version: 66.04
glider: 5
mission: 7
dive: 188
start: 9 30 109 0 9 20
data:
$ID,5
$MISSION,7
$DIVE,188
$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,-103789.86
$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,25
$R_STBD_OVSHOOT,27
$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
$GPS1,000206,6355.495,-1309.703,34,1.0,34,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-58.2
$GPS2,000831,6355.473,-1309.588,17,1.6,17,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P3
$TGT_LATLONG,6349.750,-1321.120
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.022,-0.244
$KALMAN_X,-59355.0,2520.2,600.6,-181311.0,-8137.3
$KALMAN_Y,2036.1,-2395.2,-896.4,258433.0,11902.5
$MHEAD_RNG_PITCHd_Wd,197.6,14180,-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,-41.70,0.000,2,0.000,0.000,420,2155,2428
$GC,63,-1.22,-146.6,2.1,-2.4,2,128,11.50,2.53,-44.88,0.000,4,0.164,0.090,2470,3536,3430
$GC,381,-1.13,-146.6,38.6,-13.4,16,386,0.15,2.50,0.00,0.000,6,0.103,0.051,2500,2128,3431
$GC,705,-1.07,-146.6,76.5,-11.6,32,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2112,3431
$GC,1012,-1.07,-146.6,114.5,-11.9,47,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2112,3430
$GC,1321,-1.07,-146.6,150.1,-11.0,62,1325,0.00,2.58,0.00,0.000,4,0.000,0.065,2500,3532,3431
$GC,1360,-1.07,-146.6,154.6,-11.5,64,1366,0.00,2.50,0.00,0.000,6,0.000,0.054,2500,2132,3431
$GC,1679,-1.07,-146.6,188.1,-9.9,85,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2117,3431
$GC,1991,-1.07,-146.6,219.2,-9.7,105,1996,0.00,2.58,0.00,0.000,4,0.000,0.067,2500,3532,3431
$GC,2030,-1.07,-146.6,223.3,-10.2,107,2036,0.00,2.50,0.00,0.000,6,0.000,0.051,2500,2134,3431
$GC,2349,-1.07,-146.6,254.3,-9.8,128,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2120,3431
$GC,2662,-1.07,-146.6,286.0,-10.1,148,2666,0.00,2.53,0.00,0.000,4,0.000,0.062,2500,713,3431
$GC,2700,-1.07,-146.6,290.2,-10.8,150,2707,0.00,2.53,0.00,0.000,6,0.000,0.051,2500,2138,3431
$GC,3021,-1.07,-146.6,323.9,-10.8,171,3025,0.00,2.58,0.00,0.000,4,0.000,0.063,2501,714,3431
$GC,3060,-1.07,-146.6,328.5,-11.3,173,3066,0.00,2.53,0.00,0.000,6,0.000,0.055,2501,2136,3431
$GC,3379,-1.07,-146.6,363.2,-10.8,194,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2135,3431
$GC,3693,-1.07,-146.6,396.1,-10.5,214,3697,0.00,2.58,0.00,0.000,4,0.000,0.062,2500,714,3431
$GC,3776,-1.07,-146.6,405.5,-10.8,219,3780,0.00,2.50,0.00,0.000,6,0.000,0.051,2501,2123,3431
$GC,4095,-1.07,-146.6,440.7,-10.9,239,4099,0.00,2.53,0.00,0.000,4,0.000,0.063,2501,718,3430
$GC,4141,-1.07,-146.6,445.8,-11.0,242,4146,0.00,2.45,0.00,0.000,6,0.000,0.051,2501,2100,3430
$GC,4467,-1.07,-146.6,480.9,-11.2,263,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2101,3430
$GC,4779,-1.07,-146.6,513.5,-10.2,283,4783,0.00,2.50,0.00,0.000,4,0.000,0.064,2501,720,3430
$GC,4817,-1.07,-146.6,517.8,-10.3,285,4824,0.00,2.42,0.00,0.000,6,0.000,0.051,2500,2089,3430
$GC,5137,-1.07,-146.6,550.0,-10.4,306,5141,0.00,2.60,0.00,0.000,4,0.000,0.068,2500,3535,3430
$GC,5175,-1.07,-146.6,554.2,-10.9,308,5182,0.00,2.62,0.00,0.000,6,0.000,0.058,2500,2074,3430
$GC,5495,-1.07,-146.6,588.1,-10.7,329,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2075,3430
$GC,5807,-1.07,-146.6,619.9,-9.9,349,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2075,3429
$GC,6119,-1.07,-146.6,649.9,-9.7,369,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2075,3429
$GC,6431,-1.07,-146.6,677.9,-8.7,389,6436,0.00,2.70,0.00,0.000,4,0.000,0.071,2500,3536,3429
$GC,6515,-1.07,-146.6,685.3,-8.9,394,6520,0.00,2.67,0.00,0.000,6,0.000,0.064,2500,2051,3429
$GC,6836,-1.07,-146.6,712.5,-8.1,414,6840,0.00,2.40,0.00,0.000,4,0.000,0.068,2500,713,3428
$GC,6875,-1.10,-146.6,716.3,-9.2,416,6881,0.00,2.40,0.00,0.000,6,0.000,0.054,2500,2057,3429
$GC,7194,-1.10,-146.6,744.8,-8.9,437,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2057,3429
$GC,7506,-1.10,-146.6,772.5,-8.9,457,7510,0.00,2.47,0.00,0.000,4,0.000,0.073,2500,721,3428
$GC,7552,-1.14,-146.6,776.8,-9.1,460,7556,0.00,2.40,0.00,0.000,6,0.000,0.058,2501,2054,3427
$STATE,7576,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7576,begin apogee
$GC,7584,-0.33,0.0,779.5,10.3,462,7721,0.80,0.00,133.73,1.345,6,0.077,0.000,2673,1849,2831
$STATE,7722,end apogee,CONTROL_FINISHED_OK
$STATE,7722,begin climb
$GC,7725,1.22,146.6,784.4,0.0,471,7871,1.52,2.67,135.07,1.298,4,0.061,0.076,3006,438,2233
$GC,7913,1.09,146.6,775.8,8.9,483,7919,0.15,2.58,0.00,0.000,6,0.095,0.057,2978,1848,2233
$GC,8233,1.15,185.0,754.4,6.6,503,8269,0.00,0.00,35.00,1.264,6,0.000,0.000,2978,1866,2077
$GC,8576,1.17,202.6,729.5,7.4,525,8600,0.10,2.70,16.95,1.216,4,0.063,0.074,3005,442,2005
$GC,8618,1.09,202.6,725.8,9.3,527,8624,0.12,2.58,0.00,0.000,6,0.097,0.056,2982,1850,2004
$GC,8937,1.09,202.6,699.1,8.9,548,8941,0.00,2.65,0.00,0.000,4,0.000,0.076,2982,439,2004
$GC,8984,1.06,202.6,694.8,9.3,551,8988,0.00,2.53,0.00,0.000,6,0.000,0.057,2981,1830,2004
$GC,9308,1.06,202.6,668.0,8.0,572,9309,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1845,2003
$GC,9622,1.06,202.6,641.8,8.9,592,9626,0.00,2.60,0.00,0.000,4,0.000,0.067,2981,3261,2003
$GC,9644,1.09,202.6,639.7,9.0,593,9650,0.00,2.62,0.00,0.000,6,0.000,0.064,2982,1836,2002
$GC,9963,1.09,202.6,612.6,8.5,614,9967,0.00,2.62,0.00,0.000,4,0.000,0.071,2981,3255,2002
$GC,10009,1.12,202.6,608.6,8.7,617,10014,0.00,2.58,0.00,0.000,6,0.000,0.062,2981,1844,2002
$GC,10333,1.14,214.6,583.4,7.6,638,10350,0.00,2.60,11.27,1.124,4,0.000,0.070,2981,436,1956
$GC,10368,1.14,214.6,580.4,8.8,640,10373,0.00,2.55,0.00,0.000,6,0.000,0.053,2982,1850,1956
$GC,10694,1.14,214.6,553.5,8.8,661,10698,0.00,2.62,0.00,0.000,4,0.000,0.070,2982,430,1956
$GC,10709,1.14,214.6,551.9,8.7,662,10714,0.00,2.55,0.00,0.000,6,0.000,0.052,2982,1854,1956
$GC,11029,1.17,214.6,525.6,8.0,682,11031,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1869,1956
$GC,11341,1.20,214.6,500.0,8.2,702,11343,0.10,0.00,0.00,0.000,6,0.061,0.000,3010,1869,1956
$GC,11654,1.17,214.6,470.6,9.4,722,11655,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1869,1956
$GC,11965,1.17,214.6,441.5,9.0,742,11970,0.00,2.60,0.00,0.000,4,0.000,0.066,3010,433,1956
$GC,11988,1.12,214.6,439.3,9.3,743,11995,0.12,2.53,0.00,0.000,6,0.091,0.050,2986,1856,1956
$GC,12310,1.20,242.7,415.6,7.0,764,12343,0.00,2.67,25.00,1.068,4,0.000,0.065,2986,437,1841
$GC,12361,1.25,273.1,411.6,6.9,767,12394,0.12,2.53,26.75,1.066,6,0.055,0.049,3020,1860,1716
$GC,12705,1.25,273.1,379.5,9.0,789,12706,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1861,1718
$GC,13018,1.25,273.1,351.9,8.7,809,13022,0.00,2.60,0.00,0.000,4,0.000,0.066,3020,430,1718
$GC,13040,1.20,273.1,349.6,9.5,810,13046,0.00,2.47,0.00,0.000,6,0.000,0.049,3020,1827,1718
$GC,13359,1.20,273.1,320.7,9.2,831,13364,0.00,2.55,0.00,0.000,4,0.000,0.060,3020,3255,1718
$GC,13382,1.20,273.1,318.3,9.7,832,13388,0.00,2.58,0.00,0.000,6,0.000,0.054,3020,1828,1718
$GC,13701,1.20,273.1,286.2,10.9,853,13705,0.00,2.60,0.00,0.000,4,0.000,0.059,3020,3259,1719
$GC,13739,1.20,273.1,282.1,10.2,855,13746,0.00,2.55,0.00,0.000,6,0.000,0.054,3021,1841,1719
$GC,14059,1.20,273.1,249.0,10.2,876,14063,0.00,2.58,0.00,0.000,4,0.000,0.059,3021,3258,1719
$GC,14092,1.20,273.1,245.4,10.2,878,14096,0.00,2.50,0.00,0.000,6,0.000,0.053,3020,1863,1719
$GC,14411,1.20,273.1,213.6,9.8,898,14412,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1863,1719
$GC,14723,1.20,273.1,182.2,10.4,918,14727,0.00,2.53,0.00,0.000,4,0.000,0.059,3021,3258,1719
$GC,14756,1.20,273.1,178.4,10.6,920,14760,0.00,2.50,0.00,0.000,6,0.000,0.051,3021,1857,1719
$GC,15086,1.20,273.1,145.8,9.8,940,15087,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1857,1719
$GC,15396,1.20,273.1,114.6,10.2,955,15400,0.00,2.53,0.00,0.000,4,0.000,0.058,3021,3255,1719
$GC,15436,1.20,273.1,110.2,10.5,957,15440,0.00,2.47,0.00,0.000,6,0.000,0.050,3021,1861,1719
$GC,15763,1.20,273.1,78.3,9.3,973,15767,0.00,2.53,0.00,0.000,4,0.000,0.057,3021,3262,1719
$GC,15785,1.20,273.1,75.9,10.0,974,15790,0.00,2.45,0.00,0.000,6,0.000,0.048,3021,1879,1720
$GC,16108,1.20,273.1,45.8,9.4,990,16109,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1878,1720
$GC,16418,1.20,273.1,16.4,10.0,1005,16419,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1878,1720
$STATE,16558,end climb,SURFACE_DEPTH_REACHED
$STATE,16558,begin surface coast
$FINISH,1.0,1.027132
$STATE,16581,end surface coast,CONTROL_FINISHED_OK
$STATE,16581,begin surface
$SM_CCo,16605,14.50,0.746,0,0,1608,300.00
$SM_GC,1.32,0.00,0.00,14.50,0.000,0.000,0.746,425,2138,1608,-10.67,0.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1833
$TCM_TEMP,17.40
$XPDR_PINGS,56
$ALTIM_BOTTOM_PING,720.9,67.1
$24V_AH,23.8,33.223
$10V_AH,10.1,15.131
$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,25.975,143.625,383.775,14.500,0.000,37.760,27.122,184.692,20.500,0.000,0.000,17.524,1744.425,12186.374,539.872,1953.965,576.309,33.363,1521.742,0.000,1913.087,0.000,44.572,0.000
$DEVICE_MAMPS,164.138,89.739,1345.318,745.524,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,693.338,743.453,536.973,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50603,1013
$CAP_FILE_SIZE,131262,0
$CFSIZE,254472192,241197056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300909,044737,6352.905,-1312.109,37,0.9,37,-12.5