version: 66.04
glider: 5
mission: 5
dive: 199
start: 12 17 108 7 41 37
data:
$ID,5
$MISSION,5
$DIVE,199
$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,-91175.188
$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,26
$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
$GPS1,073431,6048.837,-315.391,38,1.2,43,-6.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-59.0
$GPS2,074044,6048.847,-315.327,14,1.2,31,-6.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.134,-0.176
$KALMAN_X,213610.8,-1895.3,2074.3,-75067.0,20264.5
$KALMAN_Y,126383.6,-1021.1,1077.3,-443892.0,13074.8
$MHEAD_RNG_PITCHd_Wd,223.3,72868,-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,-146.6,0.0,0.0,0,108,0.00,0.00,-90.22,0.000,6,0.000,0.000,425,1967,3430
$GC,111,-0.97,-146.6,2.8,-2.6,4,128,10.35,2.60,0.00,0.000,4,0.133,0.058,2430,3408,3431
$GC,277,-0.57,-146.6,33.0,-18.3,10,282,0.43,2.50,0.00,0.000,6,0.084,0.048,2520,1998,3432
$GC,593,-0.46,-146.6,67.6,-8.1,25,598,0.12,2.50,0.00,0.000,4,0.086,0.063,2548,598,3432
$GC,612,-0.38,-146.6,68.4,-5.6,26,617,0.00,2.47,0.00,0.000,6,0.000,0.051,2547,1994,3432
$GC,939,-0.31,-146.6,94.0,-10.2,42,941,0.15,0.00,0.00,0.000,6,0.085,0.000,2580,2002,3432
$GC,1249,-0.36,-146.6,115.3,-6.9,57,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2003,3432
$GC,1558,-0.41,-146.6,136.3,-6.7,72,1563,0.00,2.55,0.00,0.000,4,0.000,0.065,2581,591,3432
$GC,1615,-0.46,-146.6,139.6,-5.7,74,1622,0.15,2.45,0.00,0.000,6,0.052,0.050,2538,1979,3432
$GC,1931,-0.37,-146.6,167.8,-9.7,90,1936,0.15,2.55,0.00,0.000,4,0.085,0.060,2571,3412,3432
$GC,1953,-0.37,-146.6,170.3,-10.7,91,1958,0.00,2.55,0.00,0.000,6,0.000,0.050,2571,1977,3432
$GC,2274,-0.37,-146.6,202.5,-10.4,107,2278,0.00,2.58,0.00,0.000,4,0.000,0.060,2571,3404,3432
$GC,2319,-0.42,-146.6,206.3,-8.1,109,2323,0.00,2.50,0.00,0.000,6,0.000,0.048,2571,1991,3432
$GC,2640,-0.42,-146.6,233.7,-5.7,125,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1991,3432
$GC,2949,-0.42,-146.6,253.3,-7.2,140,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1990,3432
$GC,3258,-0.42,-146.6,273.9,-6.4,155,3262,0.00,2.55,0.00,0.000,4,0.000,0.061,2571,3409,3432
$GC,3298,-0.47,-146.6,276.8,-7.8,157,3303,0.10,2.50,0.00,0.000,6,0.063,0.050,2540,1990,3432
$GC,3626,-0.41,-146.6,301.2,-8.0,173,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1990,3432
$GC,3935,-0.35,-146.6,325.4,-7.5,188,3937,0.15,0.00,0.00,0.000,6,0.085,0.000,2573,1990,3432
$GC,4244,-0.40,-146.6,343.3,-5.9,203,4248,0.00,2.55,0.00,0.000,4,0.000,0.062,2573,3408,3432
$GC,4295,-0.47,-146.6,346.6,-6.3,205,4300,0.12,2.50,0.00,0.000,6,0.054,0.051,2536,2000,3432
$GC,4611,-0.41,-146.6,368.7,-6.9,220,4612,0.10,0.00,0.00,0.000,6,0.091,0.000,2557,1999,3432
$GC,4920,-0.41,-146.6,388.2,-6.7,235,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2000,3432
$GC,5229,-0.41,-146.6,410.1,-7.3,250,5233,0.00,2.55,0.00,0.000,4,0.000,0.063,2557,3406,3432
$GC,5273,-0.41,-146.6,413.5,-7.4,252,5277,0.00,2.47,0.00,0.000,6,0.000,0.052,2557,2015,3432
$GC,5594,-0.41,-146.6,435.1,-6.1,268,5598,0.00,2.53,0.00,0.000,4,0.000,0.063,2557,3405,3432
$GC,5627,-0.41,-146.6,437.4,-6.7,269,5633,0.00,2.47,0.00,0.000,6,0.000,0.051,2557,2013,3432
$GC,5943,-0.41,-146.6,457.9,-6.8,285,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2013,3431
$GC,6253,-0.41,-146.6,480.2,-7.3,300,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2013,3431
$GC,6561,-0.41,-146.6,501.9,-6.9,315,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2013,3431
$GC,6870,-0.41,-146.6,521.0,-6.1,330,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2013,3431
$GC,7180,-0.41,-146.6,539.4,-6.7,345,7184,0.00,2.53,0.00,0.000,4,0.000,0.063,2557,3403,3431
$GC,7270,-0.41,-146.6,546.7,-8.2,349,7274,0.00,2.45,0.00,0.000,6,0.000,0.053,2557,2027,3432
$GC,7591,-0.41,-146.6,565.1,-4.3,365,7596,0.00,2.55,0.00,0.000,4,0.000,0.066,2557,596,3431
$GC,7633,-0.45,-146.6,567.1,-4.9,367,7637,0.00,2.50,0.00,0.000,6,0.000,0.052,2557,2012,3431
$GC,7959,-0.45,-146.6,584.7,-6.2,383,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2013,3431
$STATE,8142,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8142,begin apogee
$GC,8149,-0.33,0.0,596.4,6.2,392,8274,0.00,0.00,122.88,1.206,6,0.000,0.000,2557,2208,2832
$STATE,8275,end apogee,CONTROL_FINISHED_OK
$STATE,8275,begin climb
$GC,8278,0.97,146.6,602.3,0.0,398,8407,1.40,2.62,121.07,1.177,4,0.067,0.071,2858,3602,2233
$GC,8472,1.08,158.8,595.4,5.7,407,8489,0.12,2.58,11.70,1.043,6,0.057,0.062,2892,2183,2184
$GC,8801,1.16,185.2,577.8,5.3,423,8830,0.00,2.65,23.05,1.130,4,0.000,0.075,2892,809,2076
$GC,8905,1.25,205.6,572.0,5.4,427,8933,0.12,2.53,18.55,1.114,6,0.055,0.060,2930,2188,1992
$GC,9245,1.27,219.6,551.1,5.6,444,9266,0.00,2.65,12.98,1.086,4,0.000,0.074,2930,819,1936
$GC,9362,1.31,239.2,544.7,5.5,449,9386,0.00,2.45,17.48,1.121,6,0.000,0.061,2930,2156,1856
$GC,9709,1.31,239.2,523.8,7.4,466,9714,0.00,2.67,0.00,0.000,4,0.000,0.074,2931,3606,1856
$GC,9765,1.31,239.2,519.3,8.9,468,9771,0.00,2.58,0.00,0.000,6,0.000,0.061,2930,2195,1856
$GC,10080,1.31,239.2,491.8,9.7,484,10084,0.00,2.55,0.00,0.000,4,0.000,0.068,2930,789,1856
$GC,10127,1.31,239.2,487.0,10.9,486,10131,0.00,2.50,0.00,0.000,6,0.000,0.054,2931,2176,1856
$GC,10453,1.31,239.2,453.4,10.7,502,10457,0.00,2.55,0.00,0.000,4,0.000,0.066,2930,788,1856
$GC,10493,1.31,239.2,448.7,11.4,504,10497,0.00,2.45,0.00,0.000,6,0.000,0.053,2931,2157,1856
$GC,10819,1.31,239.2,416.4,9.2,520,10824,0.00,2.62,0.00,0.000,4,0.000,0.066,2931,3609,1856
$GC,10852,1.31,239.2,413.3,9.1,521,10858,0.00,2.62,0.00,0.000,6,0.000,0.056,2931,2147,1856
$GC,11168,1.31,239.2,388.6,7.8,537,11172,0.00,2.45,0.00,0.000,4,0.000,0.064,2930,784,1856
$GC,11201,1.31,239.2,385.4,8.9,538,11207,0.00,2.45,0.00,0.000,6,0.000,0.051,2931,2161,1856
$GC,11517,1.31,239.2,356.5,9.3,554,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2161,1856
$GC,11826,1.31,239.2,331.0,8.6,569,11830,0.00,2.50,0.00,0.000,4,0.000,0.064,2931,784,1857
$GC,11872,1.31,239.2,326.8,9.1,571,11876,0.00,2.42,0.00,0.000,6,0.000,0.051,2930,2146,1857
$GC,12198,1.31,239.2,299.5,7.9,587,12199,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2147,1857
$GC,12508,1.31,239.2,278.3,7.1,602,12512,0.00,2.47,0.00,0.000,4,0.000,0.064,2931,790,1857
$GC,12535,1.31,239.2,276.2,7.7,603,12539,0.00,2.40,0.00,0.000,6,0.000,0.051,2931,2140,1857
$GC,12851,1.47,338.6,252.9,3.3,618,12934,0.17,0.00,79.95,0.966,6,0.048,0.000,2981,2162,1450
$GC,13242,1.39,338.6,224.6,7.4,637,13247,0.15,2.50,0.00,0.000,4,0.080,0.064,2951,789,1452
$GC,13269,1.39,338.6,222.2,7.9,638,13273,0.00,2.40,0.00,0.000,6,0.000,0.051,2950,2139,1452
$GC,13590,1.39,338.6,197.4,9.9,654,13594,0.00,2.45,0.00,0.000,4,0.000,0.065,2950,791,1453
$GC,13623,1.39,338.6,193.8,10.3,655,13630,0.00,2.38,0.00,0.000,6,0.000,0.051,2950,2124,1453
$GC,13939,1.39,338.6,162.6,9.4,671,13943,0.00,2.45,0.00,0.000,4,0.000,0.064,2950,790,1453
$GC,13967,1.39,338.6,159.7,10.7,672,13971,0.00,2.35,0.00,0.000,6,0.000,0.049,2950,2113,1453
$GC,14285,1.39,338.6,135.1,7.6,687,14286,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2116,1453
$GC,14592,1.39,338.6,114.5,7.1,702,14597,0.00,2.42,0.00,0.000,4,0.000,0.064,2950,786,1453
$GC,14643,1.39,338.6,109.9,9.2,704,14646,0.00,2.33,0.00,0.000,6,0.000,0.050,2950,2105,1453
$GC,14965,1.39,338.6,84.6,7.2,720,14966,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2122,1453
$GC,15273,1.39,338.6,56.1,11.0,735,15278,0.00,2.40,0.00,0.000,4,0.000,0.064,2951,787,1454
$GC,15307,1.44,338.6,52.0,10.8,736,15313,0.00,2.33,0.00,0.000,6,0.000,0.050,2951,2097,1454
$GC,15626,1.50,338.6,23.7,6.4,752,15627,0.10,0.00,0.00,0.000,6,0.058,0.000,2983,2118,1453
$STATE,15806,end climb,SURFACE_DEPTH_REACHED
$STATE,15806,begin surface coast
$FINISH,0.8,1.027322
$STATE,15828,end surface coast,CONTROL_FINISHED_OK
$STATE,15828,begin surface
$SM_CCo,15911,0.00,0.000,0,0,1452,338.51
$SM_GC,1.16,11.18,0.00,0.00,0.040,0.000,0.000,421,1979,1452,-10.16,-0.68,338.51
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1789
$TCM_TEMP,17.40
$XPDR_PINGS,546
$ALTIM_TOP_PING,17.7,17.2
$ALTIM_BOTTOM_PING,525.4,79.8
$24V_AH,23.9,35.142
$10V_AH,10.1,17.105
$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,25.075,130.625,407.650,0.000,0.000,37.761,27.845,167.433,141.250,0.000,0.000,31.884,1399.219,12183.263,526.531,1651.432,524.442,33.359,1374.279,0.000,1599.441,0.000,32.699,0.000
$DEVICE_MAMPS,132.691,75.166,1205.724,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,560.809,513.026,487.603,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38008,762
$CAP_FILE_SIZE,118808,0
$CFSIZE,254472192,240214016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,0,0
$GPS,171208,120807,6048.063,-317.409,42,1.0,42,-6.0