version: 66.04
glider: 5
mission: 7
dive: 195
start: 10 1 109 12 13 21
data:
$ID,5
$MISSION,7
$DIVE,195
$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,-103935.47
$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,31
$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
$GPS1,120606,6350.899,-1319.911,32,1.6,32,-12.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-65.9
$GPS2,121232,6350.870,-1319.984,13,1.6,13,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P6
$TGT_LATLONG,6402.820,-1325.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.005,0.245
$KALMAN_X,-56650.5,-211.1,203.4,-190036.1,45.6
$KALMAN_Y,-14857.7,746.3,-63.7,262814.8,-5763.6
$MHEAD_RNG_PITCHd_Wd,11.5,22578,-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,-41.42,0.000,2,0.000,0.000,417,2149,2440
$GC,63,-1.22,-146.6,2.4,-4.0,2,127,11.23,2.55,-42.22,0.000,4,0.155,0.075,2472,3532,3429
$GC,138,-1.09,-146.6,7.0,-12.8,5,144,0.17,2.53,0.00,0.000,6,0.096,0.048,2510,2118,3429
$GC,455,-1.09,-146.6,43.9,-11.9,20,459,0.00,2.50,0.00,0.000,4,0.000,0.059,2510,711,3430
$GC,477,-1.09,-146.6,46.7,-12.2,21,481,0.00,2.50,0.00,0.000,6,0.000,0.048,2510,2123,3430
$GC,798,-1.09,-146.6,83.5,-10.9,37,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2122,3430
$GC,1107,-1.09,-146.6,113.5,-9.6,52,1112,0.00,2.55,0.00,0.000,4,0.000,0.064,2510,3537,3430
$GC,1175,-1.09,-146.6,120.6,-10.5,55,1179,0.00,2.50,0.00,0.000,6,0.000,0.049,2510,2134,3430
$GC,1491,-1.09,-146.6,153.1,-10.4,71,1496,0.00,2.53,0.00,0.000,4,0.000,0.061,2510,711,3430
$GC,1525,-1.09,-146.6,156.8,-10.8,73,1529,0.00,2.53,0.00,0.000,6,0.000,0.048,2510,2138,3430
$GC,1844,-1.09,-146.6,191.7,-11.5,93,1849,0.00,2.58,0.00,0.000,4,0.000,0.061,2510,713,3430
$GC,1900,-1.09,-146.6,198.3,-11.6,96,1906,0.00,2.50,0.00,0.000,6,0.000,0.048,2510,2125,3430
$GC,2219,-1.09,-146.6,232.1,-10.3,117,2223,0.00,2.55,0.00,0.000,4,0.000,0.063,2510,720,3430
$GC,2265,-1.09,-146.6,237.1,-10.8,120,2269,0.00,2.47,0.00,0.000,6,0.000,0.051,2510,2116,3430
$GC,2590,-1.09,-146.6,271.1,-10.8,141,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2116,3430
$GC,2902,-1.09,-146.6,304.6,-10.7,161,2906,0.00,2.53,0.00,0.000,4,0.000,0.062,2510,721,3430
$GC,2981,-1.09,-146.6,312.7,-9.4,166,2986,0.00,2.45,0.00,0.000,6,0.000,0.050,2510,2107,3430
$GC,3306,-1.09,-146.6,347.2,-10.7,187,3310,0.00,2.53,0.00,0.000,4,0.000,0.065,2510,721,3431
$GC,3351,-1.09,-146.6,352.2,-11.0,190,3356,0.00,2.42,0.00,0.000,6,0.000,0.051,2509,2087,3430
$GC,3676,-1.09,-146.6,388.2,-11.2,211,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2086,3430
$GC,3991,-1.09,-146.6,423.0,-11.1,231,3995,0.00,2.50,0.00,0.000,4,0.000,0.064,2510,711,3430
$GC,4024,-1.09,-146.6,426.9,-11.4,233,4028,0.00,2.45,0.00,0.000,6,0.000,0.051,2510,2091,3430
$GC,4343,-1.09,-146.6,457.8,-9.3,253,4347,0.00,2.47,0.00,0.000,4,0.000,0.064,2509,720,3430
$GC,4371,-1.09,-146.6,460.5,-9.8,255,4376,0.00,2.42,0.00,0.000,6,0.000,0.051,2510,2086,3430
$GC,4696,-1.09,-146.6,489.9,-9.0,276,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2086,3430
$GC,5009,-1.09,-146.6,519.3,-9.6,296,5013,0.00,2.47,0.00,0.000,4,0.000,0.064,2510,715,3430
$GC,5061,-1.12,-146.6,524.4,-9.8,299,5065,0.00,2.42,0.00,0.000,6,0.000,0.051,2510,2076,3430
$GC,5385,-1.12,-146.6,556.5,-9.8,320,5389,0.00,2.47,0.00,0.000,4,0.000,0.065,2510,718,3429
$GC,5424,-1.15,-146.6,560.4,-10.1,322,5430,0.00,2.40,0.00,0.000,6,0.000,0.051,2510,2067,3429
$GC,5743,-1.15,-146.6,591.7,-9.7,343,5747,0.00,2.45,0.00,0.000,4,0.000,0.062,2510,713,3429
$GC,5796,-1.18,-146.6,597.0,-10.0,346,5800,0.00,2.38,0.00,0.000,6,0.000,0.051,2510,2051,3429
$GC,6121,-1.18,-146.6,631.1,-11.9,367,6126,0.10,2.42,0.00,0.000,4,0.064,0.064,2479,717,3428
$GC,6168,-1.18,-146.6,637.1,-14.4,370,6172,0.00,2.38,0.00,0.000,6,0.000,0.051,2479,2047,3429
$GC,6497,-1.14,-146.6,679.8,-12.4,391,6501,0.00,2.42,0.00,0.000,4,0.000,0.064,2479,714,3428
$GC,6536,-1.14,-146.6,685.2,-11.6,393,6542,0.00,2.35,0.00,0.000,6,0.000,0.051,2479,2037,3428
$GC,6856,-1.11,-146.6,724.4,-12.4,414,6861,0.12,2.42,0.00,0.000,4,0.101,0.064,2505,708,3429
$GC,6890,-1.15,-146.6,728.4,-11.2,416,6894,0.00,2.35,0.00,0.000,6,0.000,0.053,2505,2027,3428
$GC,7209,-1.15,-146.6,756.1,-8.0,436,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2028,3428
$GC,7521,-1.15,-146.6,783.4,-9.7,456,7526,0.00,2.75,0.00,0.000,4,0.000,0.074,2505,3534,3428
$GC,7577,-1.15,-146.6,789.1,-9.9,459,7583,0.00,2.70,0.00,0.000,6,0.000,0.061,2505,2043,3427
$GC,7896,-1.15,-146.6,816.7,-8.2,480,7900,0.00,2.40,0.00,0.000,4,0.000,0.071,2505,713,3427
$GC,7936,-1.19,-146.6,820.5,-9.4,482,7942,0.00,2.38,0.00,0.000,6,0.000,0.055,2505,2040,3427
$GC,8255,-1.19,-146.6,848.6,-9.4,503,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2040,3427
$GC,8567,-1.22,-146.6,878.8,-8.8,523,8572,0.12,2.72,0.00,0.000,4,0.062,0.073,2470,3533,3426
$STATE,8620,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8621,begin apogee
$GC,8631,-0.33,0.0,883.7,8.7,526,8772,0.93,0.00,133.00,1.426,6,0.084,0.000,2668,1850,2831
$STATE,8773,end apogee,CONTROL_FINISHED_OK
$STATE,8773,begin climb
$GC,8776,1.22,146.6,890.6,0.0,536,8920,1.55,2.70,134.48,1.383,4,0.058,0.071,3009,3248,2233
$GC,8952,1.15,146.6,885.0,8.9,547,8957,0.00,2.62,0.00,0.000,6,0.000,0.064,3010,1840,2233
$GC,9278,1.11,189.0,861.7,6.5,568,9324,0.12,2.70,39.67,1.333,4,0.098,0.066,2987,3261,2060
$GC,9353,1.12,190.5,856.6,7.9,572,9359,0.00,2.62,0.00,0.000,6,0.000,0.064,2987,1850,2059
$GC,9672,1.19,233.3,837.3,6.4,593,9717,0.00,0.00,41.33,1.340,6,0.000,0.000,2987,1850,1879
$GC,10030,1.19,233.3,810.3,8.6,616,10034,0.00,2.62,0.00,0.000,4,0.000,0.068,2987,3259,1878
$GC,10063,1.19,233.3,807.1,9.4,618,10067,0.00,2.60,0.00,0.000,6,0.000,0.064,2987,1855,1878
$GC,10382,1.19,233.3,780.6,8.6,638,10386,0.00,2.60,0.00,0.000,4,0.000,0.077,2987,442,1878
$GC,10421,1.15,233.3,777.1,9.3,640,10428,0.00,2.55,0.00,0.000,6,0.000,0.057,2987,1853,1878
$GC,10740,1.15,233.3,751.8,8.3,661,10742,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1868,1877
$GC,11053,1.17,246.6,727.0,7.5,681,11068,0.00,0.00,12.95,1.223,6,0.000,0.000,2987,1868,1825
$GC,11380,1.24,292.4,704.6,6.3,702,11428,0.12,2.65,41.47,1.305,4,0.060,0.065,3019,3258,1639
$GC,11451,1.24,292.4,698.5,9.0,706,11457,0.00,2.62,0.00,0.000,6,0.000,0.063,3019,1847,1639
$GC,11771,1.21,292.4,666.7,10.5,727,11772,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1847,1640
$GC,12082,1.21,292.4,630.6,12.0,747,12086,0.00,2.58,0.00,0.000,4,0.000,0.072,3019,436,1639
$GC,12145,1.15,292.4,622.7,13.3,751,12150,0.12,2.55,0.00,0.000,6,0.096,0.054,2997,1858,1640
$GC,12470,1.15,292.4,591.0,9.4,772,12474,0.00,2.53,0.00,0.000,4,0.000,0.063,2996,3262,1640
$GC,12492,1.19,292.4,588.9,9.0,773,12498,0.00,2.60,0.00,0.000,6,0.000,0.058,2996,1836,1640
$GC,12811,1.19,292.4,558.4,10.2,794,12813,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1836,1640
$GC,13123,1.19,292.4,529.0,9.9,814,13128,0.00,2.60,0.00,0.000,4,0.000,0.061,2997,3258,1640
$GC,13153,1.25,292.4,526.0,10.7,816,13157,0.00,2.58,0.00,0.000,6,0.000,0.057,2997,1838,1640
$GC,13477,1.25,292.4,494.7,9.6,837,13482,0.00,2.60,0.00,0.000,4,0.000,0.060,2996,3263,1640
$GC,13507,1.31,292.4,491.8,10.3,839,13512,0.15,2.55,0.00,0.000,6,0.053,0.057,3035,1846,1640
$GC,13834,1.26,292.4,452.4,12.3,860,13835,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1846,1641
$GC,14145,1.20,292.4,416.1,11.4,880,14146,0.15,0.00,0.00,0.000,6,0.091,0.000,3006,1846,1641
$GC,14456,1.20,292.4,383.4,10.6,900,14460,0.00,2.58,0.00,0.000,4,0.000,0.059,3006,3263,1641
$GC,14489,1.25,292.4,379.8,10.0,902,14494,0.00,2.53,0.00,0.000,6,0.000,0.054,3006,1857,1641
$GC,14808,1.25,292.4,343.9,11.1,922,14810,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1857,1642
$GC,15121,1.25,292.4,313.0,8.9,942,15125,0.00,2.55,0.00,0.000,4,0.000,0.059,3006,3262,1642
$GC,15167,1.31,292.4,308.5,9.3,945,15172,0.12,2.50,0.00,0.000,6,0.055,0.052,3041,1866,1642
$GC,15494,1.25,292.4,270.9,11.6,966,15496,0.12,0.00,0.00,0.000,6,0.092,0.000,3017,1866,1642
$GC,15804,1.25,292.4,236.6,10.9,986,15805,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1866,1642
$GC,16116,1.25,292.4,203.3,10.1,1006,16120,0.00,2.50,0.00,0.000,4,0.000,0.058,3016,3258,1643
$GC,16166,1.29,292.4,198.1,9.8,1009,16170,0.00,2.47,0.00,0.000,6,0.000,0.051,3017,1869,1643
$GC,16485,1.29,292.4,165.2,10.9,1029,16486,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1869,1643
$GC,16807,1.29,292.4,132.7,9.7,1047,16811,0.00,2.50,0.00,0.000,4,0.000,0.058,3016,3258,1643
$GC,16840,1.32,292.4,129.1,11.5,1048,16847,0.00,2.45,0.00,0.000,6,0.000,0.050,3017,1878,1643
$GC,17159,1.32,292.4,96.6,10.5,1064,17160,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1878,1643
$GC,17466,1.32,292.4,66.4,9.5,1079,17470,0.00,2.58,0.00,0.000,4,0.000,0.064,3017,435,1644
$GC,17516,1.32,292.4,61.3,8.9,1081,17520,0.00,2.55,0.00,0.000,6,0.000,0.048,3017,1885,1644
$GC,17832,1.32,292.4,33.9,8.5,1096,17836,0.00,2.42,0.00,0.000,4,0.000,0.058,3017,3257,1644
$GC,17877,1.37,292.4,29.5,9.4,1098,17882,0.12,2.45,0.00,0.000,6,0.054,0.050,3053,1877,1644
$STATE,18115,end climb,SURFACE_DEPTH_REACHED
$STATE,18115,begin surface coast
$FINISH,0.8,1.027490
$STATE,18135,end surface coast,CONTROL_FINISHED_OK
$STATE,18135,begin surface
$SM_CCo,18159,4.62,0.575,0,0,1607,300.00
$SM_GC,2.69,0.00,0.00,4.62,0.000,0.000,0.575,418,2148,1607,-10.70,0.48,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1813
$TCM_TEMP,17.20
$XPDR_PINGS,63
$ALTIM_BOTTOM_PING,845.9,47.7
$24V_AH,23.7,34.406
$10V_AH,10.1,15.780
$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,26.625,172.500,402.900,4.625,0.000,37.761,31.465,183.113,23.500,0.000,0.000,13.715,1908.769,13332.510,568.560,2125.896,609.992,33.365,1632.401,0.000,2085.162,0.000,52.445,0.000
$DEVICE_MAMPS,154.934,76.700,1425.853,575.250,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,761.203,818.300,577.817,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56895,1111
$CAP_FILE_SIZE,145496,0
$CFSIZE,254472192,240689152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,011009,171725,6351.896,-1322.953,38,1.6,38,-12.6