version: 66.04
glider: 5
mission: 5
dive: 195
start: 12 16 108 10 15 56
data:
$ID,5
$MISSION,5
$DIVE,195
$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,-91098.383
$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,17
$R_STBD_OVSHOOT,25
$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
$GPS1,100837,6052.166,-327.602,26,1.6,27,-6.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-65.7
$GPS2,101504,6052.274,-327.217,12,1.7,13,-6.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.146,-0.166
$KALMAN_X,188606.1,448.6,398.4,-60590.1,3397.1
$KALMAN_Y,111431.8,-313.0,-532.6,-421684.7,1814.4
$MHEAD_RNG_PITCHd_Wd,227.4,73249,-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,-146.6,0.0,0.0,0,94,0.00,0.00,-76.30,0.000,2,0.000,0.000,425,2025,3303
$GC,98,-0.97,-146.6,3.8,-4.2,4,114,10.27,0.00,-3.12,0.000,6,0.130,0.000,2432,2037,3431
$GC,426,-0.61,-146.6,57.1,-14.0,19,431,0.35,2.62,0.00,0.000,4,0.087,0.064,2511,581,3431
$GC,476,-0.48,-146.6,63.2,-10.0,21,482,0.17,2.53,0.00,0.000,6,0.090,0.051,2547,2005,3431
$GC,795,-0.43,-146.6,89.5,-8.4,36,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2005,3432
$GC,1102,-0.38,-146.6,116.2,-8.8,51,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2006,3431
$GC,1412,-0.34,-146.6,142.4,-8.0,66,1414,0.15,0.00,0.00,0.000,6,0.083,0.000,2580,2005,3432
$GC,1721,-0.39,-146.6,163.1,-6.6,81,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2006,3432
$GC,2031,-0.43,-146.6,182.0,-5.8,96,2036,0.12,2.50,0.00,0.000,4,0.052,0.061,2544,3402,3432
$GC,2058,-0.43,-146.6,184.3,-8.2,97,2063,0.00,2.53,0.00,0.000,6,0.000,0.051,2544,1983,3432
$GC,2374,-0.38,-146.6,210.7,-8.6,112,2379,0.10,2.60,0.00,0.000,4,0.094,0.060,2566,3404,3432
$GC,2414,-0.38,-146.6,213.7,-7.3,114,2418,0.00,2.50,0.00,0.000,6,0.000,0.049,2565,1997,3432
$GC,2741,-0.38,-146.6,237.2,-7.3,130,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1996,3432
$GC,3050,-0.38,-146.6,259.1,-7.4,145,3054,0.00,2.58,0.00,0.000,4,0.000,0.061,2565,3412,3432
$GC,3112,-0.38,-146.6,263.6,-7.3,148,3116,0.00,2.50,0.00,0.000,6,0.000,0.051,2565,2010,3432
$GC,3439,-0.38,-146.6,286.8,-7.5,164,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2009,3432
$GC,3748,-0.38,-146.6,306.3,-6.8,179,3752,0.00,2.55,0.00,0.000,4,0.000,0.062,2565,3408,3432
$GC,3775,-0.38,-146.6,308.3,-6.7,180,3779,0.00,2.50,0.00,0.000,6,0.000,0.051,2565,2005,3432
$GC,4091,-0.38,-146.6,328.8,-6.6,195,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2005,3432
$GC,4400,-0.38,-146.6,349.4,-6.7,210,4404,0.00,2.55,0.00,0.000,4,0.000,0.064,2565,3404,3432
$GC,4440,-0.43,-146.6,352.1,-7.3,212,4444,0.00,2.47,0.00,0.000,6,0.000,0.052,2565,2015,3432
$GC,4767,-0.43,-146.6,373.1,-6.1,228,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2015,3432
$GC,5076,-0.43,-146.6,391.1,-5.8,243,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2015,3432
$GC,5385,-0.43,-146.6,409.4,-6.2,258,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2015,3432
$GC,5695,-0.43,-146.6,428.6,-5.9,273,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2015,3433
$GC,6003,-0.43,-146.6,448.0,-6.5,288,6007,0.00,2.55,0.00,0.000,4,0.000,0.066,2565,3407,3432
$GC,6073,-0.48,-146.6,452.7,-7.2,291,6077,0.00,2.50,0.00,0.000,6,0.000,0.056,2566,2015,3432
$GC,6400,-0.53,-146.6,473.2,-6.0,307,6402,0.15,0.00,0.00,0.000,6,0.055,0.000,2523,2015,3432
$GC,6709,-0.45,-146.6,496.3,-7.6,322,6711,0.12,0.00,0.00,0.000,6,0.091,0.000,2550,2015,3432
$GC,7018,-0.45,-146.6,517.1,-6.8,337,7022,0.00,2.58,0.00,0.000,4,0.000,0.071,2550,3409,3431
$GC,7045,-0.45,-146.6,519.2,-7.1,338,7050,0.00,2.53,0.00,0.000,6,0.000,0.061,2550,2019,3431
$GC,7361,-0.45,-146.6,539.0,-6.4,353,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2018,3430
$GC,7671,-0.45,-146.6,558.4,-6.3,368,7672,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2018,3430
$GC,7979,-0.45,-146.6,578.5,-6.9,383,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2018,3429
$GC,8289,-0.45,-146.6,598.9,-6.4,398,8290,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2018,3428
$GC,8599,-0.45,-146.6,619.9,-6.9,413,8603,0.00,2.60,0.00,0.000,4,0.000,0.081,2550,3400,3427
$GC,8631,-0.45,-146.6,622.4,-7.6,414,8638,0.00,2.55,0.00,0.000,6,0.000,0.071,2550,2022,3426
$GC,8948,-0.45,-146.6,643.4,-6.6,430,8952,0.00,2.65,0.00,0.000,4,0.000,0.086,2550,590,3425
$GC,8975,-0.45,-146.6,645.5,-7.3,431,8980,0.00,2.60,0.00,0.000,6,0.000,0.070,2550,2008,3425
$GC,9291,-0.45,-146.6,668.1,-7.1,446,9296,0.00,2.62,0.00,0.000,4,0.000,0.087,2550,3415,3424
$GC,9331,-0.45,-146.6,671.0,-7.6,448,9336,0.00,2.60,0.00,0.000,6,0.000,0.076,2550,2017,3424
$GC,9659,-0.45,-146.6,693.4,-6.6,464,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2017,3424
$GC,9967,-0.45,-146.6,714.3,-6.9,479,9969,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2018,3423
$GC,10277,-0.45,-146.6,734.6,-5.9,494,10278,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2018,3421
$STATE,10522,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10522,begin apogee
$GC,10530,-0.33,0.0,750.6,6.1,506,10656,0.12,0.00,124.00,1.462,6,0.109,0.000,2575,2207,2832
$STATE,10657,end apogee,CONTROL_FINISHED_OK
$STATE,10657,begin climb
$GC,10660,0.97,146.6,757.0,0.0,512,10793,1.35,2.75,124.20,1.415,4,0.081,0.091,2857,3592,2234
$GC,10842,1.16,211.3,751.9,4.2,521,10904,0.20,2.65,55.92,1.371,6,0.063,0.081,2905,2199,1970
$GC,11226,1.16,211.3,728.5,6.9,540,11230,0.00,2.70,0.00,0.000,4,0.000,0.092,2905,788,1971
$GC,11270,1.16,211.3,725.3,7.7,542,11275,0.00,2.65,0.00,0.000,6,0.000,0.074,2905,2192,1971
$GC,11591,1.19,228.8,707.3,5.5,558,11610,0.00,0.00,16.33,1.332,6,0.000,0.000,2905,2192,1899
$GC,11921,1.20,234.7,688.2,5.8,574,11934,0.00,2.78,6.75,1.164,4,0.000,0.091,2905,790,1875
$GC,11987,1.20,234.7,684.0,6.5,577,11992,0.00,2.65,0.00,0.000,6,0.000,0.076,2905,2190,1875
$GC,12315,1.24,237.5,665.0,5.9,593,12321,0.00,0.00,4.18,0.955,6,0.000,0.000,2905,2190,1863
$GC,12624,1.29,237.5,646.8,6.0,608,12629,0.12,2.72,0.00,0.000,4,0.067,0.091,2939,789,1863
$GC,12675,1.22,237.5,642.7,8.4,610,12680,0.12,2.62,0.00,0.000,6,0.107,0.076,2915,2182,1863
$GC,12991,1.22,237.5,622.7,6.5,625,12992,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2184,1863
$GC,13300,1.24,245.3,603.9,5.8,640,13314,0.00,2.75,7.97,1.223,4,0.000,0.088,2915,793,1832
$GC,13344,1.24,245.3,601.1,6.8,642,13348,0.00,2.60,0.00,0.000,6,0.000,0.074,2915,2175,1832
$GC,13671,1.32,272.0,582.6,5.3,658,13698,0.10,0.00,24.02,1.344,6,0.073,0.000,2941,2174,1723
$GC,13999,1.32,272.0,560.6,7.3,674,14004,0.00,2.65,0.00,0.000,4,0.000,0.086,2941,783,1723
$GC,14032,1.32,272.0,557.8,8.4,675,14039,0.00,2.58,0.00,0.000,6,0.000,0.072,2941,2166,1723
$GC,14349,1.32,272.0,533.0,7.8,691,14350,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2166,1723
$GC,14657,1.32,272.0,509.2,7.6,706,14662,0.00,2.60,0.00,0.000,4,0.000,0.082,2941,792,1723
$GC,14708,1.32,272.0,504.8,8.3,708,14712,0.00,2.53,0.00,0.000,6,0.000,0.068,2941,2158,1723
$GC,15024,1.32,272.0,481.4,8.0,723,15025,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2157,1723
$GC,15332,1.32,272.0,457.9,7.3,738,15334,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2157,1723
$GC,15642,1.32,272.0,435.4,7.1,753,15646,0.00,2.65,0.00,0.000,4,0.000,0.075,2941,3606,1723
$GC,15675,1.32,272.0,432.9,7.5,754,15681,0.00,2.70,0.00,0.000,6,0.000,0.064,2941,2132,1724
$GC,15990,1.32,272.0,411.6,6.8,770,15995,0.00,2.72,0.00,0.000,4,0.000,0.072,2941,3606,1724
$GC,16030,1.32,272.0,408.6,7.9,772,16034,0.00,2.65,0.00,0.000,6,0.000,0.061,2941,2145,1725
$GC,16357,1.32,272.0,385.4,7.3,788,16361,0.00,2.47,0.00,0.000,4,0.000,0.070,2941,782,1725
$GC,16419,1.32,272.0,380.8,8.3,791,16424,0.00,2.47,0.00,0.000,6,0.000,0.056,2941,2157,1725
$GC,16746,1.32,272.0,357.8,7.2,807,16747,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2157,1726
$GC,17055,1.32,272.0,333.8,7.7,822,17059,0.00,2.53,0.00,0.000,4,0.000,0.069,2941,783,1728
$GC,17100,1.32,272.0,330.1,8.0,824,17104,0.00,2.42,0.00,0.000,6,0.000,0.054,2941,2141,1728
$GC,17432,1.32,272.0,305.8,6.6,840,17437,0.00,2.65,0.00,0.000,4,0.000,0.067,2941,3608,1729
$GC,17460,1.32,272.0,303.5,8.3,841,17464,0.00,2.65,0.00,0.000,6,0.000,0.054,2941,2130,1729
$GC,17776,1.32,272.0,281.1,6.8,856,17780,0.00,2.40,0.00,0.000,4,0.000,0.067,2941,788,1729
$GC,17814,1.32,272.0,278.3,8.6,857,17820,0.00,2.42,0.00,0.000,6,0.000,0.053,2941,2146,1730
$GC,18131,1.32,272.0,257.1,6.7,873,18135,0.00,2.47,0.00,0.000,4,0.000,0.067,2941,790,1731
$GC,18158,1.32,272.0,254.9,8.2,874,18162,0.00,2.40,0.00,0.000,6,0.000,0.053,2941,2133,1731
$GC,18479,1.32,272.0,231.3,7.6,890,18480,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2133,1731
$GC,18789,1.32,272.0,207.0,8.0,905,18794,0.00,0.00,3.70,0.618,6,0.000,0.000,2941,2133,1723
$GC,19097,1.32,272.0,184.5,7.1,920,19101,0.00,2.47,0.00,0.000,4,0.000,0.067,2941,785,1723
$GC,19131,1.32,272.0,181.8,7.6,921,19135,0.00,2.40,0.00,0.000,6,0.000,0.052,2941,2128,1723
$GC,19452,1.32,272.0,160.1,6.4,937,19454,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2129,1724
$GC,19762,1.32,272.0,140.2,6.7,952,19763,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2128,1724
$GC,20071,1.32,272.0,120.0,6.4,967,20072,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2128,1725
$GC,20381,1.32,272.0,97.6,7.6,982,20385,0.00,2.45,0.00,0.000,4,0.000,0.067,2941,790,1725
$GC,20436,1.32,272.0,92.5,9.6,984,20443,0.00,2.35,0.00,0.000,6,0.000,0.051,2941,2114,1725
$GC,20752,1.32,272.0,69.1,7.8,1000,20757,0.00,2.65,0.00,0.000,4,0.000,0.062,2941,3605,1726
$GC,20798,1.38,272.0,64.3,9.1,1002,20802,0.00,2.62,0.00,0.000,6,0.000,0.048,2941,2117,1726
$GC,21119,1.43,272.0,41.0,8.6,1018,21123,0.00,2.40,0.00,0.000,4,0.000,0.066,2941,783,1726
$GC,21140,1.43,272.0,39.3,7.3,1019,21145,0.00,2.40,0.00,0.000,6,0.000,0.050,2941,2133,1726
$GC,21463,1.43,272.0,15.8,7.2,1035,21464,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2136,1727
$STATE,21645,end climb,SURFACE_DEPTH_REACHED
$STATE,21645,begin surface coast
$FINISH,0.4,1.027321
$STATE,21688,end surface coast,CONTROL_FINISHED_OK
$STATE,21688,begin surface
$SM_CCo,21770,0.00,0.000,0,0,1725,271.55
$SM_GC,1.35,11.00,0.00,0.00,0.040,0.000,0.000,421,1957,1725,-10.17,-1.24,271.55
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1768
$TCM_TEMP,16.20
$XPDR_PINGS,394
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,675.2,84.5
$24V_AH,23.7,34.510
$10V_AH,10.1,16.789
$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,24.475,149.475,367.075,0.000,0.000,39.015,27.987,180.296,104.750,0.000,0.000,13.092,1863.625,17118.975,499.631,2059.734,606.110,33.379,1534.620,0.000,2021.602,0.000,42.262,0.000
$DEVICE_MAMPS,129.623,92.040,1461.902,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,775.547,708.486,596.047,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53643,1046
$CAP_FILE_SIZE,147071,0
$CFSIZE,254472192,240422912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,47,0,0
$GPS,161208,162021,6052.286,-320.548,39,2.1,58,-6.0