version: 66.03
glider: 5
mission: 3
dive: 198
start: 7 19 108 13 3 39
data:
$ID,5
$MISSION,3
$DIVE,198
$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,-80288.938
$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,24
$R_STBD_OVSHOOT,50
$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
$GPS1,125650,6144.283,-926.058,38,1.6,50,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-50.7
$GPS2,130245,6144.211,-925.996,16,1.3,16,-9.5
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.221,-0.012
$KALMAN_X,-16572.5,1218.6,517.3,-4209.5,-10694.4
$KALMAN_Y,13554.5,-793.1,156.3,-55821.0,2680.3
$MHEAD_RNG_PITCHd_Wd,102.6,14454,-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,-111.18,0.000,6,0.000,0.000,422,2163,3099
$GC,141,-1.30,-117.3,2.2,-1.7,5,157,10.30,2.58,0.00,0.000,4,0.138,0.056,2406,745,3098
$GC,410,-0.96,-117.3,44.6,-14.3,16,415,0.40,2.47,0.00,0.000,6,0.094,0.048,2488,2128,3097
$GC,734,-0.89,-117.3,81.3,-10.7,32,738,0.00,2.53,0.00,0.000,4,0.000,0.058,2488,741,3097
$GC,992,-0.79,-117.3,104.7,-8.5,43,999,0.17,2.53,0.00,0.000,6,0.091,0.049,2525,2152,3097
$GC,1310,-0.79,-117.3,124.8,-5.7,59,1315,0.00,2.58,0.00,0.000,4,0.000,0.059,2525,737,3098
$GC,1351,-0.79,-117.3,127.4,-6.4,61,1355,0.00,2.53,0.00,0.000,6,0.000,0.050,2524,2152,3098
$GC,1678,-0.79,-117.3,149.3,-6.9,77,1683,0.00,2.53,0.00,0.000,4,0.000,0.060,2525,3565,3098
$GC,1701,-0.79,-117.3,151.0,-7.3,78,1705,0.00,2.53,0.00,0.000,6,0.000,0.047,2525,2143,3098
$GC,2022,-0.84,-117.3,178.6,-9.2,94,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2124,3097
$GC,2332,-0.88,-117.3,205.8,-7.4,109,2336,0.00,2.50,0.00,0.000,4,0.000,0.061,2525,743,3097
$GC,2349,-0.88,-117.3,207.1,-7.0,110,2354,0.00,2.53,0.00,0.000,6,0.000,0.051,2525,2154,3097
$GC,2677,-0.92,-117.3,233.0,-8.3,126,2682,0.12,2.58,0.00,0.000,4,0.051,0.059,2487,741,3097
$GC,2695,-0.92,-117.3,234.6,-7.9,127,2700,0.00,2.53,0.00,0.000,6,0.000,0.051,2487,2152,3097
$GC,3022,-0.85,-117.3,265.0,-9.3,143,3027,0.12,2.58,0.00,0.000,4,0.097,0.060,2513,743,3096
$GC,3049,-0.85,-117.3,267.5,-8.5,144,3054,0.00,2.53,0.00,0.000,6,0.000,0.052,2513,2147,3096
$GC,3366,-0.85,-117.3,295.8,-9.4,159,3370,0.00,2.58,0.00,0.000,4,0.000,0.062,2513,741,3096
$GC,3393,-0.85,-117.3,298.4,-9.4,160,3397,0.00,2.53,0.00,0.000,6,0.000,0.052,2513,2144,3096
$GC,3711,-0.85,-117.3,325.8,-9.2,175,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2143,3096
$GC,4018,-0.85,-117.3,353.6,-8.2,190,4023,0.00,2.55,0.00,0.000,4,0.000,0.063,2513,741,3096
$GC,4096,-0.85,-117.3,360.4,-8.3,193,4102,0.00,2.50,0.00,0.000,6,0.000,0.053,2513,2135,3095
$GC,4413,-0.85,-117.3,384.8,-7.9,209,4417,0.00,2.50,0.00,0.000,4,0.000,0.062,2513,752,3095
$GC,4458,-0.85,-117.3,388.6,-8.0,211,4462,0.00,2.45,0.00,0.000,6,0.000,0.052,2513,2119,3095
$GC,4779,-0.85,-117.3,416.3,-9.4,227,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2119,3095
$GC,5088,-0.85,-117.3,445.0,-9.8,242,5092,0.00,2.60,0.00,0.000,4,0.000,0.064,2513,3560,3095
$GC,5115,-0.85,-117.3,447.9,-10.9,243,5120,0.00,2.58,0.00,0.000,6,0.000,0.052,2513,2114,3095
$GC,5431,-0.85,-117.3,482.0,-11.3,258,5435,0.00,2.45,0.00,0.000,4,0.000,0.061,2513,747,3095
$GC,5458,-0.85,-117.3,485.4,-11.6,259,5462,0.00,2.45,0.00,0.000,6,0.000,0.053,2513,2110,3095
$GC,5774,-0.85,-117.3,522.5,-11.3,274,5779,0.00,2.47,0.00,0.000,4,0.000,0.062,2513,740,3094
$GC,5830,-0.85,-117.3,529.2,-11.8,276,5836,0.00,2.45,0.00,0.000,6,0.000,0.053,2513,2102,3094
$GC,6146,-0.85,-117.3,559.8,-8.4,292,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2100,3094
$GC,6456,-0.85,-117.3,583.0,-6.6,307,6460,0.00,2.47,0.00,0.000,4,0.000,0.066,2513,748,3094
$GC,6714,-0.85,-117.3,600.5,-7.7,318,6720,0.00,2.42,0.00,0.000,6,0.000,0.054,2513,2090,3094
$GC,7030,-0.85,-117.3,616.1,-4.5,334,7034,0.00,2.47,0.00,0.000,4,0.000,0.066,2513,738,3094
$GC,7289,-0.85,-117.3,633.2,-8.9,345,7295,0.00,2.42,0.00,0.000,6,0.000,0.058,2513,2081,3094
$GC,7605,-0.90,-117.3,664.7,-11.8,361,7610,0.00,2.47,0.00,0.000,4,0.000,0.070,2513,742,3093
$GC,7862,-0.90,-117.3,697.4,-12.2,372,7868,0.00,2.40,0.00,0.000,6,0.000,0.060,2513,2058,3093
$GC,8179,-0.99,-117.3,719.7,-3.8,388,8184,0.12,2.45,0.00,0.000,4,0.058,0.075,2476,751,3093
$GC,8334,-0.92,-117.3,722.4,-1.3,395,8339,0.12,2.38,0.00,0.000,6,0.100,0.064,2501,2050,3093
$GC,8662,-0.92,-117.3,735.5,-7.4,411,8666,0.00,2.80,0.00,0.000,4,0.000,0.079,2501,3561,3092
$GC,8828,-0.92,-117.3,750.9,-7.8,418,8832,0.00,2.72,0.00,0.000,6,0.000,0.065,2501,2074,3092
$GC,9144,-0.92,-117.3,773.1,-6.4,433,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2075,3090
$GC,9454,-0.96,-117.3,788.8,-5.6,448,9455,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2074,3089
$GC,9762,-0.96,-117.3,818.8,-9.7,463,9767,0.00,2.83,0.00,0.000,4,0.000,0.087,2500,3551,3088
$GC,9817,-0.96,-117.3,825.1,-12.0,465,9824,0.00,2.75,0.00,0.000,6,0.000,0.073,2500,2071,3087
$STATE,9986,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9986,begin apogee
$GC,9994,-0.33,0.0,846.7,12.7,474,10097,0.60,0.00,100.88,1.472,6,0.092,0.000,2625,2099,2620
$STATE,10098,end apogee,CONTROL_FINISHED_OK
$STATE,10098,begin climb
$GC,10101,1.30,117.3,852.1,0.0,479,10212,1.65,2.78,101.15,1.433,4,0.071,0.084,2980,3504,2141
$GC,10338,1.20,117.3,826.1,11.2,490,10343,0.00,2.65,0.00,0.000,6,0.000,0.073,2980,2106,2140
$GC,10666,1.20,155.6,798.3,6.3,506,10708,0.00,2.75,33.92,1.389,4,0.000,0.084,2979,3502,1985
$GC,10737,1.15,155.6,790.4,12.4,509,10742,0.15,2.62,0.00,0.000,6,0.106,0.072,2953,2125,1985
$GC,11058,1.21,155.6,751.7,9.0,525,11063,0.00,2.67,0.00,0.000,4,0.000,0.084,2953,3507,1983
$GC,11130,1.21,155.6,744.7,9.1,528,11135,0.00,2.53,0.00,0.000,6,0.000,0.071,2953,2163,1983
$GC,11447,1.33,185.9,720.6,6.6,543,11477,0.15,0.00,26.70,1.381,6,0.059,0.000,2993,2144,1862
$GC,11776,1.28,185.9,690.1,9.3,559,11780,0.00,2.78,0.00,0.000,4,0.000,0.087,2993,683,1860
$GC,11798,1.22,185.9,687.7,10.0,560,11803,0.12,2.83,0.00,0.000,6,0.106,0.074,2969,2183,1860
$GC,12120,1.26,208.6,663.7,7.0,576,12142,0.00,0.00,20.55,1.341,6,0.000,0.000,2969,2183,1769
$GC,12449,1.31,208.6,634.4,10.1,592,12454,0.00,2.83,0.00,0.000,4,0.000,0.083,2969,688,1767
$GC,12483,1.39,208.6,630.7,11.1,593,12490,0.12,2.72,0.00,0.000,6,0.048,0.067,3005,2162,1767
$GC,12799,1.33,208.6,589.0,17.4,609,12804,0.00,2.78,0.00,0.000,4,0.000,0.076,3005,679,1766
$GC,12884,1.27,208.6,575.8,16.1,613,12889,0.15,2.70,0.00,0.000,6,0.095,0.061,2977,2155,1766
$GC,13211,1.27,208.6,526.3,14.0,629,13212,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2156,1767
$GC,13521,1.32,208.6,488.5,10.8,644,13525,0.00,2.72,0.00,0.000,4,0.000,0.068,2977,680,1767
$GC,13548,1.32,208.6,485.4,11.3,645,13553,0.00,2.65,0.00,0.000,6,0.000,0.057,2977,2142,1767
$GC,13864,1.37,208.6,451.2,10.8,660,13866,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2143,1769
$GC,14174,1.42,208.6,419.2,10.1,675,14175,0.15,0.00,0.00,0.000,6,0.050,0.000,3018,2143,1769
$GC,14483,1.36,208.6,380.9,12.5,690,14485,0.12,0.00,0.00,0.000,6,0.094,0.000,2995,2143,1771
$GC,14792,1.36,208.6,347.0,11.1,705,14796,0.00,2.67,0.00,0.000,4,0.000,0.066,2995,679,1772
$GC,14824,1.36,208.6,343.1,11.0,706,14830,0.00,2.62,0.00,0.000,6,0.000,0.054,2995,2138,1772
$GC,15140,1.36,208.6,307.0,11.2,722,15145,0.00,2.47,0.00,0.000,4,0.000,0.062,2995,3516,1773
$GC,15164,1.36,208.6,304.4,11.4,723,15168,0.00,2.50,0.00,0.000,6,0.000,0.051,2995,2123,1773
$GC,15485,1.36,208.6,269.7,10.8,739,15486,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2123,1774
$GC,15794,1.36,208.6,237.8,10.1,754,15799,0.00,2.53,0.00,0.000,4,0.000,0.061,2995,3513,1774
$GC,15844,1.36,208.6,232.1,11.2,756,15849,0.00,2.47,0.00,0.000,6,0.000,0.050,2995,2135,1775
$GC,16161,1.36,208.6,199.1,11.4,771,16165,0.00,2.50,0.00,0.000,4,0.000,0.060,2995,3513,1775
$GC,16196,1.36,208.6,195.1,11.6,772,16203,0.00,2.42,0.00,0.000,6,0.000,0.050,2995,2150,1774
$GC,16511,1.36,208.6,160.5,10.5,788,16512,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2150,1775
$GC,16823,1.36,208.6,132.0,8.3,803,16824,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2150,1775
$GC,17131,1.40,236.0,110.3,6.8,818,17161,0.00,2.53,24.42,0.867,4,0.000,0.058,2995,3509,1657
$GC,17198,1.51,265.6,105.6,6.7,821,17228,0.15,2.42,24.60,0.861,6,0.046,0.049,3035,2153,1537
$GC,17553,1.46,265.6,65.8,13.0,838,17555,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2153,1537
$GC,17860,1.40,265.6,25.7,13.6,853,17865,0.15,2.62,0.00,0.000,4,0.087,0.062,3003,691,1537
$GC,17950,1.46,265.6,14.4,12.7,857,17954,0.00,2.65,0.00,0.000,6,0.000,0.051,3003,2173,1537
$STATE,18062,end climb,SURFACE_DEPTH_REACHED
$STATE,18062,begin surface coast
$FINISH,0.2,1.026194
$STATE,18084,end surface coast,CONTROL_FINISHED_OK
$STATE,18085,begin surface
$SM_CCo,18107,167.65,0.779,0,0,390,547.02
$SM_GC,0.57,0.00,0.00,167.65,0.000,0.000,0.779,422,2119,390,-10.48,-0.88,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1677
$TCM_TEMP,16.70
$XPDR_PINGS,418
$ALTIM_TOP_PING,20.0,999.0
$ALTIM_BOTTOM_PING,775.1,80.2
$24V_AH,23.7,38.660
$10V_AH,10.1,18.435
$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,26.100,164.775,332.225,167.650,0.000,37.763,26.785,155.737,111.500,0.000,0.000,15.988,1661.692,13655.944,681.873,2064.844,563.502,33.346,1714.334,0.000,2016.501,0.000,47.609
$DEVICE_MAMPS,138.060,103.545,1471.873,778.505,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,593.822,640.924,500.830,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44358,864
$CAP_FILE_SIZE,143259,0
$CFSIZE,254472192,239038464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,190708,180938,6143.596,-927.085,37,1.7,43,-9.5