version: 66.04
glider: 5
mission: 7
dive: 192
start: 9 30 109 20 12 8
data:
$ID,5
$MISSION,7
$DIVE,192
$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,-103873.04
$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,26
$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
$GPS1,200437,6346.413,-1320.925,36,1.1,36,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-59.9
$GPS2,201119,6346.356,-1320.887,15,1.0,15,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P6
$TGT_LATLONG,6402.820,-1325.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.057,0.239
$KALMAN_X,-56558.8,326.7,614.2,-191849.1,-2302.5
$KALMAN_Y,-2805.2,-1086.8,-126.2,244326.6,742.5
$MHEAD_RNG_PITCHd_Wd,25.9,30720,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.38,0.000,2,0.000,0.000,416,2153,2455
$GC,63,-1.22,-146.6,2.6,-4.8,2,124,11.55,2.58,-41.55,0.000,4,0.163,0.077,2475,3536,3429
$GC,143,-1.09,-146.6,7.1,-11.5,6,149,0.15,2.53,0.00,0.000,6,0.105,0.049,2505,2125,3430
$GC,471,-1.05,-146.6,42.3,-11.0,22,475,0.00,2.50,0.00,0.000,4,0.000,0.059,2505,721,3430
$GC,512,-1.05,-146.6,47.2,-12.3,24,516,0.00,2.50,0.00,0.000,6,0.000,0.048,2505,2129,3430
$GC,839,-1.02,-146.6,83.7,-10.5,40,843,0.00,2.55,0.00,0.000,4,0.000,0.061,2505,720,3430
$GC,894,-1.02,-146.6,90.2,-11.6,42,901,0.00,2.47,0.00,0.000,6,0.000,0.048,2505,2121,3430
$GC,1211,-1.02,-146.6,123.7,-10.6,58,1215,0.00,2.55,0.00,0.000,4,0.000,0.063,2505,3537,3430
$GC,1266,-1.02,-146.6,129.9,-10.8,60,1271,0.00,2.55,0.00,0.000,6,0.000,0.050,2505,2106,3430
$GC,1588,-1.02,-146.6,164.0,-11.8,77,1593,0.00,2.47,0.00,0.000,4,0.000,0.060,2505,709,3430
$GC,1673,-1.02,-146.6,175.3,-13.8,82,1677,0.00,2.47,0.00,0.000,6,0.000,0.048,2505,2111,3430
$GC,1992,-1.02,-146.6,213.1,-11.3,102,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2112,3431
$GC,2305,-1.02,-146.6,247.3,-10.6,122,2309,0.00,2.53,0.00,0.000,4,0.000,0.060,2505,714,3431
$GC,2344,-1.02,-146.6,251.6,-10.8,124,2350,0.00,2.45,0.00,0.000,6,0.000,0.049,2505,2095,3430
$GC,2663,-1.02,-146.6,285.8,-11.1,145,2667,0.00,2.50,0.00,0.000,4,0.000,0.060,2505,710,3430
$GC,2692,-1.02,-146.6,289.0,-11.5,147,2696,0.00,2.45,0.00,0.000,6,0.000,0.049,2505,2089,3430
$GC,3016,-1.02,-146.6,325.0,-11.2,168,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2090,3431
$GC,3329,-1.02,-146.6,360.0,-11.0,188,3333,0.00,2.50,0.00,0.000,4,0.000,0.061,2505,711,3430
$GC,3357,-1.02,-146.6,363.2,-11.0,190,3361,0.00,2.45,0.00,0.000,6,0.000,0.051,2505,2092,3430
$GC,3683,-1.02,-146.6,400.2,-11.4,211,3687,0.00,2.50,0.00,0.000,4,0.000,0.062,2505,709,3430
$GC,3717,-1.02,-146.6,404.4,-11.7,213,3721,0.00,2.42,0.00,0.000,6,0.000,0.050,2505,2075,3430
$GC,4037,-1.02,-146.6,438.0,-10.2,233,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2075,3430
$GC,4349,-1.02,-146.6,470.2,-10.0,253,4353,0.00,2.47,0.00,0.000,4,0.000,0.064,2505,721,3430
$GC,4382,-1.02,-146.6,473.6,-9.8,255,4386,0.00,2.40,0.00,0.000,6,0.000,0.051,2505,2067,3430
$GC,4701,-1.02,-146.6,504.4,-9.4,275,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2067,3430
$GC,5014,-1.02,-146.6,534.0,-9.6,295,5018,0.00,2.45,0.00,0.000,4,0.000,0.063,2505,720,3430
$GC,5053,-1.02,-146.6,537.9,-9.7,297,5059,0.00,2.40,0.00,0.000,6,0.000,0.051,2505,2068,3430
$GC,5372,-1.02,-146.6,569.4,-9.8,318,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2068,3429
$GC,5685,-1.02,-146.6,599.9,-9.8,338,5689,0.00,2.45,0.00,0.000,4,0.000,0.063,2505,721,3429
$GC,5723,-1.02,-146.6,604.1,-10.5,340,5730,0.00,2.38,0.00,0.000,6,0.000,0.051,2505,2055,3429
$GC,6043,-1.02,-146.6,634.2,-9.2,361,6047,0.00,2.67,0.00,0.000,4,0.000,0.070,2505,3533,3429
$GC,6071,-1.02,-146.6,637.0,-9.9,363,6075,0.00,2.65,0.00,0.000,6,0.000,0.058,2505,2061,3429
$GC,6395,-1.02,-146.6,665.8,-8.8,384,6399,0.00,2.38,0.00,0.000,4,0.000,0.064,2505,718,3429
$GC,6464,-1.02,-146.6,672.2,-9.5,388,6468,0.00,2.40,0.00,0.000,6,0.000,0.051,2505,2067,3429
$GC,6790,-1.02,-146.6,704.3,-10.3,409,6794,0.00,2.45,0.00,0.000,4,0.000,0.064,2505,721,3429
$GC,6829,-1.02,-146.6,708.8,-10.6,411,6835,0.00,2.38,0.00,0.000,6,0.000,0.051,2505,2056,3429
$GC,7147,-1.02,-146.6,740.8,-9.9,432,7152,0.00,2.70,0.00,0.000,4,0.000,0.073,2505,3538,3428
$GC,7186,-1.02,-146.6,744.9,-10.5,434,7197,0.00,2.70,0.00,0.000,6,0.000,0.061,2505,2048,3428
$GC,7505,-1.02,-146.6,776.4,-9.9,455,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2049,3428
$GC,7818,-1.02,-146.6,806.1,-9.2,475,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2048,3427
$GC,8130,-1.02,-146.6,832.9,-8.7,495,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2049,3427
$GC,8442,-1.02,-146.6,861.4,-9.0,515,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2048,3426
$STATE,8721,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8721,begin apogee
$GC,8729,-0.33,0.0,887.1,9.0,533,8862,0.77,0.00,130.12,1.436,6,0.079,0.000,2671,1849,2831
$STATE,8863,end apogee,CONTROL_FINISHED_OK
$STATE,8863,begin climb
$GC,8866,1.22,146.6,892.1,0.0,542,9007,1.55,2.67,130.55,1.395,4,0.062,0.077,3008,439,2233
$GC,9067,1.07,146.6,882.2,8.5,554,9072,0.15,2.58,0.00,0.000,6,0.098,0.056,2980,1853,2233
$GC,9386,1.12,178.9,860.4,6.8,574,9421,0.00,2.65,29.83,1.329,4,0.000,0.069,2980,3263,2101
$GC,9457,1.12,178.9,854.8,8.6,578,9461,0.00,2.62,0.00,0.000,6,0.000,0.067,2980,1859,2101
$GC,9776,1.14,189.4,829.8,7.6,598,9792,0.00,0.00,11.00,1.219,6,0.000,0.000,2980,1859,2057
$GC,10105,1.14,189.4,804.0,8.1,619,10109,0.00,2.62,0.00,0.000,4,0.000,0.077,2980,436,2056
$GC,10168,1.09,189.4,798.5,9.1,623,10172,0.00,2.58,0.00,0.000,6,0.000,0.058,2980,1854,2056
$GC,10492,1.09,189.4,771.4,8.6,644,10493,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1869,2056
$GC,10804,1.09,189.4,744.7,8.5,664,10809,0.00,2.65,0.00,0.000,4,0.000,0.076,2979,439,2055
$GC,10861,1.05,189.4,739.5,8.6,667,10867,0.00,2.55,0.00,0.000,6,0.000,0.056,2980,1852,2055
$GC,11180,1.11,228.7,715.9,6.6,688,11220,0.00,2.62,34.38,1.319,4,0.000,0.067,2980,3259,1898
$GC,11263,1.17,246.1,710.4,7.4,693,11287,0.00,2.60,17.12,1.253,6,0.000,0.064,2980,1853,1827
$GC,11611,1.17,246.1,683.6,8.1,715,11612,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1853,1827
$GC,11920,1.26,279.6,661.8,6.8,735,11953,0.17,0.00,30.20,1.267,6,0.054,0.000,3023,1853,1691
$GC,12265,1.21,279.6,628.6,9.4,757,12266,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1853,1691
$GC,12575,1.16,279.6,597.1,10.3,777,12580,0.15,2.58,0.00,0.000,4,0.094,0.071,2995,439,1691
$GC,12604,1.16,279.6,594.0,9.7,779,12608,0.00,2.55,0.00,0.000,6,0.000,0.052,2995,1860,1691
$GC,12928,1.16,279.6,564.2,9.2,800,12930,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1874,1692
$GC,13240,1.16,279.6,534.0,9.7,820,13244,0.00,2.62,0.00,0.000,4,0.000,0.067,2995,436,1692
$GC,13273,1.16,279.6,530.5,10.4,822,13277,0.00,2.53,0.00,0.000,6,0.000,0.051,2995,1854,1692
$GC,13592,1.16,279.6,500.0,9.2,842,13593,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1869,1692
$GC,13904,1.16,279.6,471.8,9.2,862,13905,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1869,1693
$GC,14217,1.16,279.6,442.7,9.3,882,14218,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1869,1693
$GC,14530,1.19,279.6,413.3,9.3,902,14534,0.00,2.60,0.00,0.000,4,0.000,0.067,2996,433,1693
$GC,14575,1.19,279.6,408.6,10.2,905,14579,0.00,2.50,0.00,0.000,6,0.000,0.049,2995,1845,1693
$GC,14900,1.22,279.6,377.4,9.2,926,14902,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1861,1693
$GC,15212,1.25,279.6,349.7,8.5,946,15214,0.10,0.00,0.00,0.000,6,0.060,0.000,3023,1862,1694
$GC,15524,1.22,279.6,317.7,10.2,966,15526,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1862,1694
$GC,15837,1.22,279.6,284.7,10.3,986,15838,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1862,1694
$GC,16149,1.19,279.6,253.0,10.2,1006,16153,0.00,2.58,0.00,0.000,4,0.000,0.066,3023,436,1695
$GC,16195,1.13,279.6,248.0,11.5,1009,16200,0.17,2.47,0.00,0.000,6,0.086,0.049,2988,1836,1695
$GC,16522,1.19,279.6,219.5,8.9,1030,16523,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1852,1695
$GC,16832,1.25,279.6,192.1,8.9,1050,16834,0.12,0.00,0.00,0.000,6,0.056,0.000,3023,1852,1695
$GC,17145,1.25,279.6,160.3,10.0,1070,17149,0.00,2.55,0.00,0.000,4,0.000,0.064,3023,436,1696
$GC,17190,1.20,279.6,155.5,10.1,1073,17195,0.00,2.45,0.00,0.000,6,0.000,0.048,3023,1833,1696
$GC,17524,1.20,279.6,122.2,11.1,1090,17525,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1848,1696
$GC,17833,1.20,279.6,92.9,8.5,1105,17837,0.00,2.50,0.00,0.000,4,0.000,0.057,3023,3253,1696
$GC,17873,1.20,279.6,89.2,9.7,1107,17877,0.00,2.58,0.00,0.000,6,0.000,0.050,3023,1802,1696
$GC,18200,1.20,279.6,56.9,10.1,1123,18205,0.00,2.62,0.00,0.000,4,0.000,0.056,3023,3259,1696
$GC,18255,1.20,279.6,51.4,10.7,1125,18262,0.00,2.55,0.00,0.000,6,0.000,0.050,3023,1818,1697
$GC,18573,1.20,279.6,21.8,9.4,1141,18577,0.00,2.45,0.00,0.000,4,0.000,0.062,3023,437,1697
$GC,18601,1.20,279.6,18.9,10.9,1142,18605,0.00,2.42,0.00,0.000,6,0.000,0.046,3023,1820,1697
$STATE,18770,end climb,SURFACE_DEPTH_REACHED
$STATE,18770,begin surface coast
$FINISH,0.7,1.015914
$STATE,18792,end surface coast,CONTROL_FINISHED_OK
$STATE,18792,begin surface
$SM_CCo,18816,11.32,0.726,0,0,1608,300.00
$SM_GC,2.40,0.00,0.00,11.32,0.000,0.000,0.726,420,2145,1608,-10.70,0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1813
$TCM_TEMP,17.40
$XPDR_PINGS,62
$ALTIM_BOTTOM_PING,820.7,76.4
$24V_AH,23.7,33.890
$10V_AH,10.1,15.501
$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,26.125,147.400,383.200,11.325,0.000,37.762,42.457,186.136,23.000,0.000,0.000,15.127,1963.920,13931.028,521.693,2188.771,616.912,33.355,1609.231,0.000,2142.933,0.000,50.947,0.000
$DEVICE_MAMPS,162.604,77.467,1435.824,725.582,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,789.302,843.750,595.082,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56868,1151
$CAP_FILE_SIZE,142730,0
$CFSIZE,254472192,240906240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,011009,012706,6347.633,-1319.813,29,1.1,29,-12.5