version: 66.04
glider: 5
mission: 5
dive: 196
start: 12 16 108 16 30 13
data:
$ID,5
$MISSION,5
$DIVE,196
$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,-91111.086
$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,29
$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
$GPS1,162021,6052.286,-320.548,39,2.1,58,-6.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-57.5
$GPS2,162921,6052.302,-320.070,12,1.7,12,-6.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.116,-0.188
$KALMAN_X,199766.6,589.8,271.0,-65947.4,10521.1
$KALMAN_Y,115363.1,536.9,429.4,-427440.1,1584.8
$MHEAD_RNG_PITCHd_Wd,217.7,76150,-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,15,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-81.25,0.000,2,0.000,0.000,421,1958,3352
$GC,103,-0.97,-146.6,4.0,-4.5,4,125,10.40,2.65,-1.85,0.000,4,0.133,0.070,2432,3413,3432
$GC,246,-0.64,-146.6,34.1,-18.1,10,251,0.38,2.50,0.00,0.000,6,0.082,0.048,2512,2003,3432
$GC,568,-0.49,-146.6,66.7,-10.2,26,573,0.15,2.58,0.00,0.000,4,0.091,0.058,2543,3410,3432
$GC,635,-0.49,-146.6,72.3,-8.8,29,640,0.00,2.50,0.00,0.000,6,0.000,0.048,2543,2003,3433
$GC,957,-0.39,-146.6,99.0,-10.0,45,959,0.10,0.00,0.00,0.000,6,0.096,0.000,2564,2002,3432
$GC,1267,-0.39,-146.6,126.0,-9.1,60,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2003,3433
$GC,1574,-0.39,-146.6,152.7,-8.0,75,1579,0.00,2.55,0.00,0.000,4,0.000,0.061,2564,3410,3432
$GC,1619,-0.39,-146.6,156.3,-7.9,77,1623,0.00,2.47,0.00,0.000,6,0.000,0.049,2564,2013,3433
$GC,1946,-0.39,-146.6,181.4,-7.0,93,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2013,3433
$GC,2255,-0.39,-146.6,203.9,-7.3,108,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2013,3433
$GC,2566,-0.39,-146.6,225.5,-7.0,123,2571,0.00,2.55,0.00,0.000,4,0.000,0.061,2564,3409,3433
$GC,2611,-0.39,-146.6,228.7,-6.7,125,2616,0.00,2.47,0.00,0.000,6,0.000,0.051,2564,2020,3433
$GC,2933,-0.39,-146.6,252.4,-7.5,141,2938,0.00,2.55,0.00,0.000,4,0.000,0.065,2564,593,3433
$GC,2955,-0.39,-146.6,254.1,-7.2,142,2960,0.00,2.53,0.00,0.000,6,0.000,0.051,2564,2030,3433
$GC,3277,-0.39,-146.6,277.5,-7.6,158,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2030,3433
$GC,3585,-0.39,-146.6,298.8,-6.6,173,3590,0.00,2.62,0.00,0.000,4,0.000,0.067,2564,591,3433
$GC,3619,-0.39,-146.6,301.3,-7.1,174,3625,0.00,2.53,0.00,0.000,6,0.000,0.052,2564,2016,3433
$GC,3935,-0.39,-146.6,323.1,-7.0,190,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2017,3432
$GC,4243,-0.39,-146.6,346.4,-7.9,205,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2017,3433
$GC,4553,-0.39,-146.6,370.1,-7.6,220,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2018,3433
$GC,4862,-0.39,-146.6,393.6,-7.6,235,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2017,3433
$GC,5171,-0.39,-146.6,417.4,-7.4,250,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2018,3432
$GC,5481,-0.39,-146.6,440.2,-7.3,265,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2018,3432
$GC,5790,-0.39,-146.6,461.9,-7.2,280,5795,0.00,2.50,0.00,0.000,4,0.000,0.067,2563,3405,3432
$GC,5824,-0.43,-146.6,464.8,-8.2,281,5830,0.00,2.50,0.00,0.000,6,0.000,0.057,2563,2014,3432
$GC,6140,-0.43,-146.6,489.3,-7.5,297,6144,0.00,2.55,0.00,0.000,4,0.000,0.064,2564,3412,3432
$GC,6185,-0.48,-146.6,492.6,-7.7,299,6189,0.00,2.47,0.00,0.000,6,0.000,0.055,2564,2030,3432
$GC,6506,-0.52,-146.6,512.9,-5.3,315,6508,0.12,0.00,0.00,0.000,6,0.058,0.000,2528,2028,3432
$GC,6816,-0.46,-146.6,531.3,-6.3,330,6820,0.10,2.53,0.00,0.000,4,0.094,0.067,2549,3411,3432
$GC,6865,-0.46,-146.6,534.5,-6.3,332,6870,0.00,2.47,0.00,0.000,6,0.000,0.059,2549,2042,3432
$GC,7181,-0.46,-146.6,553.2,-6.1,347,7185,0.00,2.62,0.00,0.000,4,0.000,0.073,2549,594,3432
$GC,7237,-0.46,-146.6,557.1,-6.8,349,7243,0.00,2.58,0.00,0.000,6,0.000,0.058,2549,2033,3432
$GC,7552,-0.46,-146.6,576.6,-6.3,365,7557,0.00,2.50,0.00,0.000,4,0.000,0.074,2549,3405,3431
$GC,7580,-0.46,-146.6,578.6,-7.0,366,7584,0.00,2.50,0.00,0.000,6,0.000,0.064,2549,2037,3431
$GC,7897,-0.46,-146.6,599.0,-6.5,381,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2037,3430
$GC,8205,-0.46,-146.6,618.6,-6.4,396,8207,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2037,3429
$GC,8515,-0.46,-146.6,639.2,-6.6,411,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2037,3429
$GC,8825,-0.46,-146.6,658.1,-6.1,426,8829,0.00,2.55,0.00,0.000,4,0.000,0.077,2549,3404,3428
$GC,8865,-0.46,-146.6,660.9,-7.6,428,8869,0.00,2.53,0.00,0.000,6,0.000,0.070,2549,2034,3427
$STATE,9024,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9024,begin apogee
$GC,9031,-0.33,0.0,671.5,6.5,436,9158,0.12,0.00,123.68,1.327,6,0.100,0.000,2575,2203,2832
$STATE,9158,end apogee,CONTROL_FINISHED_OK
$STATE,9158,begin climb
$GC,9162,0.97,146.6,677.5,0.0,442,9295,1.33,2.75,123.07,1.294,4,0.072,0.082,2856,3598,2234
$GC,9348,1.15,188.5,671.2,4.9,450,9391,0.20,2.62,36.42,1.243,6,0.057,0.071,2904,2181,2063
$GC,9705,1.27,188.5,648.3,6.9,467,9709,0.00,2.60,0.00,0.000,4,0.000,0.081,2905,804,2063
$GC,9794,1.27,188.5,641.8,6.7,471,9798,0.00,2.47,0.00,0.000,6,0.000,0.066,2905,2141,2062
$GC,10115,1.27,188.5,622.1,6.0,487,10119,0.00,2.72,0.00,0.000,4,0.000,0.083,2905,3602,2061
$GC,10160,1.27,188.5,619.1,6.3,489,10165,0.00,2.70,0.00,0.000,6,0.000,0.071,2905,2157,2061
$GC,10481,1.27,192.4,599.8,5.9,505,10488,0.10,0.00,4.60,0.916,6,0.070,0.000,2932,2157,2047
$GC,10791,1.22,192.4,577.4,7.8,520,10795,0.00,2.53,0.00,0.000,4,0.000,0.082,2932,790,2046
$GC,10818,1.14,192.4,575.1,8.0,521,10824,0.17,2.53,0.00,0.000,6,0.095,0.067,2898,2157,2046
$GC,11144,1.22,203.7,555.7,5.7,537,11159,0.00,0.00,11.00,1.171,6,0.000,0.000,2898,2157,2000
$GC,11470,1.35,244.7,538.5,4.9,553,11513,0.20,2.67,35.00,1.257,4,0.058,0.078,2952,787,1834
$GC,11530,1.26,244.7,534.3,7.8,555,11537,0.15,2.55,0.00,0.000,6,0.094,0.065,2923,2156,1834
$GC,11847,1.26,244.7,515.0,6.0,571,11848,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2156,1835
$GC,12155,1.26,244.7,495.2,6.4,586,12157,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2156,1836
$GC,12465,1.27,248.0,476.2,5.9,601,12475,0.00,2.60,4.97,0.912,4,0.000,0.074,2923,784,1820
$GC,12504,1.27,248.0,473.5,6.9,603,12508,0.00,2.50,0.00,0.000,6,0.000,0.061,2923,2148,1820
$GC,12830,1.27,248.0,453.2,6.3,619,12831,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2148,1821
$GC,13140,1.27,248.0,432.7,6.6,634,13141,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2148,1821
$GC,13449,1.27,248.0,411.7,6.6,649,13450,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2148,1821
$GC,13759,1.31,248.0,392.2,6.0,664,13760,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2148,1822
$GC,14069,1.40,275.1,375.5,5.3,679,14098,0.12,2.58,24.00,1.071,4,0.056,0.067,2960,788,1710
$GC,14144,1.35,275.1,369.9,7.3,682,14148,0.00,2.45,0.00,0.000,6,0.000,0.054,2960,2147,1710
$GC,14461,1.30,275.1,344.0,8.8,697,14462,0.15,0.00,0.00,0.000,6,0.081,0.000,2929,2147,1710
$GC,14769,1.34,275.1,322.1,7.5,712,14774,0.00,2.50,0.00,0.000,4,0.000,0.067,2929,789,1711
$GC,14838,1.34,275.1,315.9,10.3,715,14842,0.00,2.42,0.00,0.000,6,0.000,0.053,2929,2144,1710
$GC,15160,1.39,275.1,287.1,9.0,731,15165,0.10,2.53,0.00,0.000,4,0.058,0.067,2960,786,1711
$GC,15193,1.34,275.1,283.4,10.4,732,15199,0.00,2.40,0.00,0.000,6,0.000,0.053,2960,2128,1712
$GC,15509,1.34,275.1,252.2,9.6,748,15510,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2126,1712
$GC,15819,1.34,275.1,222.7,6.9,763,15823,0.00,2.67,0.00,0.000,4,0.000,0.064,2960,3616,1712
$GC,15840,1.30,275.1,220.6,9.3,764,15846,0.12,2.70,0.00,0.000,6,0.084,0.052,2931,2102,1712
$GC,16161,1.30,275.1,196.4,8.2,780,16163,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2101,1713
$GC,16472,1.35,275.1,174.4,6.2,795,16476,0.00,2.38,0.00,0.000,4,0.000,0.064,2931,781,1713
$GC,16494,1.39,275.1,172.9,7.2,796,16498,0.00,2.40,0.00,0.000,6,0.000,0.050,2931,2130,1713
$GC,16815,1.44,275.1,151.7,6.7,812,16817,0.15,0.00,0.00,0.000,6,0.050,0.000,2976,2130,1714
$GC,17125,1.35,275.1,124.1,10.5,827,17130,0.15,2.47,0.00,0.000,4,0.077,0.064,2944,784,1714
$GC,17153,1.35,275.1,121.6,9.2,828,17157,0.00,2.38,0.00,0.000,6,0.000,0.051,2944,2122,1714
$GC,17469,1.35,275.1,102.7,6.8,843,17471,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2122,1714
$GC,17779,1.35,275.1,81.3,7.4,858,17781,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2123,1715
$GC,18088,1.38,292.4,62.9,5.5,873,18110,0.00,2.72,15.90,0.803,4,0.000,0.062,2943,3613,1639
$GC,18122,1.50,327.8,61.0,5.0,874,18158,0.15,2.72,29.00,0.828,6,0.051,0.051,2985,2098,1494
$GC,18489,1.41,327.8,27.7,8.6,892,18491,0.15,0.00,0.00,0.000,6,0.082,0.000,2955,2098,1494
$GC,18796,1.41,327.8,4.5,9.2,907,18797,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2098,1494
$STATE,18813,end climb,SURFACE_DEPTH_REACHED
$STATE,18813,begin surface coast
$FINISH,0.2,1.027312
$STATE,18857,end surface coast,CONTROL_FINISHED_OK
$STATE,18857,begin surface
$SM_CCo,18940,0.00,0.000,0,0,1492,328.46
$SM_GC,0.92,11.05,0.00,0.00,0.038,0.000,0.000,420,1982,1492,-10.17,-0.45,328.46
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1774
$TCM_TEMP,17.40
$XPDR_PINGS,440
$ALTIM_TOP_PING,19.4,999.0
$ALTIM_BOTTOM_PING,625.4,55.5
$24V_AH,23.8,34.681
$10V_AH,10.1,16.874
$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,25.675,127.850,407.650,0.000,0.000,75.525,121.278,152.243,115.750,0.000,0.000,12.078,1638.221,14815.622,521.308,1825.763,673.180,33.378,1454.325,0.000,1791.392,0.000,39.010,0.000
$DEVICE_MAMPS,133.458,82.836,1326.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,671.045,614.460,546.152,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47399,910
$CAP_FILE_SIZE,133365,0
$CFSIZE,254472192,240373760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
$GPS,161208,214732,6050.602,-317.343,62,0.9,62,-6.0