version: 66.03
glider: 5
mission: 3
dive: 196
start: 7 19 108 1 12 51
data:
$ID,5
$MISSION,3
$DIVE,196
$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,-80257.367
$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,22
$R_STBD_OVSHOOT,21
$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
$GPS1,010556,6143.908,-923.678,42,1.1,42,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-53.4
$GPS2,011157,6143.856,-923.715,15,1.1,15,-9.5
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.210,-0.070
$KALMAN_X,19.7,-1379.8,-588.6,-15062.6,-3938.8
$KALMAN_Y,9969.7,973.3,-131.8,-54381.7,1134.7
$MHEAD_RNG_PITCHd_Wd,118.0,12360,-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,-117.3,0.0,0.0,0,137,0.00,0.00,-111.55,0.000,6,0.000,0.000,426,2137,3098
$GC,141,-1.30,-117.3,2.0,-1.7,5,157,10.45,2.55,0.00,0.000,4,0.145,0.058,2407,738,3098
$GC,319,-0.94,-117.3,30.4,-17.5,12,324,0.43,2.53,0.00,0.000,6,0.097,0.048,2494,2153,3096
$GC,647,-0.88,-117.3,72.8,-12.9,28,651,0.00,2.58,0.00,0.000,4,0.000,0.058,2494,739,3096
$GC,692,-0.80,-117.3,79.1,-14.5,30,697,0.15,2.55,0.00,0.000,6,0.095,0.049,2525,2173,3096
$GC,1013,-0.80,-117.3,122.2,-13.8,46,1018,0.00,2.62,0.00,0.000,4,0.000,0.061,2525,737,3097
$GC,1069,-0.80,-117.3,130.3,-14.5,48,1075,0.00,2.55,0.00,0.000,6,0.000,0.049,2525,2168,3097
$GC,1385,-0.80,-117.3,170.5,-11.7,64,1390,0.00,2.60,0.00,0.000,4,0.000,0.061,2525,742,3097
$GC,1458,-0.80,-117.3,178.7,-10.9,67,1462,0.00,2.55,0.00,0.000,6,0.000,0.051,2525,2164,3096
$GC,1775,-0.84,-117.3,203.1,-6.3,82,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2164,3097
$GC,2083,-0.84,-117.3,215.9,-3.5,97,2088,0.00,2.60,0.00,0.000,4,0.000,0.062,2525,741,3097
$GC,2151,-0.84,-117.3,218.4,-3.9,100,2155,0.00,2.55,0.00,0.000,6,0.000,0.051,2525,2162,3097
$GC,2474,-0.89,-117.3,230.9,-4.2,116,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2161,3097
$GC,2782,-0.93,-117.3,246.2,-5.2,131,2787,0.15,2.60,0.00,0.000,4,0.048,0.061,2478,739,3096
$GC,2828,-0.82,-117.3,249.4,-7.3,133,2833,0.20,2.55,0.00,0.000,6,0.091,0.052,2519,2160,3096
$GC,3149,-0.82,-117.3,269.3,-6.3,149,3154,0.00,2.60,0.00,0.000,4,0.000,0.061,2519,734,3096
$GC,3160,-0.82,-117.3,270.1,-6.4,149,3167,0.00,2.53,0.00,0.000,6,0.000,0.052,2519,2154,3096
$GC,3477,-0.82,-117.3,291.6,-6.8,165,3481,0.00,2.58,0.00,0.000,4,0.000,0.062,2519,740,3096
$GC,3495,-0.82,-117.3,292.9,-7.0,166,3499,0.00,2.53,0.00,0.000,6,0.000,0.052,2519,2151,3095
$GC,3821,-0.82,-117.3,315.2,-6.4,182,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2151,3096
$GC,4131,-0.82,-117.3,334.7,-6.2,197,4135,0.00,2.58,0.00,0.000,4,0.000,0.065,2519,741,3095
$GC,4148,-0.82,-117.3,335.8,-6.4,198,4153,0.00,2.53,0.00,0.000,6,0.000,0.053,2519,2151,3095
$GC,4476,-0.82,-117.3,356.7,-6.2,214,4480,0.00,2.55,0.00,0.000,4,0.000,0.065,2519,739,3095
$GC,4498,-0.82,-117.3,358.1,-5.9,215,4502,0.00,2.53,0.00,0.000,6,0.000,0.053,2519,2144,3095
$GC,4820,-0.82,-117.3,376.7,-5.7,231,4824,0.00,2.58,0.00,0.000,4,0.000,0.064,2519,738,3095
$GC,4870,-0.82,-117.3,379.9,-6.3,233,4874,0.00,2.50,0.00,0.000,6,0.000,0.053,2519,2132,3095
$GC,5186,-0.82,-117.3,397.9,-5.6,248,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2132,3094
$GC,5495,-0.82,-117.3,415.0,-5.9,263,5499,0.00,2.53,0.00,0.000,4,0.000,0.064,2519,740,3094
$GC,5512,-0.82,-117.3,415.9,-5.9,264,5516,0.00,2.50,0.00,0.000,6,0.000,0.053,2520,2135,3094
$GC,5840,-0.86,-117.3,437.2,-7.0,280,5844,0.00,2.55,0.00,0.000,4,0.000,0.063,2519,741,3094
$GC,5858,-0.86,-117.3,438.5,-7.0,281,5862,0.00,2.47,0.00,0.000,6,0.000,0.053,2519,2125,3094
$GC,6185,-0.91,-117.3,460.6,-6.6,297,6190,0.00,2.50,0.00,0.000,4,0.000,0.065,2519,741,3094
$GC,6208,-0.91,-117.3,462.2,-6.8,298,6212,0.00,2.50,0.00,0.000,6,0.000,0.054,2519,2129,3094
$GC,6529,-0.95,-117.3,485.9,-8.6,314,6531,0.12,0.00,0.00,0.000,6,0.052,0.000,2482,2129,3094
$GC,6839,-0.88,-117.3,517.0,-10.2,329,6840,0.12,0.00,0.00,0.000,6,0.097,0.000,2507,2128,3093
$GC,7147,-0.88,-117.3,547.6,-10.0,344,7151,0.00,2.58,0.00,0.000,4,0.000,0.066,2507,3563,3093
$GC,7247,-0.88,-117.3,558.5,-11.1,348,7253,0.00,2.60,0.00,0.000,6,0.000,0.052,2507,2108,3092
$GC,7564,-0.88,-117.3,586.7,-7.4,364,7568,0.00,2.42,0.00,0.000,4,0.000,0.064,2507,748,3093
$GC,7710,-0.88,-117.3,596.5,-6.8,370,7714,0.00,2.42,0.00,0.000,6,0.000,0.054,2507,2091,3093
$GC,8026,-0.88,-117.3,618.6,-6.7,385,8031,0.00,2.47,0.00,0.000,4,0.000,0.067,2507,741,3093
$GC,8275,-0.88,-117.3,635.0,-6.6,396,8279,0.00,2.38,0.00,0.000,6,0.000,0.057,2508,2048,3093
$GC,8597,-0.88,-117.3,650.8,-3.4,412,8601,0.00,2.40,0.00,0.000,4,0.000,0.071,2507,747,3092
$GC,8855,-0.88,-117.3,665.6,-8.4,423,8859,0.00,2.33,0.00,0.000,6,0.000,0.058,2507,2029,3092
$GC,9176,-0.88,-117.3,688.1,-7.3,439,9181,0.00,2.40,0.00,0.000,4,0.000,0.076,2507,749,3092
$GC,9347,-0.88,-117.3,700.8,-7.6,446,9353,0.00,2.30,0.00,0.000,6,0.000,0.063,2507,2000,3092
$GC,9664,-0.88,-117.3,720.4,-4.5,462,9665,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2000,3091
$GC,9973,-0.88,-117.3,731.6,-3.2,477,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2000,3090
$GC,10283,-0.94,-117.3,746.5,-7.1,492,10288,0.00,2.90,0.00,0.000,4,0.000,0.084,2507,3553,3089
$GC,10395,-0.94,-117.3,759.2,-11.9,497,10399,0.00,2.88,0.00,0.000,6,0.000,0.069,2507,1995,3089
$GC,10716,-0.94,-117.3,781.5,-3.0,513,10721,0.00,2.95,0.00,0.000,4,0.000,0.086,2507,3553,3087
$GC,10772,-0.89,-117.3,784.2,-5.8,515,10779,0.00,2.83,0.00,0.000,6,0.000,0.073,2507,2024,3086
$GC,11089,-0.95,-117.3,818.5,-10.2,531,11094,0.00,2.90,0.00,0.000,4,0.000,0.084,2507,3553,3085
$GC,11261,-0.95,-117.3,836.0,-7.4,538,11268,0.00,2.80,0.00,0.000,6,0.000,0.073,2507,2049,3084
$GC,11578,-1.05,-117.3,842.5,-2.9,554,11583,0.15,2.88,0.00,0.000,4,0.062,0.085,2469,3557,3083
$GC,11596,-1.05,-117.3,843.0,-4.6,555,11601,0.00,2.75,0.00,0.000,6,0.000,0.081,2469,2101,3083
$STATE,11612,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11612,begin apogee
$GC,11618,-0.33,0.0,844.1,5.7,556,11722,0.75,0.00,100.43,1.489,6,0.103,0.000,2622,2075,2620
$STATE,11723,end apogee,CONTROL_FINISHED_OK
$STATE,11723,begin climb
$GC,11726,1.30,117.3,846.1,0.0,561,11836,1.62,2.75,101.15,1.450,4,0.059,0.084,2977,688,2141
$GC,11949,1.22,117.3,829.7,11.8,571,11954,0.00,2.67,0.00,0.000,6,0.000,0.074,2977,2099,2140
$GC,12266,1.16,129.6,804.0,7.4,586,12280,0.12,0.00,11.70,1.300,6,0.107,0.000,2954,2098,2091
$GC,12599,1.33,206.8,785.8,4.5,602,12674,0.15,2.80,66.50,1.440,4,0.058,0.085,2997,3508,1777
$GC,12759,1.38,236.8,778.0,6.6,609,12791,0.00,2.80,26.95,1.385,6,0.000,0.072,2997,2031,1654
$GC,13100,1.38,236.8,730.7,16.1,626,13105,0.00,2.85,0.00,0.000,4,0.000,0.086,2997,3511,1654
$GC,13144,1.38,236.8,723.0,16.7,628,13149,0.00,2.75,0.00,0.000,6,0.000,0.074,2997,2058,1654
$GC,13466,1.38,236.8,672.4,15.4,644,13467,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2058,1653
$GC,13774,1.38,236.8,630.3,12.5,659,13779,0.00,2.75,0.00,0.000,4,0.000,0.079,2997,3509,1652
$GC,13807,1.38,236.8,626.2,11.9,660,13813,0.00,2.70,0.00,0.000,6,0.000,0.065,2997,2051,1652
$GC,14124,1.34,236.8,591.7,12.2,676,14128,0.00,2.72,0.00,0.000,4,0.000,0.075,2997,3512,1651
$GC,14169,1.34,236.8,584.9,15.5,678,14174,0.00,2.62,0.00,0.000,6,0.000,0.060,2998,2082,1651
$GC,14491,1.34,236.8,546.2,11.4,694,14495,0.00,2.67,0.00,0.000,4,0.000,0.068,2997,3514,1651
$GC,14535,1.34,236.8,541.2,10.8,696,14540,0.00,2.58,0.00,0.000,6,0.000,0.057,2997,2103,1651
$GC,14856,1.34,236.8,504.4,11.3,712,14860,0.00,2.58,0.00,0.000,4,0.000,0.071,2998,680,1652
$GC,14906,1.34,236.8,498.0,12.9,714,14910,0.00,2.58,0.00,0.000,6,0.000,0.057,2998,2108,1652
$GC,15222,1.34,236.8,460.3,12.1,729,15226,0.00,2.55,0.00,0.000,4,0.000,0.065,2997,3514,1653
$GC,15284,1.34,236.8,452.3,13.1,732,15288,0.00,2.53,0.00,0.000,6,0.000,0.053,2998,2108,1654
$GC,15611,1.34,236.8,414.4,11.0,748,15615,0.00,2.55,0.00,0.000,4,0.000,0.062,2998,3511,1654
$GC,15643,1.34,236.8,410.5,11.9,749,15649,0.00,2.47,0.00,0.000,6,0.000,0.051,2998,2132,1655
$GC,15959,1.34,236.8,377.4,9.9,765,15963,0.00,2.58,0.00,0.000,4,0.000,0.064,2998,691,1656
$GC,15986,1.34,236.8,374.5,10.1,766,15990,0.00,2.58,0.00,0.000,6,0.000,0.054,2998,2132,1656
$GC,16303,1.34,236.8,346.9,8.8,781,16307,0.00,2.47,0.00,0.000,4,0.000,0.063,2998,3512,1657
$GC,16330,1.34,236.8,344.0,9.9,782,16334,0.00,2.47,0.00,0.000,6,0.000,0.051,2998,2134,1657
$GC,16646,1.34,236.8,317.9,8.1,797,16647,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2135,1658
$GC,16956,1.34,236.8,291.6,8.5,812,16960,0.00,2.53,0.00,0.000,4,0.000,0.061,2998,3515,1658
$GC,17011,1.39,236.8,286.4,9.3,814,17017,0.00,2.45,0.00,0.000,6,0.000,0.051,2998,2144,1659
$GC,17328,1.43,236.8,260.0,8.4,830,17329,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2144,1659
$GC,17637,1.47,236.8,233.3,9.3,845,17642,0.10,2.50,0.00,0.000,4,0.053,0.059,3030,3513,1660
$GC,17670,1.42,236.8,229.5,11.1,846,17676,0.00,2.45,0.00,0.000,6,0.000,0.051,3030,2150,1660
$GC,17987,1.38,236.8,191.9,12.3,862,17989,0.15,0.00,0.00,0.000,6,0.089,0.000,3002,2149,1661
$GC,18296,1.42,236.8,158.7,10.7,877,18300,0.00,2.47,0.00,0.000,4,0.000,0.061,3002,3513,1661
$GC,18336,1.47,236.8,154.3,11.8,879,18340,0.00,2.40,0.00,0.000,6,0.000,0.050,3002,2164,1661
$GC,18669,1.50,258.2,124.1,7.0,895,18695,0.12,2.70,19.70,0.867,4,0.050,0.062,3038,691,1567
$GC,18731,1.45,258.2,119.4,8.6,898,18736,0.12,2.65,0.00,0.000,6,0.092,0.052,3015,2173,1566
$GC,19059,1.57,335.1,105.6,4.5,914,19123,0.12,0.00,61.90,0.878,6,0.051,0.000,3051,2174,1253
$GC,19429,1.52,335.1,63.7,10.9,932,19434,0.00,2.72,0.00,0.000,4,0.000,0.063,3051,689,1253
$GC,19462,1.44,335.1,59.9,10.2,933,19469,0.20,2.65,0.00,0.000,6,0.088,0.052,3013,2165,1253
$GC,19779,1.48,335.1,30.5,10.3,949,19783,0.00,2.70,0.00,0.000,4,0.000,0.061,3013,681,1254
$GC,19829,1.56,335.1,24.8,9.7,951,19834,0.12,2.58,0.00,0.000,6,0.049,0.049,3049,2124,1254
$STATE,19998,end climb,SURFACE_DEPTH_REACHED
$STATE,19998,begin surface coast
$FINISH,-0.1,1.011460
$STATE,20023,end surface coast,CONTROL_FINISHED_OK
$STATE,20023,begin surface
$SM_CCo,20045,125.70,0.778,0,0,390,547.02
$SM_GC,0.39,0.00,0.00,125.70,0.000,0.000,0.778,419,2123,390,-10.49,-0.76,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1683
$TCM_TEMP,16.80
$XPDR_PINGS,486
$ALTIM_TOP_PING,18.7,18.9
$ALTIM_BOTTOM_PING,750.5,103.3
$24V_AH,23.7,38.258
$10V_AH,10.1,18.248
$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,26.725,207.350,388.325,125.700,0.000,37.763,31.921,158.201,128.250,0.000,0.000,15.301,1838.986,15144.569,702.836,2239.109,606.797,33.375,1849.592,0.000,2187.997,0.000,46.361
$DEVICE_MAMPS,144.963,85.904,1488.747,777.738,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,659.551,709.828,516.310,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50539,960
$CAP_FILE_SIZE,162281,0
$CFSIZE,254472192,239157248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,190708,065026,6143.237,-926.895,44,1.2,44,-9.5