version: 66.04
glider: 5
mission: 7
dive: 196
start: 10 1 109 17 31 15
data:
$ID,5
$MISSION,7
$DIVE,196
$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,-103951.41
$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,24
$R_STBD_OVSHOOT,30
$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
$GPS1,171725,6351.896,-1322.953,38,1.6,38,-12.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-67.2
$GPS2,173026,6351.856,-1322.855,15,1.6,15,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P6
$TGT_LATLONG,6402.820,-1325.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.020,0.243
$KALMAN_X,-58739.3,144.4,-599.9,-189996.4,-327.1
$KALMAN_Y,-18965.3,353.7,279.9,268789.0,-7544.1
$MHEAD_RNG_PITCHd_Wd,17.4,20418,-14.9,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.23,-145.5,0.0,0.0,0,61,0.00,0.00,-41.00,0.000,2,0.000,0.000,418,2159,2423
$GC,65,-1.23,-146.6,2.0,-1.7,2,129,11.40,2.58,-42.08,0.000,4,0.160,0.075,2469,3537,3429
$GC,158,-1.10,-146.6,9.3,-14.0,6,163,0.17,2.53,0.00,0.000,6,0.092,0.050,2505,2128,3429
$GC,480,-1.10,-146.6,49.0,-11.9,22,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2115,3429
$GC,789,-1.10,-146.6,86.7,-12.2,37,793,0.00,2.58,0.00,0.000,4,0.000,0.064,2505,3530,3429
$GC,822,-1.10,-146.6,91.1,-12.6,38,829,0.00,2.50,0.00,0.000,6,0.000,0.049,2505,2124,3429
$GC,1139,-1.10,-146.6,131.1,-12.8,54,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2112,3429
$GC,1459,-1.10,-146.6,169.0,-11.0,72,1463,0.00,2.47,0.00,0.000,4,0.000,0.061,2505,721,3429
$GC,1538,-1.10,-146.6,177.8,-11.0,76,1544,0.00,2.47,0.00,0.000,6,0.000,0.048,2506,2120,3430
$GC,1857,-1.10,-146.6,211.2,-10.1,97,1861,0.00,2.53,0.00,0.000,4,0.000,0.060,2505,722,3430
$GC,1903,-1.10,-146.6,215.8,-10.3,100,1907,0.00,2.47,0.00,0.000,6,0.000,0.049,2506,2115,3429
$GC,2229,-1.10,-146.6,245.2,-9.2,121,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2115,3430
$GC,2541,-1.10,-146.6,273.9,-10.8,141,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2115,3430
$GC,2854,-1.10,-146.6,309.3,-11.2,161,2858,0.00,2.53,0.00,0.000,4,0.000,0.062,2505,721,3430
$GC,2887,-1.10,-146.6,313.7,-12.3,163,2891,0.00,2.47,0.00,0.000,6,0.000,0.050,2505,2117,3430
$GC,3206,-1.10,-146.6,349.0,-11.2,183,3211,0.00,2.53,0.00,0.000,4,0.000,0.061,2506,721,3430
$GC,3236,-1.10,-146.6,352.3,-12.0,185,3240,0.00,2.45,0.00,0.000,6,0.000,0.051,2506,2101,3429
$GC,3560,-1.10,-146.6,388.6,-11.3,206,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2101,3430
$GC,3875,-1.10,-146.6,421.5,-10.2,226,3880,0.00,2.50,0.00,0.000,4,0.000,0.063,2505,721,3430
$GC,3942,-1.10,-146.6,428.3,-10.0,230,3947,0.00,2.42,0.00,0.000,6,0.000,0.051,2506,2089,3430
$GC,4261,-1.10,-146.6,459.5,-10.4,250,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2089,3430
$GC,4574,-1.10,-146.6,491.3,-10.5,270,4578,0.00,2.50,0.00,0.000,4,0.000,0.063,2505,708,3430
$GC,4607,-1.10,-146.6,494.9,-10.7,272,4615,0.00,2.45,0.00,0.000,6,0.000,0.051,2505,2089,3429
$GC,4934,-1.10,-146.6,529.4,-10.5,293,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2089,3430
$GC,5246,-1.10,-146.6,560.9,-9.9,313,5250,0.00,2.50,0.00,0.000,4,0.000,0.064,2505,711,3429
$GC,5302,-1.10,-146.6,566.7,-10.4,316,5308,0.00,2.42,0.00,0.000,6,0.000,0.051,2506,2078,3429
$GC,5622,-1.10,-146.6,598.5,-9.8,337,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2077,3428
$GC,5933,-1.10,-146.6,631.4,-11.3,357,5938,0.00,2.47,0.00,0.000,4,0.000,0.066,2505,722,3428
$GC,5990,-1.13,-146.6,637.7,-11.1,360,5996,0.00,2.40,0.00,0.000,6,0.000,0.051,2506,2070,3428
$GC,6310,-1.13,-146.6,667.8,-8.3,381,6314,0.00,2.65,0.00,0.000,4,0.000,0.068,2505,3537,3428
$GC,6338,-1.13,-146.6,670.6,-9.3,383,6342,0.00,2.67,0.00,0.000,6,0.000,0.058,2505,2051,3428
$GC,6663,-1.13,-146.6,695.1,-7.7,404,6667,0.00,2.40,0.00,0.000,4,0.000,0.067,2505,712,3428
$GC,6697,-1.17,-146.6,698.4,-9.5,406,6701,0.00,2.40,0.00,0.000,6,0.000,0.052,2505,2060,3428
$GC,7017,-1.20,-146.6,728.1,-9.8,426,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2061,3428
$GC,7329,-1.20,-146.6,755.6,-10.7,446,7333,0.00,2.47,0.00,0.000,4,0.000,0.070,2506,715,3428
$GC,7466,-1.24,-146.6,770.1,-11.6,454,7471,0.15,2.35,0.00,0.000,6,0.061,0.056,2465,2033,3428
$GC,7794,-1.18,-146.6,810.4,-12.0,475,7799,0.10,2.42,0.00,0.000,4,0.111,0.073,2483,720,3427
$STATE,7870,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7870,begin apogee
$GC,7880,-0.33,0.0,818.6,10.6,480,8016,0.88,0.00,132.55,1.378,6,0.083,0.000,2670,1865,2831
$STATE,8016,end apogee,CONTROL_FINISHED_OK
$STATE,8017,begin climb
$GC,8020,1.23,146.6,823.8,0.0,489,8163,1.55,2.75,134.25,1.335,4,0.061,0.077,3008,449,2233
$GC,8260,1.11,146.6,813.9,10.6,504,8264,0.00,2.55,0.00,0.000,6,0.000,0.058,3008,1854,2233
$GC,8585,1.04,146.6,786.2,8.2,525,8590,0.17,2.67,0.00,0.000,4,0.097,0.077,2973,438,2232
$GC,8669,1.06,161.7,780.2,7.4,530,8689,0.00,2.55,14.50,1.228,6,0.000,0.058,2973,1856,2171
$GC,9012,1.09,175.8,755.3,7.5,552,9032,0.00,2.72,13.60,1.234,4,0.000,0.079,2973,450,2114
$GC,9096,1.03,175.8,747.9,9.0,557,9101,0.00,2.47,0.00,0.000,6,0.000,0.060,2973,1801,2114
$GC,9422,1.04,182.6,721.3,7.8,578,9435,0.00,0.00,7.80,1.122,6,0.000,0.000,2973,1818,2085
$GC,9749,1.06,195.4,696.8,7.5,599,9763,0.00,0.00,12.32,1.220,6,0.000,0.000,2973,1818,2034
$GC,10077,1.19,252.8,672.8,5.9,620,10133,0.15,2.62,50.47,1.305,4,0.058,0.075,3010,442,1800
$GC,10168,1.12,252.8,666.1,8.5,625,10174,0.00,2.55,0.00,0.000,6,0.000,0.058,3010,1835,1800
$GC,10488,1.12,276.0,643.5,7.1,646,10515,0.00,0.00,21.35,1.229,6,0.000,0.000,3010,1851,1706
$GC,10829,1.12,276.0,613.1,9.5,668,10830,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1851,1706
$GC,11141,1.12,276.0,582.5,9.8,688,11142,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1851,1706
$GC,11454,1.12,276.0,548.4,12.0,708,11455,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1851,1706
$GC,11766,1.12,276.0,509.7,12.1,728,11767,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1851,1706
$GC,12078,1.12,276.0,473.1,11.7,748,12079,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1851,1707
$GC,12391,1.12,276.0,438.9,11.0,768,12392,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1851,1707
$GC,12703,1.12,276.0,406.3,9.8,788,12707,0.00,2.55,0.00,0.000,4,0.000,0.060,3010,3263,1708
$GC,12749,1.16,276.0,401.5,10.1,791,12753,0.00,2.60,0.00,0.000,6,0.000,0.056,3010,1825,1708
$GC,13073,1.16,276.0,368.6,9.9,812,13078,0.00,2.62,0.00,0.000,4,0.000,0.059,3010,3266,1708
$GC,13107,1.16,276.0,365.0,10.0,814,13111,0.00,2.60,0.00,0.000,6,0.000,0.055,3010,1827,1708
$GC,13426,1.16,276.0,334.2,9.5,834,13430,0.00,2.60,0.00,0.000,4,0.000,0.059,3010,3258,1708
$GC,13472,1.20,276.0,329.8,9.4,837,13476,0.00,2.50,0.00,0.000,6,0.000,0.054,3010,1850,1708
$GC,13796,1.20,276.0,299.4,9.2,858,13800,0.00,2.55,0.00,0.000,4,0.000,0.059,3010,3258,1709
$GC,13835,1.24,276.0,295.8,9.2,860,13842,0.00,2.50,0.00,0.000,6,0.000,0.053,3010,1862,1709
$GC,14155,1.24,276.0,267.2,8.9,881,14156,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1862,1709
$GC,14468,1.24,276.0,239.1,8.6,901,14472,0.00,2.53,0.00,0.000,4,0.000,0.058,3010,3259,1710
$GC,14530,1.27,276.0,233.1,9.4,905,14534,0.00,2.47,0.00,0.000,6,0.000,0.051,3010,1870,1710
$GC,14860,1.27,276.0,204.3,8.5,926,14861,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1870,1710
$GC,15173,1.27,276.0,176.0,9.2,946,15177,0.00,2.53,0.00,0.000,4,0.000,0.058,3010,3266,1711
$GC,15206,1.31,276.0,172.5,9.6,948,15210,0.00,2.47,0.00,0.000,6,0.000,0.051,3010,1876,1710
$GC,15531,1.31,276.0,142.0,9.1,967,15536,0.00,2.58,0.00,0.000,4,0.000,0.064,3010,434,1711
$GC,15577,1.31,276.0,137.1,10.3,969,15581,0.00,2.58,0.00,0.000,6,0.000,0.048,3010,1894,1711
$GC,15898,1.31,276.0,107.2,9.1,985,15902,0.00,2.65,0.00,0.000,4,0.000,0.063,3009,439,1711
$GC,15948,1.31,276.0,102.4,9.3,987,15952,0.00,2.50,0.00,0.000,6,0.000,0.047,3010,1869,1711
$GC,16264,1.31,276.0,74.9,8.3,1002,16268,0.00,2.45,0.00,0.000,4,0.000,0.058,3010,3256,1711
$GC,16315,1.36,276.0,70.1,9.1,1004,16320,0.15,2.47,0.00,0.000,6,0.049,0.049,3051,1854,1712
$GC,16632,1.31,276.0,40.1,10.7,1019,16637,0.12,2.53,0.00,0.000,4,0.091,0.056,3027,3254,1712
$GC,16677,1.31,276.0,35.1,11.2,1021,16681,0.00,2.47,0.00,0.000,6,0.000,0.050,3027,1860,1712
$GC,16999,1.31,276.0,4.3,9.4,1037,17003,0.00,2.53,0.00,0.000,4,0.000,0.058,3027,3259,1712
$STATE,17013,end climb,SURFACE_DEPTH_REACHED
$STATE,17014,begin surface coast
$FINISH,0.8,1.027119
$STATE,17037,end surface coast,CONTROL_FINISHED_OK
$STATE,17037,begin surface
$SM_CCo,17063,13.32,0.743,0,0,1608,300.00
$SM_GC,1.93,0.00,0.00,13.32,0.000,0.000,0.743,417,2099,1608,-10.71,-0.88,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1808
$TCM_TEMP,17.10
$XPDR_PINGS,54
$ALTIM_BOTTOM_PING,795.4,33.0
$24V_AH,23.8,34.582
$10V_AH,10.1,15.872
$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,26.075,145.475,386.850,13.325,0.000,113.292,183.015,221.584,20.750,0.000,0.000,15.309,1794.161,12622.455,528.741,2050.680,855.054,33.370,1553.267,0.000,2004.429,0.000,50.442,0.000
$DEVICE_MAMPS,160.303,79.001,1377.532,743.223,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,712.454,763.999,546.954,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53723,1039
$CAP_FILE_SIZE,137264,0
$CFSIZE,254472192,240631808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,011009,221706,6354.587,-1318.317,34,1.3,34,-12.6