version: 66.04
glider: 5
mission: 7
dive: 198
start: 10 2 109 2 42 29
data:
$ID,5
$MISSION,7
$DIVE,198
$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,-103978.51
$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,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
$GPS1,023406,6354.682,-1315.132,31,1.0,31,-12.5
$_CALLS,1
$_XMS_NAKs,25
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-63.8
$GPS2,024138,6354.599,-1315.075,10,1.4,10,-12.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,P6
$TGT_LATLONG,6402.820,-1325.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.070,0.235
$KALMAN_X,-55871.4,485.0,-892.4,-186088.0,2234.0
$KALMAN_Y,-23642.8,637.2,-363.7,278903.3,-6650.1
$MHEAD_RNG_PITCHd_Wd,355.9,17413,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.53,0.000,2,0.000,0.000,421,2155,2610
$GC,82,-1.22,-146.6,2.7,-3.2,3,134,11.55,2.58,-31.70,0.000,4,0.167,0.076,2472,3535,3430
$GC,227,-1.13,-146.6,18.2,-13.3,9,232,0.12,2.53,0.00,0.000,6,0.107,0.047,2496,2116,3430
$GC,544,-1.10,-146.6,54.4,-12.1,24,548,0.00,2.50,0.00,0.000,4,0.000,0.059,2496,710,3430
$GC,588,-1.10,-146.6,60.2,-12.7,26,592,0.00,2.50,0.00,0.000,6,0.000,0.049,2496,2117,3430
$GC,910,-1.10,-146.6,99.9,-12.6,42,914,0.00,2.53,0.00,0.000,4,0.000,0.059,2496,718,3430
$GC,972,-1.10,-146.6,108.1,-12.7,45,977,0.00,2.50,0.00,0.000,6,0.000,0.049,2496,2129,3430
$GC,1300,-1.10,-146.6,146.2,-10.5,61,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2130,3430
$GC,1622,-1.10,-146.6,180.7,-10.9,81,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2130,3430
$GC,1934,-1.10,-146.6,216.1,-11.3,101,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2130,3431
$GC,2248,-1.06,-146.6,252.5,-11.5,121,2251,0.00,2.55,0.00,0.000,4,0.000,0.064,2496,724,3431
$GC,2316,-1.06,-146.6,260.1,-10.5,125,2320,0.00,2.47,0.00,0.000,6,0.000,0.051,2496,2115,3430
$GC,2640,-1.06,-146.6,293.4,-10.6,146,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2115,3430
$GC,2954,-1.06,-146.6,326.6,-10.3,166,2959,0.00,2.53,0.00,0.000,4,0.000,0.062,2496,718,3430
$GC,3005,-1.06,-146.6,332.0,-9.9,169,3009,0.00,2.47,0.00,0.000,6,0.000,0.051,2496,2115,3430
$GC,3324,-1.06,-146.6,365.2,-9.6,189,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2115,3430
$GC,3636,-1.06,-146.6,397.2,-11.0,209,3641,0.00,2.53,0.00,0.000,4,0.000,0.063,2496,720,3430
$GC,3670,-1.06,-146.6,401.4,-11.5,211,3674,0.00,2.47,0.00,0.000,6,0.000,0.051,2496,2117,3430
$GC,3990,-1.06,-146.6,439.4,-11.8,231,3994,0.00,2.53,0.00,0.000,4,0.000,0.064,2496,717,3430
$GC,4046,-1.06,-146.6,446.0,-11.2,234,4050,0.00,2.45,0.00,0.000,6,0.000,0.051,2496,2099,3430
$GC,4364,-1.06,-146.6,479.6,-9.6,254,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2099,3430
$GC,4677,-1.06,-146.6,510.8,-8.3,274,4682,0.00,2.50,0.00,0.000,4,0.000,0.064,2496,722,3430
$GC,4745,-1.06,-146.6,518.4,-10.6,278,4749,0.00,2.42,0.00,0.000,6,0.000,0.050,2496,2088,3430
$GC,5064,-1.06,-146.6,550.1,-9.4,298,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2089,3430
$GC,5376,-1.06,-146.6,576.0,-6.2,318,5380,0.00,2.47,0.00,0.000,4,0.000,0.064,2496,714,3430
$GC,5445,-1.06,-146.6,580.7,-6.9,322,5449,0.00,2.42,0.00,0.000,6,0.000,0.051,2496,2075,3430
$GC,5769,-1.06,-146.6,614.2,-11.7,343,5773,0.00,2.47,0.00,0.000,4,0.000,0.066,2496,719,3430
$GC,5797,-1.06,-146.6,617.6,-11.4,344,5803,0.00,2.40,0.00,0.000,6,0.000,0.051,2496,2067,3430
$GC,6116,-1.06,-146.6,647.0,-8.5,365,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2067,3430
$GC,6429,-1.06,-146.6,676.2,-9.6,385,6433,0.00,2.47,0.00,0.000,4,0.000,0.067,2496,714,3429
$GC,6546,-1.06,-146.6,688.3,-9.8,392,6550,0.00,2.40,0.00,0.000,6,0.000,0.054,2496,2056,3429
$GC,6866,-1.06,-146.6,717.4,-9.3,412,6870,0.00,2.47,0.00,0.000,4,0.000,0.072,2496,718,3429
$GC,6983,-1.06,-146.6,729.7,-11.4,419,6987,0.00,2.38,0.00,0.000,6,0.000,0.058,2497,2036,3429
$STATE,7253,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7253,begin apogee
$GC,7261,-0.33,0.0,761.2,12.6,436,7396,0.82,0.00,131.88,1.335,6,0.083,0.000,2672,1830,2831
$STATE,7397,end apogee,CONTROL_FINISHED_OK
$STATE,7397,begin climb
$GC,7400,1.22,146.6,770.8,0.0,445,7541,1.55,2.70,132.60,1.299,4,0.067,0.069,3004,3250,2233
$GC,7580,1.17,146.6,766.2,11.5,456,7584,0.00,2.58,0.00,0.000,6,0.000,0.068,3005,1877,2232
$GC,7904,1.10,146.6,741.4,8.3,477,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1864,2232
$GC,8217,1.03,146.6,718.6,9.3,497,8222,0.17,2.65,0.00,0.000,4,0.097,0.080,2971,439,2230
$GC,8290,0.99,146.6,711.8,9.0,501,8296,0.00,2.58,0.00,0.000,6,0.000,0.060,2971,1853,2230
$GC,8610,1.01,160.6,688.1,7.5,522,8629,0.00,2.75,13.15,1.200,4,0.000,0.077,2971,440,2176
$GC,8677,1.01,160.6,682.6,8.6,526,8682,0.00,2.58,0.00,0.000,6,0.000,0.060,2971,1844,2176
$GC,9001,1.07,196.7,658.1,6.7,547,9041,0.00,2.75,33.30,1.276,4,0.000,0.078,2971,444,2029
$GC,9077,1.12,228.9,653.1,6.8,551,9114,0.00,2.53,29.62,1.250,6,0.000,0.058,2972,1841,1898
$GC,9430,1.17,228.9,625.3,8.3,574,9435,0.15,2.60,0.00,0.000,4,0.059,0.078,3008,441,1898
$GC,9464,1.09,228.9,621.7,10.4,576,9469,0.12,2.47,0.00,0.000,6,0.096,0.058,2984,1801,1898
$GC,9786,1.17,277.6,597.0,6.2,596,9832,0.00,0.00,43.97,1.243,6,0.000,0.000,2984,1818,1699
$GC,10146,1.33,349.8,571.9,5.4,619,10218,0.17,2.75,64.25,1.216,4,0.054,0.064,3033,3258,1405
$GC,10246,1.33,349.8,562.5,10.9,625,10251,0.00,2.70,0.00,0.000,6,0.000,0.062,3033,1808,1405
$GC,10566,1.27,349.8,530.0,11.2,645,10570,0.00,2.50,0.00,0.000,4,0.000,0.071,3033,438,1406
$GC,10595,1.20,349.8,526.1,14.0,647,10600,0.15,2.47,0.00,0.000,6,0.093,0.052,3004,1816,1406
$GC,10923,1.20,349.8,490.4,11.3,668,10924,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1834,1407
$GC,11232,1.20,349.8,456.2,11.8,688,11233,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1834,1407
$GC,11544,1.23,349.8,427.1,8.7,708,11549,0.00,2.55,0.00,0.000,4,0.000,0.070,3004,439,1407
$GC,11578,1.23,349.8,424.0,9.1,710,11582,0.00,2.42,0.00,0.000,6,0.000,0.051,3004,1800,1407
$GC,11898,1.27,349.8,395.8,9.2,730,11902,0.00,2.62,0.00,0.000,4,0.000,0.061,3004,3264,1408
$GC,11936,1.35,349.8,392.3,8.4,732,11943,0.17,2.67,0.00,0.000,6,0.051,0.058,3049,1793,1408
$GC,12256,1.28,349.8,352.3,13.6,753,12258,0.15,0.00,0.00,0.000,6,0.088,0.000,3020,1793,1408
$GC,12568,1.28,349.8,316.3,11.5,773,12572,0.00,2.67,0.00,0.000,4,0.000,0.059,3020,3261,1408
$GC,12601,1.32,349.8,312.4,10.6,775,12605,0.00,2.65,0.00,0.000,6,0.000,0.054,3020,1792,1408
$GC,12920,1.32,349.8,276.5,11.1,795,12925,0.00,2.67,0.00,0.000,4,0.000,0.059,3019,3263,1409
$GC,12959,1.38,349.8,271.8,11.4,797,12966,0.12,2.62,0.00,0.000,6,0.056,0.054,3055,1804,1409
$GC,13282,1.30,349.8,229.5,13.4,818,13283,0.15,0.00,0.00,0.000,6,0.089,0.000,3024,1804,1409
$GC,13591,1.30,349.8,196.5,10.4,838,13595,0.00,2.62,0.00,0.000,4,0.000,0.058,3024,3254,1409
$GC,13647,1.36,349.8,190.8,10.0,841,13653,0.00,2.58,0.00,0.000,6,0.000,0.053,3024,1818,1410
$GC,13966,1.36,349.8,157.5,10.6,862,13968,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1819,1410
$GC,14292,1.36,349.8,121.8,11.1,879,14296,0.00,2.60,0.00,0.000,4,0.000,0.057,3024,3257,1410
$GC,14325,1.41,349.8,117.9,11.4,880,14332,0.12,2.55,0.00,0.000,6,0.055,0.051,3061,1829,1410
$GC,14644,1.33,349.8,71.9,14.5,896,14649,0.12,2.50,0.00,0.000,4,0.090,0.066,3035,436,1411
$GC,14677,1.28,349.8,66.5,14.1,897,14684,0.00,2.47,0.00,0.000,6,0.000,0.048,3035,1838,1411
$GC,14994,1.28,349.8,28.9,11.7,913,14998,0.00,2.53,0.00,0.000,4,0.000,0.058,3035,3264,1411
$GC,15027,1.32,349.8,25.0,11.0,914,15034,0.00,2.55,0.00,0.000,6,0.000,0.051,3035,1834,1411
$STATE,15237,end climb,SURFACE_DEPTH_REACHED
$STATE,15237,begin surface coast
$FINISH,0.7,1.005374
$STATE,15261,end surface coast,CONTROL_FINISHED_OK
$STATE,15261,begin surface
$SM_CCo,15345,0.00,0.000,0,0,1410,348.33
$SM_GC,1.56,11.32,0.00,0.00,0.037,0.000,0.000,417,2142,1410,-10.61,0.37,348.33
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1825
$TCM_TEMP,17.10
$XPDR_PINGS,59
$ALTIM_BOTTOM_PING,745.3,25.5
$24V_AH,23.8,34.945
$10V_AH,10.1,16.031
$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,27.000,138.375,448.775,0.000,0.000,37.760,24.855,263.530,21.750,0.000,0.000,10.616,1611.650,11121.797,550.976,1870.937,638.855,33.366,1509.191,0.000,1826.826,0.000,48.928,0.000
$DEVICE_MAMPS,167.206,79.768,1335.347,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,633.750,674.807,486.222,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47491,926
$CAP_FILE_SIZE,127333,0
$CFSIZE,254472192,240521216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,021009,065951,6356.918,-1316.569,40,2.9,59,-12.6