version: 66.04
glider: 5
mission: 5
dive: 197
start: 12 16 108 22 1 1
data:
$ID,5
$MISSION,5
$DIVE,197
$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,-91128.031
$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,23
$R_STBD_OVSHOOT,18
$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
$GPS1,214732,6050.602,-317.343,62,0.9,62,-6.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-59.4
$GPS2,220009,6050.638,-316.966,16,1.2,16,-6.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.135,-0.175
$KALMAN_X,208736.3,-679.5,-1264.5,-69478.3,21537.5
$KALMAN_Y,119996.0,451.5,-846.4,-433774.3,8439.1
$MHEAD_RNG_PITCHd_Wd,223.7,74872,-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,-81.10,0.000,2,0.000,0.000,419,1983,3065
$GC,102,-0.97,-146.6,3.1,-3.6,4,129,10.48,2.60,-10.20,0.000,4,0.137,0.071,2428,3413,3430
$GC,222,-0.61,-146.6,22.0,-14.6,9,227,0.40,2.53,0.00,0.000,6,0.084,0.049,2513,1998,3431
$GC,539,-0.46,-146.6,62.7,-9.4,24,541,0.17,0.00,0.00,0.000,6,0.085,0.000,2549,1998,3430
$GC,849,-0.40,-146.6,95.0,-9.4,39,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1998,3431
$GC,1156,-0.40,-146.6,130.2,-12.1,54,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1998,3431
$GC,1466,-0.40,-146.6,167.1,-10.2,69,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1984,3430
$GC,1774,-0.40,-146.6,192.6,-9.1,84,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1983,3431
$GC,2084,-0.40,-146.6,218.9,-8.5,99,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1984,3430
$GC,2393,-0.40,-146.6,248.7,-10.4,114,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1984,3430
$GC,2703,-0.40,-146.6,275.8,-8.5,129,2707,0.00,2.60,0.00,0.000,4,0.000,0.061,2550,3421,3430
$GC,2736,-0.40,-146.6,279.1,-8.2,130,2742,0.00,2.53,0.00,0.000,6,0.000,0.051,2549,2002,3430
$GC,3052,-0.40,-146.6,308.0,-9.0,146,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2000,3430
$GC,3361,-0.40,-146.6,334.1,-8.3,161,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2000,3430
$GC,3670,-0.40,-146.6,357.9,-7.6,176,3675,0.00,2.58,0.00,0.000,4,0.000,0.063,2549,3418,3430
$GC,3698,-0.40,-146.6,360.1,-7.9,177,3703,0.00,2.53,0.00,0.000,6,0.000,0.051,2549,2000,3430
$GC,4014,-0.40,-146.6,383.8,-7.6,192,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2000,3430
$GC,4323,-0.40,-146.6,404.5,-6.3,207,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1999,3430
$GC,4633,-0.40,-146.6,423.8,-6.5,222,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1999,3430
$GC,4942,-0.40,-146.6,444.7,-6.9,237,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1999,3430
$GC,5251,-0.40,-146.6,467.2,-7.4,252,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1999,3430
$GC,5561,-0.40,-146.6,490.9,-7.7,267,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1999,3430
$GC,5870,-0.40,-146.6,513.4,-6.9,282,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1999,3430
$GC,6179,-0.40,-146.6,536.3,-7.5,297,6183,0.00,2.58,0.00,0.000,4,0.000,0.066,2549,3412,3430
$GC,6264,-0.40,-146.6,542.1,-6.0,301,6268,0.00,2.50,0.00,0.000,6,0.000,0.055,2549,2015,3430
$GC,6590,-0.40,-146.6,561.0,-6.0,317,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2015,3430
$GC,6900,-0.40,-146.6,579.7,-6.3,332,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2015,3430
$GC,7209,-0.40,-146.6,600.3,-6.3,347,7214,0.00,2.60,0.00,0.000,4,0.000,0.074,2549,3412,3429
$GC,7249,-0.40,-146.6,603.1,-7.3,349,7254,0.00,2.50,0.00,0.000,6,0.000,0.064,2549,2030,3429
$STATE,7492,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7492,begin apogee
$GC,7499,-0.33,0.0,619.4,6.5,361,7625,0.12,0.00,122.53,1.258,6,0.093,0.000,2576,2214,2831
$STATE,7625,end apogee,CONTROL_FINISHED_OK
$STATE,7626,begin climb
$GC,7628,0.97,146.6,625.3,0.0,367,7755,1.35,0.00,122.25,1.229,6,0.076,0.000,2859,2214,2234
$GC,8063,1.20,168.9,606.4,5.4,388,8089,0.20,2.72,19.75,1.160,4,0.055,0.078,2916,794,2143
$GC,8285,1.20,168.9,592.4,6.1,398,8289,0.00,2.45,0.00,0.000,6,0.000,0.062,2916,2129,2142
$GC,8606,1.22,180.2,573.8,5.7,414,8622,0.00,2.80,10.88,1.113,4,0.000,0.079,2915,3601,2097
$GC,8656,1.22,180.2,570.5,6.8,415,8660,0.00,2.72,0.00,0.000,6,0.000,0.068,2916,2140,2097
$GC,8972,1.23,185.6,551.4,5.9,430,8980,0.00,0.00,6.12,0.986,6,0.000,0.000,2916,2140,2075
$GC,9282,1.25,200.5,533.2,5.6,445,9301,0.00,0.00,14.10,1.158,6,0.000,0.000,2916,2140,2014
$GC,9611,1.25,200.5,514.3,6.2,461,9612,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2140,2012
$GC,9920,1.25,200.5,494.0,6.5,476,9924,0.00,2.75,0.00,0.000,4,0.000,0.075,2916,3606,2012
$GC,9970,1.25,200.5,490.5,7.3,478,9975,0.00,2.65,0.00,0.000,6,0.000,0.063,2916,2152,2012
$GC,10286,1.25,200.5,470.5,6.4,493,10290,0.00,2.47,0.00,0.000,4,0.000,0.071,2916,790,2012
$GC,10370,1.25,200.5,464.7,7.2,497,10374,0.00,2.42,0.00,0.000,6,0.000,0.056,2916,2141,2011
$GC,10697,1.25,200.5,444.9,6.1,513,10698,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2141,2012
$GC,11006,1.26,205.2,426.5,5.9,528,11016,0.00,2.53,5.45,0.884,4,0.000,0.067,2916,790,1994
$GC,11061,1.26,205.2,422.7,6.7,530,11068,0.00,2.42,0.00,0.000,6,0.000,0.054,2916,2141,1994
$GC,11378,1.26,205.2,403.7,6.2,546,11379,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2141,1994
$GC,11687,1.26,205.2,384.5,6.1,561,11688,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2141,1994
$GC,11996,1.26,205.2,365.3,6.4,576,12000,0.00,2.65,0.00,0.000,4,0.000,0.067,2916,3609,1995
$GC,12036,1.26,205.2,362.6,6.5,578,12040,0.00,2.65,0.00,0.000,6,0.000,0.054,2916,2125,1995
$GC,12362,1.26,205.2,342.3,6.5,594,12363,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2125,1995
$GC,12672,1.26,205.2,321.4,6.5,609,12676,0.00,2.70,0.00,0.000,4,0.000,0.064,2916,3608,1996
$GC,12699,1.26,205.2,319.4,6.7,610,12703,0.00,2.62,0.00,0.000,6,0.000,0.051,2916,2130,1996
$GC,13014,1.26,205.2,299.0,6.5,625,13015,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2130,1997
$GC,13324,1.26,205.2,278.6,6.5,640,13325,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2130,1997
$GC,13633,1.26,205.2,258.8,6.3,655,13638,0.00,2.67,0.00,0.000,4,0.000,0.063,2916,3601,1997
$GC,13667,1.26,205.2,256.3,6.6,656,13673,0.00,2.60,0.00,0.000,6,0.000,0.049,2916,2130,1997
$GC,13982,1.26,205.2,236.3,6.4,672,13983,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2130,1997
$GC,14292,1.30,205.2,216.6,6.1,687,14294,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2130,1998
$GC,14601,1.34,227.5,197.8,5.4,702,14624,0.10,0.00,20.17,0.898,6,0.054,0.000,2949,2130,1904
$GC,14931,1.29,227.5,173.5,6.2,718,14932,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2130,1904
$GC,15240,1.24,227.5,148.8,8.1,733,15245,0.15,2.70,0.00,0.000,4,0.083,0.061,2918,3606,1904
$GC,15281,1.29,227.5,145.5,7.9,735,15285,0.00,2.58,0.00,0.000,6,0.000,0.048,2918,2148,1904
$GC,15608,1.34,227.5,121.5,7.1,751,15613,0.10,2.42,0.00,0.000,4,0.056,0.061,2951,790,1904
$GC,15630,1.34,227.5,119.4,9.0,752,15635,0.00,2.42,0.00,0.000,6,0.000,0.049,2950,2157,1904
$GC,15953,1.31,236.8,99.9,5.7,768,15967,0.00,2.62,9.10,0.778,4,0.000,0.061,2951,3606,1866
$GC,15991,1.31,236.8,96.5,9.0,769,15997,0.00,2.60,0.00,0.000,6,0.000,0.050,2950,2150,1866
$GC,16308,1.31,236.8,70.3,8.2,785,16313,0.00,2.45,0.00,0.000,4,0.000,0.063,2951,784,1866
$GC,16353,1.27,236.8,66.3,9.1,787,16358,0.12,2.42,0.00,0.000,6,0.083,0.049,2926,2149,1866
$GC,16676,1.34,243.2,44.0,5.8,803,16685,0.00,0.00,6.78,0.707,6,0.000,0.000,2926,2153,1840
$GC,16986,1.42,243.2,24.7,9.1,818,16988,0.15,0.00,0.00,0.000,6,0.048,0.000,2971,2173,1839
$STATE,17187,end climb,SURFACE_DEPTH_REACHED
$STATE,17187,begin surface coast
$FINISH,2.3,1.027316
$STATE,17209,end surface coast,CONTROL_FINISHED_OK
$STATE,17210,begin surface
$SM_CCo,17233,6.00,0.667,0,0,1811,250.21
$SM_GC,2.11,0.00,0.00,6.00,0.000,0.000,0.667,420,1968,1811,-10.26,-0.79,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1771
$TCM_TEMP,16.50
$XPDR_PINGS,468
$ALTIM_TOP_PING,17.5,999.0
$ALTIM_BOTTOM_PING,575.7,53.3
$24V_AH,23.8,34.834
$10V_AH,10.1,16.954
$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,24.525,88.275,337.125,6.000,0.000,115.366,97.711,282.081,122.250,0.000,0.000,16.320,1469.248,13644.133,477.461,1613.549,792.013,33.369,1267.307,0.000,1585.539,0.000,35.825,0.000
$DEVICE_MAMPS,137.293,79.001,1257.880,666.523,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,613.113,560.492,501.475,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41143,829
$CAP_FILE_SIZE,117149,0
$CFSIZE,254472192,240332800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,171208,024938,6050.219,-313.217,38,1.5,38,-6.0