version: 66.03
glider: 5
mission: 3
dive: 194
start: 7 18 108 14 22 29
data:
$ID,5
$MISSION,3
$DIVE,194
$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,-80225.758
$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,21
$R_STBD_OVSHOOT,16
$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
$GPS1,141537,6146.258,-912.691,28,1.0,28,-9.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-57.3
$GPS2,142138,6146.149,-912.768,13,1.0,13,-9.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.060,-0.214
$KALMAN_X,14417.8,-1170.3,-836.0,-19960.8,5552.4
$KALMAN_Y,8974.2,-1047.3,-1131.4,-46070.6,4925.4
$MHEAD_RNG_PITCHd_Wd,205.0,9662,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.30,-117.3,0.0,0.0,0,142,0.00,0.00,-111.40,0.000,6,0.000,0.000,428,2124,3098
$GC,146,-1.30,-117.3,3.1,-3.2,6,162,10.48,2.53,0.00,0.000,4,0.147,0.057,2406,738,3097
$GC,269,-0.96,-117.3,23.2,-14.9,10,276,0.40,2.53,0.00,0.000,6,0.102,0.048,2486,2160,3097
$GC,587,-0.87,-117.3,54.0,-9.4,26,592,0.10,2.58,0.00,0.000,4,0.111,0.057,2506,740,3096
$GC,599,-0.79,-117.3,55.2,-9.3,26,606,0.10,2.50,0.00,0.000,6,0.110,0.049,2523,2141,3096
$GC,917,-0.79,-117.3,78.0,-6.9,42,921,0.00,2.55,0.00,0.000,4,0.000,0.059,2523,735,3096
$GC,1002,-0.79,-117.3,83.8,-6.3,46,1007,0.00,2.50,0.00,0.000,6,0.000,0.049,2524,2138,3097
$GC,1330,-0.79,-117.3,105.2,-6.9,62,1334,0.00,2.55,0.00,0.000,4,0.000,0.060,2523,740,3096
$GC,1342,-0.79,-117.3,106.1,-7.1,62,1349,0.00,2.50,0.00,0.000,6,0.000,0.050,2523,2135,3096
$GC,1659,-0.79,-117.3,130.5,-7.7,78,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2135,3096
$GC,1968,-0.79,-117.3,152.7,-7.0,93,1972,0.00,2.53,0.00,0.000,4,0.000,0.060,2523,738,3096
$GC,1979,-0.79,-117.3,153.4,-6.9,93,1985,0.00,2.50,0.00,0.000,6,0.000,0.051,2523,2135,3096
$GC,2295,-0.79,-117.3,174.3,-6.5,109,2300,0.00,2.55,0.00,0.000,4,0.000,0.060,2523,737,3096
$GC,2381,-0.79,-117.3,180.2,-6.5,113,2385,0.00,2.47,0.00,0.000,6,0.000,0.051,2523,2123,3096
$GC,2708,-0.79,-117.3,199.6,-5.8,129,2713,0.00,2.50,0.00,0.000,4,0.000,0.061,2524,740,3095
$GC,2719,-0.79,-117.3,200.4,-5.9,129,2723,0.00,2.50,0.00,0.000,6,0.000,0.052,2523,2132,3095
$GC,3035,-0.84,-117.3,219.0,-6.1,144,3040,0.00,2.55,0.00,0.000,4,0.000,0.062,2524,3563,3095
$GC,3046,-0.84,-117.3,219.9,-6.3,144,3053,0.00,2.55,0.00,0.000,6,0.000,0.049,2523,2131,3095
$GC,3364,-0.88,-117.3,241.4,-7.3,160,3368,0.00,2.58,0.00,0.000,4,0.000,0.062,2524,3558,3095
$GC,3374,-0.88,-117.3,242.3,-7.2,160,3380,0.00,2.53,0.00,0.000,6,0.000,0.049,2524,2140,3095
$GC,3691,-0.93,-117.3,266.6,-7.6,176,3696,0.12,2.58,0.00,0.000,4,0.051,0.061,2486,3557,3095
$GC,3703,-0.93,-117.3,267.6,-7.7,176,3709,0.00,2.53,0.00,0.000,6,0.000,0.050,2486,2140,3095
$GC,4019,-0.86,-117.3,295.4,-8.9,192,4021,0.12,0.00,0.00,0.000,6,0.099,0.000,2512,2139,3094
$GC,4328,-0.86,-117.3,322.9,-9.3,207,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2139,3094
$GC,4637,-0.86,-117.3,352.5,-9.8,222,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2138,3094
$GC,4946,-0.86,-117.3,381.1,-8.6,237,4950,0.00,2.53,0.00,0.000,4,0.000,0.065,2512,738,3094
$GC,5001,-0.86,-117.3,386.0,-8.6,239,5007,0.00,2.50,0.00,0.000,6,0.000,0.053,2512,2131,3094
$GC,5318,-0.86,-117.3,407.9,-5.9,255,5322,0.00,2.53,0.00,0.000,4,0.000,0.064,2512,746,3094
$GC,5336,-0.86,-117.3,409.1,-6.1,256,5340,0.00,2.47,0.00,0.000,6,0.000,0.053,2512,2126,3094
$GC,5663,-0.86,-117.3,429.5,-6.7,272,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2126,3094
$GC,5971,-0.86,-117.3,453.3,-8.1,287,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2126,3093
$GC,6280,-0.86,-117.3,479.4,-9.2,302,6285,0.00,2.58,0.00,0.000,4,0.000,0.065,2512,3561,3093
$GC,6291,-0.86,-117.3,480.5,-9.2,302,6297,0.00,2.60,0.00,0.000,6,0.000,0.054,2512,2115,3093
$GC,6608,-0.86,-117.3,513.1,-10.3,318,6612,0.00,2.65,0.00,0.000,4,0.000,0.065,2512,3564,3093
$GC,6777,-0.86,-117.3,530.4,-9.2,325,6783,0.00,2.55,0.00,0.000,6,0.000,0.053,2512,2135,3093
$GC,7094,-0.86,-117.3,545.2,-4.3,341,7099,0.00,2.62,0.00,0.000,4,0.000,0.066,2512,3561,3093
$GC,7353,-0.86,-117.3,562.4,-8.0,352,7359,0.00,2.50,0.00,0.000,6,0.000,0.054,2512,2167,3093
$GC,7668,-0.86,-117.3,589.9,-9.0,368,7673,0.00,2.60,0.00,0.000,4,0.000,0.071,2512,3563,3093
$GC,7846,-0.86,-117.3,602.8,-5.6,376,7850,0.00,2.50,0.00,0.000,6,0.000,0.057,2512,2174,3092
$GC,8173,-0.86,-117.3,612.5,-2.0,392,8178,0.00,2.58,0.00,0.000,4,0.000,0.071,2512,3555,3092
$GC,8356,-0.91,-117.3,623.3,-8.0,400,8360,0.00,2.50,0.00,0.000,6,0.000,0.059,2512,2178,3091
$GC,8678,-0.91,-117.3,652.7,-10.3,416,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2160,3091
$GC,8987,-0.91,-117.3,671.5,-7.1,431,8988,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2149,3090
$GC,9297,-0.97,-117.3,693.9,-5.8,446,9302,0.10,2.65,0.00,0.000,4,0.067,0.082,2484,747,3089
$GC,9342,-0.92,-117.3,697.1,-6.8,448,9347,0.00,2.70,0.00,0.000,6,0.000,0.071,2484,2197,3089
$GC,9663,-0.87,-117.3,722.6,-10.2,464,9668,0.12,2.55,0.00,0.000,4,0.110,0.084,2508,3560,3088
$GC,9674,-0.87,-117.3,723.8,-11.1,464,9680,0.00,2.47,0.00,0.000,6,0.000,0.070,2508,2205,3088
$GC,9991,-0.87,-117.3,744.9,-3.9,480,9995,0.00,2.75,0.00,0.000,4,0.000,0.087,2508,747,3086
$GC,10001,-0.87,-117.3,745.6,-5.2,480,10007,0.00,2.75,0.00,0.000,6,0.000,0.076,2508,2218,3086
$GC,10318,-0.87,-117.3,756.3,-6.1,496,10322,0.00,2.47,0.00,0.000,4,0.000,0.084,2508,3560,3084
$GC,10340,-0.87,-117.3,759.6,-13.7,497,10344,0.00,2.40,0.00,0.000,6,0.000,0.071,2508,2267,3084
$STATE,10555,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10555,begin apogee
$GC,10562,-0.33,0.0,773.5,5.6,508,10665,0.55,0.00,99.82,1.439,6,0.091,0.000,2622,2084,2620
$STATE,10667,end apogee,CONTROL_FINISHED_OK
$STATE,10667,begin climb
$GC,10670,1.30,117.3,776.7,0.0,513,10780,1.67,2.83,100.53,1.399,4,0.074,0.083,2979,3510,2141
$GC,10944,1.32,124.8,756.6,7.7,525,10959,0.00,2.62,7.95,1.154,6,0.000,0.073,2979,2104,2111
$GC,11282,1.32,124.8,725.5,10.4,542,11286,0.00,2.70,0.00,0.000,4,0.000,0.088,2979,694,2109
$GC,11412,1.24,124.8,710.9,10.6,548,11416,0.00,2.67,0.00,0.000,6,0.000,0.074,2979,2123,2110
$GC,11739,1.24,158.6,681.3,6.5,564,11774,0.00,2.70,29.70,1.351,4,0.000,0.084,2980,3514,1973
$GC,11878,1.26,173.2,669.6,7.3,569,11897,0.00,2.62,13.57,1.273,6,0.000,0.072,2979,2128,1913
$GC,12221,1.26,173.2,639.9,8.3,586,12225,0.00,2.67,0.00,0.000,4,0.000,0.084,2979,3513,1911
$GC,12270,1.26,173.2,635.2,9.1,588,12275,0.00,2.62,0.00,0.000,6,0.000,0.070,2979,2115,1911
$GC,12587,1.27,181.1,613.2,7.6,603,12601,0.00,2.72,8.20,1.178,4,0.000,0.081,2979,3505,1881
$GC,12664,1.27,181.1,604.8,11.3,606,12668,0.00,2.55,0.00,0.000,6,0.000,0.067,2979,2145,1881
$GC,12980,1.27,181.1,572.1,9.7,621,12985,0.00,2.62,0.00,0.000,4,0.000,0.080,2979,3515,1880
$GC,13036,1.27,181.1,566.3,10.0,623,13042,0.00,2.50,0.00,0.000,6,0.000,0.064,2979,2171,1880
$GC,13352,1.27,181.1,537.6,9.7,639,13356,0.00,2.53,0.00,0.000,4,0.000,0.076,2979,3511,1880
$GC,13414,1.27,181.1,530.9,10.2,642,13418,0.00,2.40,0.00,0.000,6,0.000,0.061,2979,2200,1879
$GC,13747,1.27,181.1,495.2,10.8,658,13748,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2183,1879
$GC,14056,1.27,181.1,466.6,8.4,673,14057,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2183,1879
$GC,14366,1.31,181.1,437.4,10.2,688,14370,0.00,2.42,0.00,0.000,4,0.000,0.066,2979,3512,1880
$GC,14422,1.36,181.1,430.9,11.3,690,14429,0.00,2.38,0.00,0.000,6,0.000,0.054,2978,2199,1880
$GC,14739,1.41,181.1,398.2,10.0,706,14744,0.12,2.72,0.00,0.000,4,0.058,0.066,3013,688,1881
$GC,14807,1.35,181.1,390.4,12.0,709,14811,0.00,2.75,0.00,0.000,6,0.000,0.057,3013,2210,1881
$GC,15128,1.30,181.1,357.1,10.0,725,15133,0.15,2.35,0.00,0.000,4,0.092,0.064,2980,3513,1882
$GC,15186,1.36,181.1,352.2,8.4,727,15192,0.00,2.35,0.00,0.000,6,0.000,0.051,2979,2201,1883
$GC,15502,1.46,207.6,329.8,6.8,743,15532,0.17,2.80,23.48,1.038,4,0.045,0.064,3030,687,1773
$GC,15572,1.39,207.6,322.8,10.8,746,15577,0.15,2.78,0.00,0.000,6,0.091,0.054,3002,2220,1772
$GC,15893,1.39,207.6,295.1,8.9,762,15898,0.00,2.33,0.00,0.000,4,0.000,0.063,3002,3514,1773
$GC,15949,1.39,207.6,289.7,9.5,764,15955,0.00,2.35,0.00,0.000,6,0.000,0.051,3002,2208,1773
$GC,16265,1.39,207.6,262.0,8.2,780,16270,0.00,2.75,0.00,0.000,4,0.000,0.065,3002,680,1774
$GC,16316,1.39,207.6,257.2,8.9,782,16320,0.00,2.78,0.00,0.000,6,0.000,0.053,3002,2223,1774
$GC,16631,1.39,207.6,230.2,8.4,797,16635,0.00,2.33,0.00,0.000,4,0.000,0.061,3002,3517,1774
$GC,16671,1.39,207.6,226.7,9.5,799,16675,0.00,2.35,0.00,0.000,6,0.000,0.051,3002,2200,1775
$GC,16999,1.39,207.6,192.7,12.3,815,17003,0.00,2.72,0.00,0.000,4,0.000,0.065,3002,684,1776
$GC,17060,1.39,207.6,184.1,13.6,818,17065,0.00,2.72,0.00,0.000,6,0.000,0.053,3002,2208,1777
$GC,17388,1.39,207.6,144.1,10.8,834,17392,0.00,2.35,0.00,0.000,4,0.000,0.061,3002,3520,1777
$GC,17455,1.39,207.6,137.0,10.4,837,17459,0.00,2.38,0.00,0.000,6,0.000,0.049,3002,2194,1777
$GC,17777,1.39,207.6,98.0,15.8,853,17778,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2193,1778
$GC,18086,1.39,207.6,57.6,10.2,868,18091,0.00,2.70,0.00,0.000,4,0.000,0.064,3002,688,1778
$GC,18153,1.39,207.6,50.3,10.4,871,18157,0.00,2.75,0.00,0.000,6,0.000,0.051,3002,2224,1778
$GC,18474,1.48,267.0,26.6,5.3,887,18529,0.00,2.42,47.83,0.821,4,0.000,0.058,3002,3518,1530
$GC,18564,1.57,279.6,20.5,7.4,891,18582,0.20,2.35,11.27,0.749,6,0.042,0.048,3055,2209,1480
$STATE,18723,end climb,SURFACE_DEPTH_REACHED
$STATE,18723,begin surface coast
$FINISH,-0.0,1.001711
$STATE,18747,end surface coast,CONTROL_FINISHED_OK
$STATE,18747,begin surface
$SM_CCo,18770,159.02,0.772,0,0,390,547.02
$SM_GC,0.28,0.00,0.00,159.02,0.000,0.000,0.772,421,2129,390,-10.48,-0.59,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1678
$TCM_TEMP,17.80
$XPDR_PINGS,453
$ALTIM_TOP_PING,19.8,19.5
$ALTIM_BOTTOM_PING,675.7,107.3
$24V_AH,23.7,37.848
$10V_AH,10.1,18.064
$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,26.025,200.000,342.350,159.025,0.000,37.759,26.629,169.271,119.250,0.000,0.000,15.604,1715.526,14169.714,695.918,2115.700,594.419,33.350,1787.108,0.000,2067.661,0.000,41.207
$DEVICE_MAMPS,147.264,88.205,1438.892,771.602,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,617.565,668.766,530.013,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47406,900
$CAP_FILE_SIZE,153154,0
$CFSIZE,254472192,239308800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,180708,193908,6144.092,-920.182,29,1.7,29,-9.5