version: 66.04
glider: 5
mission: 7
dive: 197
start: 10 1 109 22 23 53
data:
$ID,5
$MISSION,7
$DIVE,197
$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,-103967.27
$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,26
$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
$GPS1,221706,6354.587,-1318.317,34,1.3,34,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-62.7
$GPS2,222302,6354.584,-1318.266,15,1.3,15,-12.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P6
$TGT_LATLONG,6402.820,-1325.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.155,0.190
$KALMAN_X,-57276.3,618.8,1229.6,-189760.0,-2971.0
$KALMAN_Y,-20049.9,332.3,845.5,274353.3,-6767.8
$MHEAD_RNG_PITCHd_Wd,51.7,16340,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.22,-146.6,0.0,0.0,0,59,0.00,0.00,-41.05,0.000,2,0.000,0.000,416,2087,2426
$GC,63,-1.22,-146.6,2.3,-2.5,2,122,11.52,0.00,-44.78,0.000,6,0.160,0.000,2475,2090,3430
$GC,430,-1.14,-146.6,42.5,-12.6,20,432,0.10,0.00,0.00,0.000,6,0.108,0.000,2493,2089,3430
$GC,738,-1.09,-146.6,76.9,-10.6,35,742,0.00,2.60,0.00,0.000,4,0.000,0.064,2493,3532,3430
$GC,806,-1.05,-146.6,84.5,-10.3,38,810,0.10,2.50,0.00,0.000,6,0.100,0.049,2515,2128,3431
$GC,1129,-1.05,-146.6,121.5,-11.1,54,1134,0.00,2.50,0.00,0.000,4,0.000,0.060,2515,720,3430
$GC,1158,-1.09,-146.6,125.5,-12.0,55,1162,0.00,2.50,0.00,0.000,6,0.000,0.049,2515,2128,3430
$GC,1485,-1.09,-146.6,159.7,-9.8,72,1490,0.00,2.55,0.00,0.000,4,0.000,0.061,2515,719,3430
$GC,1587,-1.12,-146.6,169.6,-9.8,78,1595,0.00,2.47,0.00,0.000,6,0.000,0.049,2515,2117,3430
$GC,1914,-1.12,-146.6,198.1,-8.2,99,1919,0.00,2.53,0.00,0.000,4,0.000,0.061,2515,720,3430
$GC,1948,-1.15,-146.6,201.1,-8.5,101,1953,0.00,2.47,0.00,0.000,6,0.000,0.049,2515,2118,3430
$GC,2267,-1.15,-146.6,229.7,-9.5,121,2271,0.00,2.53,0.00,0.000,4,0.000,0.061,2515,717,3431
$GC,2302,-1.15,-146.6,233.1,-9.7,123,2307,0.00,2.45,0.00,0.000,6,0.000,0.049,2515,2102,3431
$GC,2627,-1.15,-146.6,264.5,-9.7,144,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2102,3431
$GC,2940,-1.15,-146.6,295.9,-10.2,164,2944,0.00,2.53,0.00,0.000,4,0.000,0.063,2515,709,3431
$GC,3020,-1.19,-146.6,304.7,-11.0,169,3025,0.15,2.47,0.00,0.000,6,0.056,0.050,2474,2104,3431
$GC,3346,-1.12,-146.6,349.1,-13.9,190,3348,0.12,0.00,0.00,0.000,6,0.094,0.000,2499,2104,3431
$GC,3657,-1.12,-146.6,388.1,-12.2,210,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2102,3431
$GC,3969,-1.12,-146.6,425.5,-12.7,230,3973,0.00,2.53,0.00,0.000,4,0.000,0.062,2499,709,3431
$GC,4002,-1.12,-146.6,430.2,-13.7,232,4006,0.00,2.47,0.00,0.000,6,0.000,0.051,2499,2104,3431
$GC,4322,-1.12,-146.6,471.5,-12.7,252,4327,0.00,2.53,0.00,0.000,4,0.000,0.064,2499,713,3430
$GC,4351,-1.12,-146.6,475.4,-13.9,254,4355,0.00,2.45,0.00,0.000,6,0.000,0.052,2499,2092,3431
$GC,4676,-1.12,-146.6,516.8,-10.9,275,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2091,3431
$GC,4987,-1.12,-146.6,554.4,-13.9,295,4992,0.00,2.50,0.00,0.000,4,0.000,0.062,2499,713,3431
$GC,5039,-1.12,-146.6,561.8,-14.0,298,5043,0.00,2.45,0.00,0.000,6,0.000,0.051,2499,2091,3431
$GC,5359,-1.12,-146.6,605.5,-14.5,318,5363,0.00,2.60,0.00,0.000,4,0.000,0.068,2499,3531,3431
$GC,5425,-1.12,-146.6,614.6,-12.8,322,5430,0.00,2.58,0.00,0.000,6,0.000,0.055,2499,2097,3430
$GC,5745,-1.12,-146.6,652.2,-11.8,342,5749,0.00,2.47,0.00,0.000,4,0.000,0.066,2499,713,3431
$GC,5879,-1.12,-146.6,667.7,-9.7,350,5883,0.00,2.42,0.00,0.000,6,0.000,0.051,2499,2081,3430
$GC,6199,-1.12,-146.6,696.1,-8.1,370,6203,0.00,2.50,0.00,0.000,4,0.000,0.068,2499,719,3430
$GC,6266,-1.16,-146.6,702.5,-9.9,374,6270,0.00,2.42,0.00,0.000,6,0.000,0.055,2499,2071,3430
$GC,6585,-1.16,-146.6,730.7,-8.7,394,6589,0.00,2.47,0.00,0.000,4,0.000,0.068,2499,722,3429
$GC,6614,-1.16,-146.6,733.1,-8.7,396,6618,0.00,2.40,0.00,0.000,6,0.000,0.054,2499,2059,3429
$GC,6938,-1.16,-146.6,757.7,-7.8,417,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2061,3429
$STATE,7029,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7029,begin apogee
$GC,7036,-0.33,0.0,765.7,8.0,423,7170,0.80,0.00,130.38,1.345,6,0.076,0.000,2671,1826,2831
$STATE,7171,end apogee,CONTROL_FINISHED_OK
$STATE,7171,begin climb
$GC,7175,1.22,146.6,772.1,0.0,432,7316,1.55,2.65,130.30,1.307,4,0.061,0.076,3009,459,2233
$GC,7331,1.32,267.3,768.6,3.6,441,7446,0.12,2.55,108.28,1.275,6,0.057,0.058,3041,1863,1741
$GC,7758,1.23,267.3,719.8,12.2,469,7760,0.15,0.00,0.00,0.000,6,0.102,0.000,3014,1863,1741
$GC,8071,1.19,267.3,690.3,8.3,489,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1863,1739
$GC,8383,1.15,267.3,661.6,9.9,509,8387,0.00,2.62,0.00,0.000,4,0.000,0.079,3014,455,1738
$GC,8412,1.09,267.3,658.5,11.3,511,8417,0.17,2.50,0.00,0.000,6,0.094,0.059,2980,1830,1738
$GC,8740,1.20,319.7,632.8,6.1,532,8792,0.12,2.65,46.28,1.254,4,0.061,0.073,3012,448,1526
$GC,8833,1.17,319.7,624.6,10.7,538,8837,0.00,2.53,0.00,0.000,6,0.000,0.058,3012,1837,1526
$GC,9158,1.17,319.7,597.6,8.6,559,9162,0.00,2.60,0.00,0.000,4,0.000,0.074,3011,449,1527
$GC,9187,1.13,319.7,595.0,9.4,561,9191,0.00,2.50,0.00,0.000,6,0.000,0.057,3012,1832,1527
$GC,9511,1.14,326.3,567.3,7.8,582,9524,0.00,0.00,7.35,1.015,6,0.000,0.000,3012,1848,1500
$GC,9838,1.14,326.3,541.2,8.7,603,9842,0.00,2.58,0.00,0.000,4,0.000,0.071,3012,446,1500
$GC,9871,1.10,326.3,537.9,9.8,605,9876,0.15,2.47,0.00,0.000,6,0.090,0.053,2982,1827,1501
$GC,10194,1.23,355.8,516.1,6.9,625,10223,0.12,0.00,26.88,1.151,6,0.058,0.000,3016,1843,1380
$GC,10533,1.23,355.8,485.3,9.3,647,10537,0.00,2.55,0.00,0.000,4,0.000,0.071,3016,453,1381
$GC,10571,1.23,355.8,481.2,10.9,649,10577,0.00,2.45,0.00,0.000,6,0.000,0.052,3016,1822,1381
$GC,10891,1.23,355.8,452.1,8.9,670,10894,0.00,2.53,0.00,0.000,4,0.000,0.068,3016,454,1381
$GC,10918,1.23,355.8,449.3,9.9,671,10924,0.00,2.42,0.00,0.000,6,0.000,0.051,3016,1814,1381
$GC,11239,1.23,355.8,422.3,8.6,692,11240,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1830,1381
$GC,11549,1.23,355.8,393.5,9.2,712,11553,0.00,2.50,0.00,0.000,4,0.000,0.067,3016,444,1382
$GC,11577,1.23,355.8,390.7,9.7,713,11583,0.00,2.42,0.00,0.000,6,0.000,0.051,3016,1808,1382
$GC,11897,1.23,355.8,360.3,10.2,734,11898,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1825,1382
$GC,12208,1.23,355.8,325.5,11.4,754,12213,0.00,2.50,0.00,0.000,4,0.000,0.066,3016,444,1382
$GC,12238,1.23,355.8,321.9,13.0,756,12242,0.00,2.40,0.00,0.000,6,0.000,0.049,3016,1801,1383
$GC,12562,1.23,355.8,283.3,12.6,777,12563,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1817,1383
$GC,12874,1.23,355.8,243.5,13.1,797,12878,0.00,2.47,0.00,0.000,4,0.000,0.067,3016,452,1383
$GC,12907,1.23,355.8,238.7,14.3,799,12911,0.00,2.38,0.00,0.000,6,0.000,0.050,3016,1791,1383
$GC,13226,1.23,355.8,197.1,11.9,819,13230,0.00,2.60,0.00,0.000,4,0.000,0.058,3016,3257,1383
$GC,13259,1.29,355.8,192.8,12.1,821,13264,0.00,2.62,0.00,0.000,6,0.000,0.053,3016,1794,1384
$GC,13579,1.29,355.8,157.1,10.9,841,13583,0.00,2.65,0.00,0.000,4,0.000,0.058,3016,3261,1384
$GC,13618,1.37,355.8,152.9,9.5,843,13625,0.12,2.60,0.00,0.000,6,0.054,0.051,3052,1805,1384
$GC,13946,1.30,355.8,107.9,14.1,860,13948,0.12,0.00,0.00,0.000,6,0.089,0.000,3027,1805,1384
$GC,14255,1.30,355.8,68.0,12.4,875,14259,0.00,2.62,0.00,0.000,4,0.000,0.057,3027,3259,1384
$GC,14295,1.36,355.8,63.4,10.7,877,14299,0.00,2.60,0.00,0.000,6,0.000,0.050,3027,1799,1384
$GC,14622,1.36,355.8,28.1,10.7,893,14626,0.00,2.62,0.00,0.000,4,0.000,0.056,3027,3255,1384
$GC,14645,1.40,355.8,25.6,10.5,894,14650,0.10,2.60,0.00,0.000,6,0.060,0.050,3057,1795,1384
$STATE,14840,end climb,SURFACE_DEPTH_REACHED
$STATE,14840,begin surface coast
$FINISH,0.8,1.019755
$STATE,14861,end surface coast,CONTROL_FINISHED_OK
$STATE,14862,begin surface
$SM_CCo,14945,0.00,0.000,0,0,1384,354.95
$SM_GC,1.60,11.43,0.00,0.00,0.038,0.000,0.000,422,2147,1384,-10.58,0.45,354.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1827
$TCM_TEMP,17.20
$XPDR_PINGS,54
$ALTIM_BOTTOM_PING,721.2,53.6
$24V_AH,23.8,34.760
$10V_AH,10.1,15.950
$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,26.975,137.125,449.450,0.000,0.000,37.761,26.915,156.789,20.000,0.000,0.000,15.222,1568.242,10859.660,546.673,1789.561,530.882,33.365,1467.582,0.000,1751.198,0.000,44.543,0.000
$DEVICE_MAMPS,160.303,79.001,1344.551,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,619.494,661.986,483.282,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47365,905
$CAP_FILE_SIZE,122025,0
$CFSIZE,254472192,240590848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,021009,023406,6354.682,-1315.132,31,1.0,31,-12.5