version: 66.04
glider: 5
mission: 5
dive: 192
start: 12 15 108 11 42 13
data:
$ID,5
$MISSION,5
$DIVE,192
$D_SURF,4
$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,550
$T_MISSION,580
$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,1001
$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,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-91054.062
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2650
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2832
$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,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.610077
$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,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$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,0.0043761111
$SEABIRD_T_H,0.00064345129
$SEABIRD_T_I,2.5632376e-05
$SEABIRD_T_J,2.7382036e-06
$SEABIRD_C_G,-10.188265
$SEABIRD_C_H,1.1432956
$SEABIRD_C_I,-0.00020702372
$SEABIRD_C_J,0.00012956691
$GPS1,112756,6059.885,-318.145,45,1.9,45,-6.1
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-48.0
$GPS2,114121,6100.078,-317.868,14,1.6,14,-6.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.141,-0.171
$KALMAN_X,182683.0,-690.4,-115.2,-45236.8,10019.4
$KALMAN_Y,116875.8,-1663.3,-1350.0,-410415.3,18608.7
$MHEAD_RNG_PITCHd_Wd,225.6,89951,-11.0,-6.000
$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,16,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-80.70,0.000,2,0.000,0.000,424,1967,3163
$GC,102,-0.97,-146.6,3.9,-5.0,4,126,10.48,2.60,-7.07,0.000,4,0.138,0.075,2432,587,3431
$GC,246,-0.61,-146.6,31.6,-17.2,10,251,0.40,2.55,0.00,0.000,6,0.083,0.051,2517,2008,3431
$GC,569,-0.47,-146.6,67.6,-11.1,26,571,0.15,0.00,0.00,0.000,6,0.090,0.000,2548,2029,3431
$GC,877,-0.42,-146.6,93.5,-8.0,41,882,0.00,2.60,0.00,0.000,4,0.000,0.065,2548,596,3431
$GC,944,-0.42,-146.6,98.9,-7.4,44,949,0.00,2.53,0.00,0.000,6,0.000,0.052,2548,2012,3432
$GC,1267,-0.38,-146.6,123.4,-7.8,60,1271,0.00,2.60,0.00,0.000,4,0.000,0.067,2548,592,3432
$GC,1295,-0.34,-146.6,125.8,-8.1,61,1300,0.12,2.53,0.00,0.000,6,0.089,0.052,2575,2008,3432
$GC,1611,-0.34,-146.6,146.8,-6.8,76,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2008,3431
$GC,1920,-0.34,-146.6,167.6,-6.7,91,1925,0.00,2.53,0.00,0.000,4,0.000,0.064,2575,3411,3432
$GC,1948,-0.40,-146.6,169.6,-7.0,92,1953,0.00,2.53,0.00,0.000,6,0.000,0.051,2575,1995,3432
$GC,2264,-0.40,-146.6,190.6,-6.6,107,2269,0.00,2.58,0.00,0.000,4,0.000,0.064,2575,3406,3432
$GC,2292,-0.45,-146.6,192.7,-7.1,108,2297,0.12,2.50,0.00,0.000,6,0.055,0.051,2541,2005,3431
$GC,2609,-0.39,-146.6,218.8,-8.1,123,2611,0.10,0.00,0.00,0.000,6,0.092,0.000,2562,2005,3432
$GC,2917,-0.39,-146.6,240.6,-6.9,138,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2003,3432
$GC,3226,-0.39,-146.6,261.4,-6.8,153,3230,0.00,2.58,0.00,0.000,4,0.000,0.064,2562,3415,3432
$GC,3259,-0.39,-146.6,263.7,-7.4,154,3265,0.00,2.50,0.00,0.000,6,0.000,0.054,2562,2020,3432
$GC,3575,-0.39,-146.6,285.7,-7.1,170,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2018,3432
$GC,3884,-0.39,-146.6,309.2,-7.6,185,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2019,3432
$GC,4193,-0.39,-146.6,328.7,-5.4,200,4198,0.00,2.55,0.00,0.000,4,0.000,0.066,2562,3409,3432
$GC,4222,-0.39,-146.6,330.4,-5.6,201,4226,0.00,2.47,0.00,0.000,6,0.000,0.054,2562,2027,3432
$GC,4540,-0.39,-146.6,351.3,-7.7,216,4545,0.00,2.58,0.00,0.000,4,0.000,0.067,2562,594,3432
$GC,4585,-0.39,-146.6,355.4,-8.8,218,4589,0.00,2.55,0.00,0.000,6,0.000,0.054,2562,2027,3432
$GC,4907,-0.39,-146.6,375.1,-4.7,234,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2028,3432
$GC,5215,-0.39,-146.6,392.7,-6.6,249,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2028,3432
$GC,5524,-0.39,-146.6,413.5,-7.1,264,5529,0.00,2.65,0.00,0.000,4,0.000,0.072,2562,591,3432
$GC,5565,-0.44,-146.6,416.5,-8.1,266,5569,0.00,2.53,0.00,0.000,6,0.000,0.056,2561,2007,3432
$GC,5891,-0.44,-146.6,439.4,-7.0,282,5895,0.00,2.55,0.00,0.000,4,0.000,0.072,2562,3409,3432
$GC,5947,-0.50,-146.6,443.4,-7.2,284,5953,0.00,2.55,0.00,0.000,6,0.000,0.061,2562,2004,3432
$GC,6263,-0.54,-146.6,463.4,-6.8,300,6265,0.15,0.00,0.00,0.000,6,0.057,0.000,2520,2003,3432
$GC,6572,-0.47,-146.6,488.2,-8.0,315,6577,0.12,2.62,0.00,0.000,4,0.094,0.074,2547,3405,3431
$GC,6605,-0.47,-146.6,490.7,-7.0,316,6612,0.00,2.55,0.00,0.000,6,0.000,0.065,2547,2010,3431
$GC,6922,-0.47,-146.6,511.0,-6.0,332,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2010,3430
$GC,7230,-0.47,-146.6,530.5,-6.8,347,7235,0.00,2.62,0.00,0.000,4,0.000,0.080,2547,3405,3429
$GC,7258,-0.47,-146.6,532.5,-7.4,348,7263,0.00,2.58,0.00,0.000,6,0.000,0.069,2547,2009,3429
$GC,7574,-0.47,-146.6,554.0,-7.5,363,7575,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2009,3428
$GC,7883,-0.47,-146.6,576.8,-7.1,378,7888,0.00,2.65,0.00,0.000,4,0.000,0.084,2547,3402,3427
$GC,7912,-0.47,-146.6,578.9,-7.5,379,7917,0.00,2.58,0.00,0.000,6,0.000,0.073,2547,2017,3426
$GC,8228,-0.47,-146.6,600.0,-6.3,394,8229,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2017,3426
$GC,8537,-0.47,-146.6,619.3,-6.2,409,8542,0.00,2.65,0.00,0.000,4,0.000,0.088,2547,3404,3424
$GC,8578,-0.47,-146.6,621.8,-6.3,411,8582,0.00,2.58,0.00,0.000,6,0.000,0.077,2547,2030,3424
$GC,8904,-0.47,-146.6,640.4,-5.6,427,8906,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2029,3423
$GC,9214,-0.47,-146.6,657.3,-5.4,442,9218,0.00,2.60,0.00,0.000,4,0.000,0.088,2547,3399,3422
$GC,9242,-0.47,-146.6,658.9,-5.8,443,9246,0.00,2.55,0.00,0.000,6,0.000,0.077,2547,2040,3422
$GC,9559,-0.47,-146.6,676.0,-5.8,458,9560,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2039,3421
$GC,9867,-0.47,-146.6,694.5,-6.1,473,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2039,3420
$GC,10177,-0.47,-146.6,712.5,-5.7,488,10178,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2039,3419
$GC,10485,-0.47,-146.6,730.4,-6.0,503,10490,0.00,2.62,0.00,0.000,4,0.000,0.092,2547,3404,3417
$GC,10518,-0.47,-146.6,732.5,-6.5,504,10524,0.00,2.58,0.00,0.000,6,0.000,0.081,2547,2039,3417
$GC,10836,-0.47,-146.6,751.0,-6.1,520,10838,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2039,3416
$GC,11143,-0.47,-146.6,769.4,-5.8,535,11144,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2039,3415
$GC,11452,-0.47,-146.6,786.9,-5.5,550,11457,0.00,2.60,0.00,0.000,4,0.000,0.092,2547,3400,3415
$GC,11486,-0.47,-146.6,788.8,-6.1,551,11492,0.00,2.58,0.00,0.000,6,0.000,0.081,2547,2036,3415
$GC,11802,-0.47,-146.6,808.5,-6.2,567,11803,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2035,3414
$GC,12111,-0.47,-146.6,827.0,-6.2,582,12112,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2035,3413
$GC,12421,-0.47,-146.6,846.2,-6.5,597,12425,0.00,2.72,0.00,0.000,4,0.000,0.092,2547,585,3412
$GC,12448,-0.47,-146.6,848.3,-6.9,598,12452,0.00,2.70,0.00,0.000,6,0.000,0.077,2547,2042,3412
$GC,12764,-0.47,-146.6,868.9,-6.5,613,12769,0.00,2.80,0.00,0.000,4,0.000,0.094,2547,584,3411
$GC,12808,-0.47,-146.6,872.1,-7.1,615,12813,0.00,2.70,0.00,0.000,6,0.000,0.078,2547,2030,3411
$GC,13130,-0.51,-146.6,893.6,-6.7,631,13134,0.00,2.78,0.00,0.000,4,0.000,0.097,2547,593,3411
$GC,13180,-0.51,-146.6,897.5,-7.4,633,13184,0.00,2.65,0.00,0.000,6,0.000,0.079,2547,2013,3410
$GC,13496,-0.55,-146.6,918.8,-6.4,648,13500,0.00,2.62,0.00,0.000,4,0.000,0.094,2547,3410,3411
$GC,13536,-0.59,-146.6,921.2,-6.4,650,13541,0.12,2.65,0.00,0.000,6,0.074,0.082,2517,2005,3410
$STATE,13654,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13654,begin apogee
$GC,13662,-0.33,0.0,930.4,7.4,656,13791,0.28,0.00,125.60,1.621,6,0.098,0.000,2574,2206,2832
$STATE,13791,end apogee,CONTROL_FINISHED_OK
$STATE,13791,begin climb
$GC,13794,0.97,146.6,933.8,0.0,662,13932,1.38,2.80,127.65,1.574,4,0.085,0.092,2856,3601,2234
$GC,14042,1.09,180.6,924.0,5.1,673,14079,0.15,2.67,30.85,1.497,6,0.070,0.080,2891,2202,2095
$GC,14402,1.10,189.3,904.1,5.8,691,14417,0.00,2.78,9.62,1.353,4,0.000,0.096,2891,793,2060
$GC,14451,1.10,190.7,901.0,6.0,692,14456,0.00,2.67,0.00,0.000,6,0.000,0.077,2890,2195,2060
$GC,14767,1.13,206.9,882.9,5.6,707,14790,0.00,2.88,16.92,1.472,4,0.000,0.094,2891,784,1988
$GC,14818,1.13,206.9,879.5,6.4,709,14823,0.00,2.67,0.00,0.000,6,0.000,0.076,2891,2188,1988
$GC,15140,1.22,237.6,861.6,5.2,725,15175,0.10,2.85,27.85,1.519,4,0.075,0.094,2916,791,1863
$GC,15198,1.22,237.6,857.1,7.4,727,15204,0.00,2.65,0.00,0.000,6,0.000,0.077,2916,2182,1863
$GC,15516,1.22,237.6,834.7,7.1,743,15521,0.00,2.72,0.00,0.000,4,0.000,0.096,2916,788,1864
$GC,15545,1.22,237.6,832.3,7.8,744,15549,0.00,2.62,0.00,0.000,6,0.000,0.077,2916,2175,1863
$GC,15861,1.22,237.6,810.0,6.9,759,15862,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2175,1864
$GC,16170,1.22,237.6,788.6,7.0,774,16175,0.00,2.70,0.00,0.000,4,0.000,0.095,2916,788,1864
$GC,16211,1.22,237.6,785.6,7.5,776,16215,0.00,2.60,0.00,0.000,6,0.000,0.077,2916,2170,1864
$GC,16537,1.22,237.6,762.2,7.2,792,16542,0.00,2.70,0.00,0.000,4,0.000,0.094,2916,782,1864
$GC,16566,1.22,237.6,760.0,8.4,793,16570,0.00,2.60,0.00,0.000,6,0.000,0.077,2916,2164,1864
$GC,16881,1.22,237.6,737.6,7.1,808,16883,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2164,1864
$GC,17191,1.22,237.6,716.0,6.8,823,17195,0.00,2.67,0.00,0.000,4,0.000,0.094,2917,787,1864
$GC,17224,1.22,237.6,713.6,7.6,824,17230,0.00,2.58,0.00,0.000,6,0.000,0.077,2917,2152,1864
$GC,17539,1.22,237.6,691.7,7.1,840,17541,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2152,1864
$GC,17849,1.22,237.6,668.6,7.7,855,17850,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2152,1863
$GC,18158,1.22,237.6,644.8,7.5,870,18163,0.00,2.65,0.00,0.000,4,0.000,0.094,2916,786,1863
$GC,18186,1.22,237.6,642.4,8.3,871,18191,0.00,2.58,0.00,0.000,6,0.000,0.076,2917,2163,1863
$GC,18502,1.22,237.6,621.1,6.2,886,18503,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2164,1864
$GC,18812,1.24,245.7,602.9,5.8,901,18826,0.00,2.72,8.80,1.276,4,0.000,0.091,2916,793,1830
$GC,18849,1.26,257.9,600.5,5.7,902,18869,0.00,2.58,12.27,1.322,6,0.000,0.075,2917,2150,1780
$GC,19186,1.30,285.9,581.5,5.2,919,19213,0.00,0.00,25.02,1.380,6,0.000,0.000,2916,2150,1666
$GC,19515,1.36,288.7,562.6,5.9,935,19525,0.12,2.67,4.38,0.980,4,0.069,0.092,2948,783,1654
$GC,19565,1.29,288.7,558.6,8.8,937,19570,0.00,2.55,0.00,0.000,6,0.000,0.075,2948,2141,1654
$GC,19881,1.29,288.7,536.6,6.4,952,19883,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2142,1654
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$GC,25812,1.44,327.9,76.1,7.4,1240,25813,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2155,1494
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$STATE,26812,end climb,SURFACE_DEPTH_REACHED
$STATE,26812,begin surface coast
$FINISH,0.1,1.027399
$STATE,26857,end surface coast,CONTROL_FINISHED_OK
$STATE,26857,begin surface
$SM_CCo,26940,0.00,0.000,0,0,1495,327.72
$SM_GC,0.78,11.05,0.00,0.00,0.039,0.000,0.000,424,1963,1495,-10.15,-0.99,327.72
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1778
$TCM_TEMP,15.80
$XPDR_PINGS,281
$ALTIM_TOP_PING,17.8,999.0
$ALTIM_BOTTOM_PING,850.2,89.7
$24V_AH,23.6,33.974
$10V_AH,10.0,16.477
$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,25.125,220.175,424.775,0.000,0.000,113.270,90.170,331.866,78.250,0.000,0.000,14.031,2318.980,21271.195,598.812,2560.091,986.412,33.365,1904.606,0.000,2509.711,0.000,53.558,0.000
$DEVICE_MAMPS,138.060,96.642,1621.438,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,963.670,875.589,686.848,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66334,1291
$CAP_FILE_SIZE,192779,0
$CFSIZE,254472192,240607232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,72,0,0
$GPS,151208,191232,6057.040,-323.163,41,1.4,41,-6.1