version: 66.04
glider: 5
mission: 7
dive: 199
start: 10 2 109 7 7 0
data:
$ID,5
$MISSION,7
$DIVE,199
$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,-104011.4
$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,28
$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
$GPS1,065951,6356.918,-1316.569,40,2.9,59,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-63.1
$GPS2,070610,6357.004,-1316.405,12,2.9,31,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P6
$TGT_LATLONG,6402.820,-1325.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.074,0.234
$KALMAN_X,-56252.1,-259.4,669.9,-187676.5,-1236.5
$KALMAN_Y,-26411.2,732.7,1396.9,284257.0,-10766.9
$MHEAD_RNG_PITCHd_Wd,355.1,13051,-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,16,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-61.17,0.000,2,0.000,0.000,417,2149,2614
$GC,83,-1.22,-146.6,2.7,-2.9,3,133,11.32,2.53,-31.15,0.000,4,0.161,0.077,2470,3534,3428
$GC,364,-1.14,-146.6,39.6,-14.5,15,371,0.12,2.50,0.00,0.000,6,0.110,0.048,2494,2125,3429
$GC,681,-1.10,-146.6,79.9,-12.2,31,685,0.00,2.60,0.00,0.000,4,0.000,0.064,2494,3538,3429
$GC,737,-1.06,-146.6,86.9,-12.0,33,743,0.00,2.50,0.00,0.000,6,0.000,0.048,2494,2134,3429
$GC,1053,-1.06,-146.6,123.0,-11.7,49,1057,0.00,2.53,0.00,0.000,4,0.000,0.059,2494,707,3429
$GC,1094,-1.06,-146.6,127.8,-12.1,51,1098,0.00,2.53,0.00,0.000,6,0.000,0.050,2494,2132,3429
$GC,1422,-1.06,-146.6,167.3,-12.1,69,1426,0.00,2.58,0.00,0.000,4,0.000,0.061,2494,708,3429
$GC,1477,-1.06,-146.6,174.1,-11.4,72,1483,0.00,2.53,0.00,0.000,6,0.000,0.050,2494,2132,3429
$GC,1797,-1.02,-146.6,210.9,-10.9,93,1799,0.12,0.00,0.00,0.000,6,0.100,0.000,2520,2132,3429
$GC,2108,-1.02,-146.6,240.2,-9.3,113,2113,0.00,2.58,0.00,0.000,4,0.000,0.063,2520,714,3429
$GC,2160,-1.07,-146.6,245.5,-10.5,116,2165,0.00,2.50,0.00,0.000,6,0.000,0.051,2520,2120,3429
$GC,2481,-1.07,-146.6,277.5,-9.3,136,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2120,3429
$GC,2794,-1.07,-146.6,301.7,-7.3,156,2799,0.00,2.53,0.00,0.000,4,0.000,0.061,2520,719,3429
$GC,2875,-1.12,-146.6,308.2,-7.8,161,2880,0.00,2.47,0.00,0.000,6,0.000,0.051,2520,2116,3429
$GC,3203,-1.12,-146.6,332.2,-7.8,182,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2117,3429
$GC,3513,-1.16,-146.6,357.8,-8.9,202,3518,0.15,2.53,0.00,0.000,4,0.053,0.061,2478,718,3429
$GC,3602,-1.16,-146.6,367.4,-12.4,207,3608,0.00,2.47,0.00,0.000,6,0.000,0.051,2478,2115,3429
$GC,3922,-1.10,-146.6,400.8,-11.4,228,3924,0.12,0.00,0.00,0.000,6,0.094,0.000,2504,2113,3429
$GC,4234,-1.10,-146.6,434.8,-9.5,248,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2112,3429
$GC,4546,-1.10,-146.6,472.9,-10.5,268,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2113,3429
$GC,4859,-1.10,-146.6,498.3,-7.2,288,4863,0.00,2.55,0.00,0.000,4,0.000,0.065,2504,714,3428
$GC,5046,-1.10,-146.6,511.2,-4.7,299,5051,0.00,2.50,0.00,0.000,6,0.000,0.051,2504,2122,3428
$GC,5366,-1.10,-146.6,536.1,-8.5,319,5370,0.00,2.55,0.00,0.000,4,0.000,0.065,2504,716,3428
$GC,5412,-1.16,-146.6,541.4,-11.2,322,5416,0.00,2.47,0.00,0.000,6,0.000,0.054,2504,2106,3428
$GC,5741,-1.16,-146.6,570.7,-10.3,343,5745,0.00,2.55,0.00,0.000,4,0.000,0.070,2504,716,3428
$GC,5830,-1.16,-146.6,580.6,-7.4,348,5836,0.00,2.50,0.00,0.000,6,0.000,0.056,2504,2113,3428
$GC,6149,-1.16,-146.6,604.4,-10.8,369,6154,0.00,2.58,0.00,0.000,4,0.000,0.074,2504,720,3427
$GC,6195,-1.16,-146.6,610.0,-11.6,372,6199,0.00,2.50,0.00,0.000,6,0.000,0.059,2504,2108,3427
$GC,6528,-1.16,-146.6,630.3,-2.1,393,6532,0.00,2.58,0.00,0.000,4,0.000,0.077,2504,724,3426
$GC,6681,-1.16,-146.6,642.4,-11.1,402,6685,0.00,2.50,0.00,0.000,6,0.000,0.061,2504,2104,3426
$GC,7000,-1.16,-146.6,679.4,-11.7,422,7004,0.00,2.67,0.00,0.000,4,0.000,0.084,2504,3534,3425
$STATE,7047,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7047,begin apogee
$GC,7058,-0.33,0.0,684.1,9.7,425,7194,0.75,0.00,132.85,1.309,6,0.081,0.000,2668,1844,2831
$STATE,7195,end apogee,CONTROL_FINISHED_OK
$STATE,7195,begin climb
$GC,7198,1.22,146.6,687.2,0.0,434,7338,1.58,0.00,130.73,1.273,6,0.067,0.000,3008,1845,2233
$GC,7651,1.35,254.9,658.7,4.1,463,7753,0.15,2.72,94.55,1.263,4,0.061,0.071,3044,3256,1791
$GC,7816,1.27,254.9,644.7,12.0,473,7821,0.12,2.65,0.00,0.000,6,0.105,0.071,3022,1852,1791
$GC,8138,1.23,254.9,613.9,11.1,493,8142,0.00,2.67,0.00,0.000,4,0.000,0.077,3022,3260,1791
$GC,8184,1.14,254.9,609.4,9.1,496,8189,0.15,2.60,0.00,0.000,6,0.104,0.077,2995,1867,1791
$GC,8509,1.14,254.9,579.0,10.8,517,8513,0.00,2.67,0.00,0.000,4,0.000,0.084,2995,438,1791
$GC,8571,1.14,254.9,571.6,12.4,521,8576,0.00,2.60,0.00,0.000,6,0.000,0.061,2995,1865,1790
$GC,8898,1.14,254.9,537.8,10.2,542,8902,0.00,2.72,0.00,0.000,4,0.000,0.084,2995,435,1790
$GC,9038,1.14,254.9,524.6,8.2,550,9044,0.00,2.58,0.00,0.000,6,0.000,0.060,2995,1851,1789
$GC,9357,1.14,254.9,492.4,10.1,571,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1868,1789
$GC,9669,1.14,254.9,461.7,8.6,591,9674,0.00,2.65,0.00,0.000,4,0.000,0.076,2995,437,1788
$GC,9749,1.14,254.9,452.5,11.0,596,9754,0.00,2.53,0.00,0.000,6,0.000,0.057,2995,1838,1788
$GC,10074,1.23,312.5,428.9,5.9,617,10129,0.00,2.72,49.17,1.167,4,0.000,0.071,2995,433,1557
$GC,10208,1.23,312.5,417.6,10.0,625,10213,0.00,2.53,0.00,0.000,6,0.000,0.054,2995,1830,1557
$GC,10528,1.28,312.5,387.8,8.5,645,10530,0.15,0.00,0.00,0.000,6,0.056,0.000,3032,1847,1557
$GC,10840,1.25,312.5,352.7,11.4,665,10844,0.00,2.60,0.00,0.000,4,0.000,0.084,3032,432,1558
$GC,10869,1.19,312.5,349.1,12.6,667,10874,0.15,2.50,0.00,0.000,6,0.091,0.051,3003,1830,1558
$GC,11197,1.22,312.5,319.6,8.3,688,11201,0.00,2.58,0.00,0.000,4,0.000,0.068,3003,433,1558
$GC,11230,1.22,312.5,316.2,9.6,690,11234,0.00,2.47,0.00,0.000,6,0.000,0.051,3003,1822,1559
$GC,11549,1.26,312.5,286.8,9.3,710,11554,0.00,2.58,0.00,0.000,4,0.000,0.061,3003,3261,1559
$GC,11583,1.34,312.5,283.4,9.4,712,11588,0.15,2.62,0.00,0.000,6,0.054,0.056,3043,1810,1559
$GC,11905,1.29,312.5,246.6,11.4,732,11906,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1810,1559
$GC,12215,1.24,312.5,211.0,11.4,752,12220,0.15,2.62,0.00,0.000,4,0.088,0.058,3012,3254,1560
$GC,12249,1.29,312.5,207.4,9.5,754,12253,0.00,2.58,0.00,0.000,6,0.000,0.053,3013,1821,1560
$GC,12568,1.29,312.5,178.2,9.0,774,12573,0.00,2.60,0.00,0.000,4,0.000,0.058,3012,3257,1560
$GC,12598,1.34,312.5,175.5,10.1,776,12603,0.12,2.55,0.00,0.000,6,0.056,0.052,3047,1826,1560
$GC,12930,1.29,312.5,139.1,11.3,796,12931,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1826,1560
$GC,13237,1.24,312.5,102.4,11.8,811,13242,0.17,2.60,0.00,0.000,4,0.086,0.057,3008,3261,1561
$GC,13301,1.31,312.5,96.1,8.9,814,13306,0.10,2.55,0.00,0.000,6,0.060,0.051,3037,1831,1561
$GC,13629,1.31,312.5,60.1,11.1,830,13633,0.00,2.58,0.00,0.000,4,0.000,0.058,3037,3256,1561
$GC,13661,1.31,312.5,56.4,10.6,831,13668,0.00,2.50,0.00,0.000,6,0.000,0.051,3037,1850,1561
$GC,13979,1.31,312.5,23.5,9.9,847,13983,0.00,2.53,0.00,0.000,4,0.000,0.065,3036,436,1561
$GC,14066,1.27,312.5,14.0,12.3,851,14070,0.00,2.45,0.00,0.000,6,0.000,0.047,3037,1830,1562
$STATE,14204,end climb,SURFACE_DEPTH_REACHED
$STATE,14204,begin surface coast
$FINISH,0.6,1.004791
$STATE,14226,end surface coast,CONTROL_FINISHED_OK
$STATE,14226,begin surface
$SM_CCo,14310,0.00,0.000,0,0,1562,311.53
$SM_GC,1.45,11.32,0.00,0.00,0.038,0.000,0.000,424,2123,1562,-10.58,-0.14,311.53
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1825
$TCM_TEMP,17.20
$XPDR_PINGS,43
$ALTIM_BOTTOM_PING,645.7,48.0
$24V_AH,23.8,35.106
$10V_AH,10.1,16.110
$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,26.925,139.450,407.300,0.000,0.000,37.761,28.683,161.781,16.750,0.000,0.000,32.254,1541.219,10199.950,517.021,1887.701,537.675,33.363,1464.825,0.000,1824.552,0.000,42.666,0.000
$DEVICE_MAMPS,161.070,84.370,1308.502,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,589.284,626.172,471.198,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44268,859
$CAP_FILE_SIZE,122323,0
$CFSIZE,254472192,240472064
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,021009,110637,6359.699,-1315.912,30,1.3,30,-12.6