version: 66.04
glider: 5
mission: 5
dive: 203
start: 12 18 108 1 41 11
data:
$ID,5
$MISSION,5
$DIVE,203
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,315
$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,-91232.906
$T_RSLEEP,27
$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
$GPS1,013455,6050.336,-317.503,40,1.6,40,-6.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-55.6
$GPS2,014050,6050.400,-317.360,14,1.7,14,-6.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6058.036,-333.094
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.132,-0.177
$KALMAN_X,220775.9,-921.1,-1644.0,-80717.6,25183.1
$KALMAN_Y,135954.9,-405.3,-1430.2,-453990.2,21805.5
$MHEAD_RNG_PITCHd_Wd,321.0,20000,-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,-146.6,0.0,0.0,0,137,0.00,0.00,-114.72,0.000,6,0.000,0.000,421,1976,3431
$GC,141,-0.97,-146.6,7.1,-6.9,6,157,10.40,2.47,0.00,0.000,4,0.133,0.057,2430,594,3432
$GC,348,-0.60,-146.6,44.9,-12.5,14,354,0.43,2.50,0.00,0.000,6,0.082,0.050,2519,2004,3432
$GC,667,-0.49,-146.6,78.5,-12.5,29,668,0.10,0.00,0.00,0.000,6,0.093,0.000,2541,2008,3432
$GC,974,-0.42,-146.6,111.3,-8.3,44,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2022,3432
$GC,1283,-0.37,-146.6,136.8,-12.1,59,1288,0.15,2.58,0.00,0.000,4,0.085,0.064,2573,598,3432
$GC,1340,-0.43,-146.6,143.4,-9.9,61,1346,0.00,2.47,0.00,0.000,6,0.000,0.050,2573,1999,3432
$GC,1655,-0.43,-146.6,171.5,-8.4,77,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2010,3432
$GC,1965,-0.43,-146.6,191.5,-5.6,92,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2006,3432
$GC,2274,-0.43,-146.6,211.6,-5.7,107,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2020,3432
$GC,2583,-0.43,-146.6,233.8,-5.2,122,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2012,3432
$GC,2893,-0.43,-146.6,250.5,-5.2,137,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2011,3432
$GC,3202,-0.43,-146.6,270.6,-7.1,152,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2010,3432
$GC,3511,-0.43,-146.6,291.1,-6.8,167,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2011,3432
$GC,3820,-0.47,-146.6,311.2,-6.3,182,3825,0.12,2.58,0.00,0.000,4,0.054,0.064,2536,593,3432
$GC,3854,-0.40,-146.6,313.9,-8.4,183,3861,0.12,2.47,0.00,0.000,6,0.090,0.051,2563,1996,3432
$GC,4170,-0.40,-146.6,334.7,-6.6,199,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1996,3431
$GC,4480,-0.40,-146.6,355.8,-6.6,214,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1996,3432
$GC,4788,-0.40,-146.6,377.0,-7.2,229,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1996,3431
$GC,5098,-0.40,-146.6,399.8,-7.7,244,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1996,3431
$GC,5407,-0.40,-146.6,422.6,-6.6,259,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1996,3431
$GC,5716,-0.40,-146.6,442.9,-6.3,274,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1996,3431
$GC,6026,-0.40,-146.6,464.4,-7.2,289,6030,0.00,2.55,0.00,0.000,4,0.000,0.065,2562,591,3431
$GC,6088,-0.40,-146.6,469.1,-8.3,292,6092,0.00,2.45,0.00,0.000,6,0.000,0.050,2563,1981,3432
$GC,6414,-0.40,-146.6,488.5,-6.4,308,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1981,3432
$GC,6724,-0.40,-146.6,507.2,-5.8,323,6728,0.00,2.53,0.00,0.000,4,0.000,0.067,2563,597,3431
$GC,6796,-0.40,-146.6,512.2,-6.8,326,6800,0.00,2.45,0.00,0.000,6,0.000,0.051,2562,1982,3431
$GC,7118,-0.40,-146.6,532.5,-6.2,342,7122,0.00,2.55,0.00,0.000,4,0.000,0.065,2563,3403,3431
$GC,7186,-0.46,-146.6,537.0,-6.7,345,7191,0.00,2.55,0.00,0.000,6,0.000,0.055,2562,1978,3431
$GC,7508,-0.51,-146.6,560.1,-7.7,361,7513,0.12,2.50,0.00,0.000,4,0.057,0.068,2523,584,3431
$GC,7575,-0.43,-146.6,566.2,-8.7,364,7580,0.15,2.47,0.00,0.000,6,0.086,0.054,2556,1975,3431
$GC,7897,-0.43,-146.6,579.7,-3.6,380,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1975,3431
$GC,8205,-0.43,-146.6,596.8,-6.8,395,8207,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1976,3431
$GC,8515,-0.43,-146.6,619.1,-6.4,410,8519,0.00,2.60,0.00,0.000,4,0.000,0.074,2555,3402,3430
$GC,8582,-0.48,-146.6,623.8,-7.4,413,8587,0.00,2.62,0.00,0.000,6,0.000,0.066,2555,1971,3430
$GC,8903,-0.48,-146.6,646.8,-7.2,429,8907,0.00,2.65,0.00,0.000,4,0.000,0.076,2555,3403,3429
$GC,8969,-0.54,-146.6,651.9,-7.1,432,8974,0.12,2.60,0.00,0.000,6,0.066,0.065,2522,1982,3429
$GC,9291,-0.49,-146.6,674.8,-6.6,448,9296,0.10,2.67,0.00,0.000,4,0.103,0.077,2543,3408,3427
$GC,9370,-0.49,-146.6,680.5,-7.8,451,9376,0.00,2.60,0.00,0.000,6,0.000,0.067,2542,1992,3427
$STATE,9436,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9436,begin apogee
$GC,9444,-0.33,0.0,684.7,6.3,455,9570,0.15,0.00,124.05,1.332,6,0.097,0.000,2575,2199,2832
$STATE,9571,end apogee,CONTROL_FINISHED_OK
$STATE,9571,begin climb
$GC,9574,0.97,146.6,690.6,0.0,461,9707,1.35,2.75,123.32,1.296,4,0.078,0.084,2856,3595,2234
$GC,9745,1.13,190.0,685.8,4.8,469,9789,0.17,2.62,37.67,1.246,6,0.055,0.072,2900,2200,2057
$GC,10101,1.23,250.2,668.0,4.4,486,10158,0.00,2.72,51.25,1.271,4,0.000,0.087,2900,788,1811
$GC,10209,1.28,250.2,661.5,6.2,490,10214,0.12,2.62,0.00,0.000,6,0.063,0.069,2934,2188,1812
$GC,10530,1.28,250.2,639.7,6.9,506,10535,0.00,2.67,0.00,0.000,4,0.000,0.086,2934,3606,1812
$GC,10574,1.28,250.2,636.1,8.4,508,10579,0.00,2.65,0.00,0.000,6,0.000,0.074,2934,2194,1812
$GC,10896,1.28,250.2,612.6,7.2,524,10900,0.00,2.65,0.00,0.000,4,0.000,0.084,2934,783,1812
$GC,10946,1.23,250.2,608.4,8.1,526,10950,0.00,2.60,0.00,0.000,6,0.000,0.069,2934,2186,1812
$GC,11262,1.23,250.2,584.7,7.3,541,11267,0.00,2.65,0.00,0.000,4,0.000,0.082,2934,790,1811
$GC,11313,1.23,250.2,580.8,7.2,543,11317,0.00,2.58,0.00,0.000,6,0.000,0.068,2934,2180,1811
$GC,11629,1.23,250.2,557.3,8.2,558,11633,0.00,2.62,0.00,0.000,4,0.000,0.081,2934,790,1811
$GC,11685,1.19,250.2,551.8,9.7,560,11692,0.12,2.50,0.00,0.000,6,0.097,0.070,2909,2149,1811
$GC,12001,1.25,250.2,525.7,6.2,576,12002,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2149,1811
$GC,12311,1.40,311.3,511.0,4.3,591,12368,0.17,2.65,51.28,1.247,4,0.057,0.077,2956,788,1562
$GC,12427,1.33,311.3,504.1,6.1,595,12432,0.00,2.50,0.00,0.000,6,0.000,0.063,2956,2152,1562
$GC,12743,1.33,311.3,475.5,13.6,610,12747,0.00,2.55,0.00,0.000,4,0.000,0.074,2957,790,1562
$GC,12793,1.33,311.3,467.7,15.2,612,12797,0.00,2.45,0.00,0.000,6,0.000,0.060,2956,2136,1562
$GC,13109,1.33,311.3,432.2,6.6,627,13110,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2137,1563
$GC,13418,1.33,311.3,416.4,6.1,642,13422,0.00,2.47,0.00,0.000,4,0.000,0.069,2956,787,1563
$GC,13474,1.33,311.3,412.3,7.4,644,13478,0.00,2.42,0.00,0.000,6,0.000,0.054,2957,2134,1563
$GC,13789,1.33,311.3,383.4,9.5,659,13794,0.00,2.47,0.00,0.000,4,0.000,0.068,2957,789,1564
$GC,13823,1.33,311.3,380.1,9.4,660,13830,0.00,2.38,0.00,0.000,6,0.000,0.054,2956,2121,1564
$GC,14139,1.33,311.3,352.0,8.2,676,14140,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2120,1565
$GC,14448,1.33,311.3,329.9,6.6,691,14452,0.00,2.42,0.00,0.000,4,0.000,0.067,2956,787,1566
$GC,14481,1.33,311.3,327.0,8.6,692,14485,0.00,2.38,0.00,0.000,6,0.000,0.051,2956,2121,1566
$GC,14797,1.33,311.3,303.4,7.0,707,14798,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2122,1566
$GC,15106,1.33,311.3,279.7,9.2,722,15110,0.00,2.45,0.00,0.000,4,0.000,0.067,2957,785,1567
$GC,15133,1.33,311.3,277.0,9.6,723,15137,0.00,2.35,0.00,0.000,6,0.000,0.051,2957,2106,1567
$GC,15454,1.33,311.3,250.9,8.3,739,15455,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2106,1568
$GC,15763,1.33,311.3,222.6,9.3,754,15764,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2107,1569
$GC,16072,1.33,311.3,195.0,9.6,769,16077,0.00,2.42,0.00,0.000,4,0.000,0.067,2957,783,1569
$GC,16113,1.33,311.3,190.7,10.3,771,16118,0.00,2.35,0.00,0.000,6,0.000,0.051,2956,2104,1569
$GC,16440,1.33,311.3,158.8,7.9,787,16441,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2105,1569
$GC,16751,1.33,311.3,142.6,6.7,802,16753,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2104,1570
$GC,17060,1.33,311.3,111.5,12.1,817,17061,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2106,1570
$GC,17368,1.33,311.3,80.8,10.2,832,17373,0.00,2.40,0.00,0.000,4,0.000,0.066,2957,790,1571
$GC,17396,1.33,311.3,77.9,10.2,833,17400,0.00,2.33,0.00,0.000,6,0.000,0.051,2956,2099,1571
$GC,17713,1.33,311.3,50.4,8.8,848,17714,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2114,1571
$GC,18023,1.33,311.3,23.8,10.1,863,18024,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2103,1571
$STATE,18225,end climb,SURFACE_DEPTH_REACHED
$STATE,18225,begin surface coast
$FINISH,-0.0,1.027324
$STATE,18267,end surface coast,CONTROL_FINISHED_OK
$STATE,18267,begin surface
$SM_CCo,18350,0.00,0.000,0,0,1570,309.57
$SM_GC,1.01,11.02,0.00,0.00,0.040,0.000,0.000,420,1998,1570,-10.16,-0.06,309.57
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1799
$TCM_TEMP,17.30
$XPDR_PINGS,500
$ALTIM_TOP_PING,19.1,999.0
$ALTIM_BOTTOM_PING,625.9,68.2
$24V_AH,23.8,35.795
$10V_AH,10.1,17.401
$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,24.950,122.100,387.575,0.000,0.000,37.765,24.818,172.176,130.750,0.000,0.000,14.633,1581.925,14245.289,524.234,1815.591,540.653,0.000,1450.705,0.000,1781.173,0.000,39.048,0.000
$DEVICE_MAMPS,133.458,86.671,1332.279,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,646.995,590.214,498.092,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44304,875
$CAP_FILE_SIZE,127137,0
$CFSIZE,254472192,239980544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,0,0
$GPS,181208,064808,6054.599,-319.786,30,1.5,30,-6.0