version: 66.03
glider: 5
mission: 3
dive: 193
start: 7 18 108 9 37 50
data:
$ID,5
$MISSION,3
$DIVE,193
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$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,600
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,547.01898
$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,-80209.531
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2620
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,3
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-24.477776
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$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
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043890956
$SEABIRD_T_H,0.00065287336
$SEABIRD_T_I,2.754709e-05
$SEABIRD_T_J,3.0424237e-06
$SEABIRD_C_G,-10.354986
$SEABIRD_C_H,1.1996267
$SEABIRD_C_I,-0.0023424325
$SEABIRD_C_J,0.0002635108
$GPS1,093102,6148.826,-906.638,42,1.4,42,-9.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-57.7
$GPS2,093656,6148.834,-906.666,16,1.6,16,-9.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.188,-0.117
$KALMAN_X,14914.0,-1095.5,-181.9,-15897.6,4899.6
$KALMAN_Y,10654.3,-1362.8,207.9,-43815.1,3796.4
$MHEAD_RNG_PITCHd_Wd,247.6,15001,-16.7,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.30,-117.3,0.0,0.0,0,138,0.00,0.00,-111.68,0.000,6,0.000,0.000,419,2120,3099
$GC,142,-1.30,-117.3,1.9,-1.4,5,158,10.50,2.47,0.00,0.000,4,0.145,0.054,2409,751,3098
$GC,411,-0.97,-117.3,40.3,-13.2,16,416,0.38,2.50,0.00,0.000,6,0.102,0.048,2484,2151,3097
$GC,735,-0.88,-117.3,67.6,-7.9,32,740,0.12,2.55,0.00,0.000,4,0.105,0.058,2510,753,3097
$GC,746,-0.80,-117.3,68.8,-8.0,32,753,0.00,2.53,0.00,0.000,6,0.000,0.048,2510,2162,3097
$GC,1063,-0.80,-117.3,91.5,-7.0,48,1067,0.00,2.55,0.00,0.000,4,0.000,0.058,2510,748,3098
$GC,1197,-0.80,-117.3,102.7,-8.4,54,1202,0.00,2.47,0.00,0.000,6,0.000,0.049,2510,2132,3098
$GC,1518,-0.80,-117.3,128.0,-8.1,70,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2133,3098
$GC,1828,-0.80,-117.3,153.9,-8.1,85,1832,0.00,2.53,0.00,0.000,4,0.000,0.059,2510,746,3098
$GC,1877,-0.80,-117.3,158.1,-8.0,87,1882,0.00,2.47,0.00,0.000,6,0.000,0.051,2510,2124,3098
$GC,2193,-0.80,-117.3,183.5,-8.1,102,2197,0.00,2.50,0.00,0.000,4,0.000,0.061,2510,757,3098
$GC,2203,-0.80,-117.3,184.4,-8.0,102,2209,0.00,2.47,0.00,0.000,6,0.000,0.051,2510,2133,3098
$GC,2520,-0.80,-117.3,209.1,-7.6,118,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2134,3098
$GC,2828,-0.80,-117.3,233.5,-8.1,133,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2133,3097
$GC,3137,-0.80,-117.3,258.5,-8.0,148,3142,0.00,2.53,0.00,0.000,4,0.000,0.061,2510,749,3097
$GC,3155,-0.80,-117.3,259.9,-8.1,149,3160,0.00,2.45,0.00,0.000,6,0.000,0.052,2510,2120,3097
$GC,3483,-0.80,-117.3,283.4,-6.6,165,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2119,3096
$GC,3792,-0.80,-117.3,301.6,-5.8,180,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2119,3096
$GC,4101,-0.80,-117.3,320.8,-6.3,195,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2119,3096
$GC,4410,-0.80,-117.3,343.4,-7.6,210,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2118,3096
$GC,4720,-0.80,-117.3,366.6,-7.1,225,4721,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2118,3096
$GC,5029,-0.80,-117.3,388.4,-7.0,240,5033,0.00,2.60,0.00,0.000,4,0.000,0.065,2510,3561,3095
$GC,5084,-0.80,-117.3,392.2,-6.7,242,5091,0.00,2.55,0.00,0.000,6,0.000,0.052,2510,2135,3095
$GC,5401,-0.80,-117.3,409.1,-5.5,258,5405,0.00,2.62,0.00,0.000,4,0.000,0.064,2510,3565,3095
$GC,5468,-0.80,-117.3,413.6,-7.2,261,5472,0.00,2.55,0.00,0.000,6,0.000,0.051,2510,2138,3095
$GC,5789,-0.80,-117.3,437.1,-8.6,277,5793,0.00,2.60,0.00,0.000,4,0.000,0.064,2510,3557,3095
$GC,5979,-0.80,-117.3,454.1,-9.1,285,5985,0.00,2.47,0.00,0.000,6,0.000,0.051,2510,2166,3095
$GC,6296,-0.84,-117.3,478.8,-7.4,301,6300,0.00,2.58,0.00,0.000,4,0.000,0.068,2509,3559,3095
$GC,6404,-0.84,-117.3,488.0,-8.9,306,6408,0.00,2.45,0.00,0.000,6,0.000,0.055,2510,2191,3095
$GC,6731,-0.88,-117.3,504.8,-5.5,322,6732,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2174,3095
$GC,7040,-0.88,-117.3,523.6,-6.4,337,7045,0.00,2.65,0.00,0.000,4,0.000,0.076,2510,740,3094
$GC,7058,-0.88,-117.3,524.7,-6.1,338,7063,0.00,2.62,0.00,0.000,6,0.000,0.063,2510,2176,3094
$GC,7390,-0.88,-117.3,545.0,-5.9,354,7395,0.00,2.55,0.00,0.000,4,0.000,0.077,2510,3561,3093
$GC,7409,-0.88,-117.3,546.2,-5.9,355,7413,0.00,2.53,0.00,0.000,6,0.000,0.063,2510,2173,3093
$GC,7736,-0.88,-117.3,566.7,-6.3,371,7740,0.00,2.62,0.00,0.000,4,0.000,0.078,2510,3564,3092
$GC,7763,-0.88,-117.3,568.6,-6.8,372,7768,0.00,2.53,0.00,0.000,6,0.000,0.064,2510,2179,3092
$GC,8080,-0.93,-117.3,587.5,-6.6,387,8082,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2162,3091
$GC,8389,-0.93,-117.3,600.9,-1.8,402,8390,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2162,3090
$GC,8699,-0.98,-117.3,617.3,-6.5,417,8704,0.10,2.62,0.00,0.000,4,0.067,0.080,2482,3564,3089
$GC,8788,-0.91,-117.3,624.7,-8.9,421,8798,0.00,2.55,0.00,0.000,6,0.000,0.065,2482,2156,3089
$GC,9120,-0.91,-117.3,652.4,-9.1,437,9124,0.00,2.62,0.00,0.000,4,0.000,0.084,2482,763,3087
$GC,9193,-0.83,-117.3,657.2,-5.5,440,9198,0.17,2.60,0.00,0.000,6,0.107,0.072,2517,2162,3087
$STATE,9300,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9300,begin apogee
$GC,9307,-0.33,0.0,665.6,7.9,445,9409,0.52,0.00,99.43,1.341,6,0.091,0.000,2625,2093,2620
$STATE,9410,end apogee,CONTROL_FINISHED_OK
$STATE,9410,begin climb
$GC,9414,1.30,117.3,670.3,0.0,450,9521,1.67,2.72,99.60,1.309,4,0.078,0.082,2979,704,2141
$GC,9568,1.25,117.3,663.3,11.5,457,9573,0.00,2.65,0.00,0.000,6,0.000,0.069,2978,2108,2140
$GC,9884,1.25,117.3,633.9,10.0,472,9886,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2109,2138
$GC,10193,1.25,117.3,602.7,9.2,487,10197,0.00,2.65,0.00,0.000,4,0.000,0.083,2979,3515,2137
$GC,10260,1.20,117.3,596.8,9.2,490,10265,0.00,2.65,0.00,0.000,6,0.000,0.068,2979,2095,2136
$GC,10583,1.20,117.8,571.5,8.0,506,10587,0.00,2.70,0.00,0.000,4,0.000,0.081,2979,3514,2136
$GC,10627,1.14,117.8,567.4,9.3,508,10632,0.15,2.65,0.00,0.000,6,0.103,0.068,2950,2091,2136
$GC,10949,1.24,141.7,543.9,6.9,524,10975,0.00,2.75,20.90,1.246,4,0.000,0.078,2950,3513,2042
$GC,11039,1.32,161.7,537.2,7.1,528,11064,0.15,2.62,18.58,1.233,6,0.056,0.067,2993,2112,1960
$GC,11388,1.32,161.7,504.4,9.0,545,11393,0.00,2.65,0.00,0.000,4,0.000,0.078,2993,3510,1958
$GC,11456,1.27,161.7,497.6,9.5,548,11460,0.00,2.58,0.00,0.000,6,0.000,0.065,2993,2125,1957
$GC,11777,1.23,161.7,467.7,9.5,564,11782,0.12,2.65,0.00,0.000,4,0.103,0.077,2970,3515,1957
$GC,11840,1.23,161.7,462.2,8.2,567,11844,0.00,2.53,0.00,0.000,6,0.000,0.064,2970,2148,1957
$GC,12167,1.28,161.7,435.7,8.4,583,12171,0.00,2.58,0.00,0.000,4,0.000,0.076,2970,3511,1956
$GC,12262,1.38,189.8,428.7,6.7,587,12294,0.15,2.50,24.02,1.181,6,0.054,0.061,3008,2151,1846
$GC,12607,1.34,189.8,395.5,10.8,604,12612,0.00,2.55,0.00,0.000,4,0.000,0.071,3008,3511,1845
$GC,12663,1.34,189.8,388.3,12.1,606,12669,0.00,2.42,0.00,0.000,6,0.000,0.057,3008,2180,1845
$GC,12979,1.34,189.8,350.8,12.3,622,12983,0.00,2.45,0.00,0.000,4,0.000,0.067,3008,3513,1845
$GC,13018,1.34,189.8,345.8,12.4,623,13024,0.00,2.40,0.00,0.000,6,0.000,0.055,3008,2186,1844
$GC,13334,1.34,189.8,309.0,11.4,639,13335,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2186,1846
$GC,13644,1.34,189.8,275.0,10.8,654,13648,0.00,2.42,0.00,0.000,4,0.000,0.063,3008,3513,1847
$GC,13699,1.34,189.8,268.5,11.2,656,13705,0.00,2.38,0.00,0.000,6,0.000,0.052,3008,2197,1847
$GC,14015,1.34,189.8,235.2,10.5,672,14016,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2197,1847
$GC,14325,1.34,189.8,203.1,10.6,687,14326,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2197,1849
$GC,14633,1.34,189.8,170.8,10.3,702,14637,0.00,2.40,0.00,0.000,4,0.000,0.061,3008,3515,1849
$GC,14673,1.34,189.8,166.5,11.0,704,14677,0.00,2.35,0.00,0.000,6,0.000,0.051,3008,2200,1849
$GC,15001,1.34,189.8,133.9,10.0,720,15003,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2199,1850
$GC,15310,1.34,189.8,103.1,10.4,735,15314,0.00,2.40,0.00,0.000,4,0.000,0.060,3008,3513,1851
$GC,15343,1.34,189.8,99.5,10.7,736,15349,0.00,2.35,0.00,0.000,6,0.000,0.049,3008,2200,1851
$GC,15661,1.34,189.8,67.4,10.1,752,15662,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2198,1851
$GC,15968,1.34,189.8,38.2,8.7,767,15972,0.00,2.40,0.00,0.000,4,0.000,0.059,3008,3514,1852
$GC,16017,1.34,189.8,33.2,9.6,769,16021,0.00,2.30,0.00,0.000,6,0.000,0.048,3008,2220,1852
$GC,16340,1.34,189.8,3.5,9.7,785,16344,0.00,2.35,0.00,0.000,4,0.000,0.058,3008,3518,1853
$STATE,16355,end climb,SURFACE_DEPTH_REACHED
$STATE,16355,begin surface coast
$FINISH,1.0,1.026885
$STATE,16360,end surface coast,CONTROL_FINISHED_OK
$STATE,16360,begin surface
$SM_CCo,16385,213.32,0.786,0,0,390,547.02
$SM_GC,0.35,0.00,0.00,213.32,0.000,0.000,0.786,427,2119,390,-10.46,-0.88,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1700
$TCM_TEMP,19.30
$XPDR_PINGS,321
$ALTIM_TOP_PING,19.1,18.9
$ALTIM_BOTTOM_PING,625.3,49.4
$24V_AH,23.8,37.663
$10V_AH,10.1,17.975
$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
$DEVICE_SECS,25.225,147.025,262.525,213.325,0.000,37.762,30.514,156.587,86.000,0.000,0.000,16.158,1485.696,12505.736,658.791,1766.231,539.028,33.358,1548.415,0.000,1728.350,0.000,40.778
$DEVICE_MAMPS,144.963,83.603,1341.483,786.175,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,540.696,588.089,485.292,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41144,786
$CAP_FILE_SIZE,127203,0
$CFSIZE,254472192,239403008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,180708,141537,6146.258,-912.691,28,1.0,28,-9.4