.1,15.688
$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,26.475,152.150,394.850,6.550,0.000,37.760,28.521,173.816,22.750,0.000,0.000,31.916,1878.278,13105.356,570.979,2110.005,585.850,33.361,1595.251,0.000,2049.290,0.000,56.888,0.000
$DEVICE_MAMPS,158.002,76.700,1435.057,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,748.481,801.892,553.720,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56816,1092
$CAP_FILE_SIZE,140077,0
$CFSIZE,254472192,240762880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,011009,120606,6350.899,-1319.911,32,1.6,32,-12.6