version: 66.04
glider: 5
mission: 7
dive: 187
start: 9 29 109 19 37 33
data:
$ID,5
$MISSION,7
$DIVE,187
$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,-103771.71
$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,33
$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
$GPS1,192637,6357.714,-1308.567,30,1.1,30,-12.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-59.0
$GPS2,193644,6357.809,-1308.309,15,1.8,15,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.066,-0.236
$KALMAN_X,-58581.1,838.6,142.6,-178815.8,-5734.5
$KALMAN_Y,-2324.5,-413.2,394.5,263831.2,4811.7
$MHEAD_RNG_PITCHd_Wd,208.1,18228,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.62,0.000,2,0.000,0.000,418,2446,2427
$GC,63,-1.22,-146.6,2.2,-3.4,2,127,11.35,2.00,-43.88,0.000,4,0.163,0.084,2469,3528,3430
$GC,218,-1.13,-146.6,17.4,-14.4,9,224,0.15,2.53,0.00,0.000,6,0.100,0.049,2499,2115,3430
$GC,546,-1.10,-146.6,54.8,-11.5,25,551,0.00,2.60,0.00,0.000,4,0.000,0.064,2499,3528,3430
$GC,611,-1.07,-146.6,61.8,-10.7,28,615,0.00,2.47,0.00,0.000,6,0.000,0.048,2499,2140,3430
$GC,940,-1.07,-146.6,95.8,-10.2,44,944,0.00,2.53,0.00,0.000,4,0.000,0.059,2499,714,3430
$GC,980,-1.07,-146.6,100.0,-10.0,46,984,0.00,2.53,0.00,0.000,6,0.000,0.048,2499,2135,3431
$GC,1307,-1.07,-146.6,136.5,-11.5,62,1312,0.00,2.58,0.00,0.000,4,0.000,0.061,2499,714,3431
$GC,1348,-1.07,-146.6,141.3,-12.1,64,1352,0.00,2.53,0.00,0.000,6,0.000,0.049,2499,2138,3431
$GC,1667,-1.07,-146.6,175.4,-10.7,83,1671,0.00,2.58,0.00,0.000,4,0.000,0.061,2499,715,3431
$GC,1695,-1.07,-146.6,178.6,-11.0,85,1699,0.00,2.50,0.00,0.000,6,0.000,0.049,2500,2121,3431
$GC,2021,-1.07,-146.6,213.6,-10.6,106,2025,0.00,2.55,0.00,0.000,4,0.000,0.061,2500,714,3431
$GC,2066,-1.07,-146.6,218.7,-11.4,109,2071,0.00,2.45,0.00,0.000,6,0.000,0.049,2500,2095,3431
$GC,2393,-1.07,-146.6,253.3,-10.5,130,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2095,3431
$GC,2703,-1.07,-146.6,286.5,-10.8,150,2708,0.00,2.50,0.00,0.000,4,0.000,0.062,2499,717,3431
$GC,2737,-1.07,-146.6,290.3,-10.8,152,2741,0.00,2.42,0.00,0.000,6,0.000,0.050,2500,2083,3431
$GC,3056,-1.07,-146.6,323.9,-10.1,172,3060,0.00,2.47,0.00,0.000,4,0.000,0.064,2499,723,3431
$GC,3078,-1.07,-146.6,326.3,-10.5,173,3084,0.00,2.40,0.00,0.000,6,0.000,0.051,2500,2070,3431
$GC,3398,-1.07,-146.6,359.4,-10.5,194,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2070,3431
$GC,3710,-1.07,-146.6,390.6,-9.9,214,3714,0.00,2.45,0.00,0.000,4,0.000,0.063,2499,722,3431
$GC,3749,-1.07,-146.6,394.4,-9.5,216,3759,0.00,2.38,0.00,0.000,6,0.000,0.051,2500,2059,3431
$GC,4068,-1.07,-146.6,424.2,-9.2,237,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2061,3430
$GC,4380,-1.07,-146.6,455.5,-10.1,257,4384,0.00,2.45,0.00,0.000,4,0.000,0.064,2500,715,3430
$GC,4408,-1.07,-146.6,458.2,-10.1,259,4412,0.00,2.40,0.00,0.000,6,0.000,0.051,2500,2061,3430
$GC,4739,-1.07,-146.6,491.3,-10.7,280,4740,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2061,3430
$GC,5052,-1.07,-146.6,523.9,-9.5,300,5056,0.00,2.45,0.00,0.000,4,0.000,0.063,2500,715,3430
$GC,5074,-1.07,-146.6,526.1,-9.2,301,5080,0.00,2.38,0.00,0.000,6,0.000,0.051,2500,2049,3430
$GC,5394,-1.07,-146.6,551.7,-7.9,322,5399,0.00,2.70,0.00,0.000,4,0.000,0.069,2500,3538,3430
$GC,5484,-1.07,-146.6,559.6,-9.1,327,5490,0.00,2.70,0.00,0.000,6,0.000,0.058,2500,2047,3430
$GC,5803,-1.07,-146.6,587.6,-9.6,348,5807,0.00,2.72,0.00,0.000,4,0.000,0.069,2500,3530,3430
$GC,5886,-1.07,-146.6,596.5,-10.4,353,5891,0.00,2.60,0.00,0.000,6,0.000,0.058,2500,2078,3430
$GC,6206,-1.07,-146.6,628.5,-11.0,373,6210,0.00,2.70,0.00,0.000,4,0.000,0.071,2500,3535,3430
$GC,6234,-1.07,-146.6,631.4,-10.6,375,6239,0.00,2.62,0.00,0.000,6,0.000,0.061,2500,2087,3429
$GC,6559,-1.07,-146.6,662.5,-9.6,396,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2071,3429
$GC,6871,-1.07,-146.6,690.7,-9.4,416,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2070,3429
$GC,7183,-1.07,-146.6,721.3,-9.5,436,7188,0.00,2.70,0.00,0.000,4,0.000,0.076,2499,3532,3428
$STATE,7198,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7198,begin apogee
$GC,7209,-0.33,0.0,722.9,9.2,437,7344,0.77,0.00,131.93,1.305,6,0.083,0.000,2668,1842,2831
$STATE,7345,end apogee,CONTROL_FINISHED_OK
$STATE,7345,begin climb
$GC,7348,1.22,146.6,728.5,0.0,446,7490,1.55,2.70,132.98,1.262,4,0.062,0.074,3007,441,2233
$GC,7538,1.11,163.9,720.7,7.4,457,7561,0.00,2.58,17.25,1.157,6,0.000,0.055,3007,1872,2162
$GC,7875,1.05,163.9,695.0,8.1,479,7877,0.17,0.00,0.00,0.000,6,0.091,0.000,2975,1872,2162
$GC,8186,1.09,189.9,672.2,7.1,499,8216,0.00,2.72,24.35,1.203,4,0.000,0.075,2974,435,2055
$GC,8228,1.11,196.9,668.8,7.7,501,8242,0.00,2.55,7.57,1.022,6,0.000,0.055,2974,1844,2028
$GC,8563,1.11,196.9,642.1,8.4,523,8564,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1845,2028
$GC,8876,1.14,196.9,616.4,8.0,543,8877,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1846,2027
$GC,9188,1.24,233.8,594.8,6.7,563,9229,0.17,2.65,33.53,1.213,4,0.054,0.067,3018,3242,1877
$GC,9263,1.24,233.8,588.9,8.5,567,9269,0.00,2.62,0.00,0.000,6,0.000,0.065,3018,1832,1877
$GC,9582,1.18,233.8,564.1,8.7,588,9587,0.00,2.62,0.00,0.000,4,0.000,0.066,3018,3247,1877
$GC,9645,1.18,233.8,557.9,9.5,592,9650,0.00,2.58,0.00,0.000,6,0.000,0.061,3018,1835,1876
$GC,9970,1.14,233.8,527.0,8.5,613,9975,0.15,2.60,0.00,0.000,4,0.091,0.064,2990,3244,1876
$GC,9992,1.14,233.8,525.0,8.2,614,9998,0.00,2.55,0.00,0.000,6,0.000,0.060,2990,1846,1876
$GC,10311,1.15,243.9,501.4,7.6,635,10328,0.00,2.62,10.18,1.045,4,0.000,0.062,2990,3252,1836
$GC,10357,1.20,243.9,497.7,8.0,637,10363,0.00,2.55,0.00,0.000,6,0.000,0.058,2990,1858,1836
$GC,10677,1.20,243.9,471.5,8.4,658,10681,0.00,2.55,0.00,0.000,4,0.000,0.062,2990,3246,1836
$GC,10706,1.25,243.9,468.9,8.9,660,10711,0.12,2.50,0.00,0.000,6,0.058,0.058,3022,1867,1836
$GC,11033,1.20,243.9,434.5,10.7,681,11037,0.00,2.58,0.00,0.000,4,0.000,0.068,3023,439,1836
$GC,11056,1.13,243.9,431.4,11.9,682,11063,0.17,2.53,0.00,0.000,6,0.090,0.051,2988,1860,1836
$GC,11375,1.13,243.9,403.0,8.4,703,11376,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1873,1837
$GC,11688,1.18,249.7,377.9,7.8,723,11701,0.00,0.00,6.80,0.879,6,0.000,0.000,2989,1874,1813
$GC,12015,1.23,258.7,353.0,7.7,744,12032,0.10,2.65,9.48,0.936,4,0.061,0.065,3016,439,1775
$GC,12043,1.23,258.7,350.3,9.4,745,12050,0.00,2.58,0.00,0.000,6,0.000,0.049,3016,1876,1775
$GC,12363,1.23,258.7,320.4,9.4,766,12364,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1891,1776
$GC,12675,1.23,258.7,291.1,9.4,786,12679,0.00,2.62,0.00,0.000,4,0.000,0.064,3016,439,1776
$GC,12704,1.18,258.7,288.3,10.2,788,12708,0.00,2.53,0.00,0.000,6,0.000,0.049,3017,1864,1776
$GC,13028,1.18,258.7,257.3,9.8,809,13029,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1878,1776
$GC,13340,1.18,258.7,226.1,10.0,829,13344,0.00,2.47,0.00,0.000,4,0.000,0.068,3016,3256,1776
$GC,13363,1.18,258.7,223.6,10.5,830,13369,0.00,2.50,0.00,0.000,6,0.000,0.058,3017,1857,1776
$GC,13682,1.18,258.7,190.6,10.6,851,13687,0.00,2.55,0.00,0.000,4,0.000,0.058,3017,3266,1777
$GC,13721,1.18,258.7,186.0,10.7,853,13727,0.00,2.47,0.00,0.000,6,0.000,0.051,3017,1876,1777
$GC,14041,1.18,258.7,154.8,9.3,874,14045,0.00,2.58,0.00,0.000,4,0.000,0.065,3016,438,1777
$GC,14074,1.14,258.7,151.5,9.4,876,14079,0.12,2.55,0.00,0.000,6,0.087,0.048,2993,1881,1777
$GC,14407,1.21,269.9,126.4,7.6,892,14424,0.00,0.00,11.05,0.816,6,0.000,0.000,2993,1897,1730
$GC,14737,1.27,269.9,99.5,8.0,908,14739,0.15,0.00,0.00,0.000,6,0.051,0.000,3034,1897,1730
$GC,15043,1.27,269.9,69.3,9.8,923,15045,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1897,1730
$GC,15354,1.23,269.9,38.8,10.3,938,15355,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1897,1730
$GC,15662,1.23,269.9,8.5,9.5,953,15666,0.00,2.60,0.00,0.000,4,0.000,0.061,3034,440,1730
$GC,15680,1.20,269.9,6.5,12.2,954,15685,0.15,2.55,0.00,0.000,6,0.086,0.046,3003,1888,1730
$STATE,15736,end climb,SURFACE_DEPTH_REACHED
$STATE,15736,begin surface coast
$FINISH,0.8,1.014336
$STATE,15759,end surface coast,CONTROL_FINISHED_OK
$STATE,15759,begin surface
$SM_CCo,15782,15.50,0.751,0,0,1608,300.00
$SM_GC,1.43,0.00,0.00,15.50,0.000,0.000,0.751,420,2153,1608,-10.70,0.62,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1808
$TCM_TEMP,16.20
$XPDR_PINGS,60
$ALTIM_BOTTOM_PING,695.6,37.3
$24V_AH,23.8,33.065
$10V_AH,10.1,15.046
$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,26.325,148.575,385.100,15.500,0.000,75.523,67.378,268.907,21.250,0.000,0.000,15.240,1662.296,11596.188,541.895,1865.420,737.544,33.367,1492.059,0.000,1824.364,0.000,43.850,0.000
$DEVICE_MAMPS,162.604,83.603,1305.434,750.893,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,655.493,700.812,536.675,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47323,958
$CAP_FILE_SIZE,132858,0
$CFSIZE,254472192,241266688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,300909,000206,6355.495,-1309.703,34,1.0,34,-12.5