version: 66.04
glider: 5
mission: 5
dive: 198
start: 12 17 108 2 56 3
data:
$ID,5
$MISSION,5
$DIVE,198
$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,-91142.68
$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,32
$R_STBD_OVSHOOT,22
$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
$GPS1,024938,6050.219,-313.217,38,1.5,38,-6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-59.5
$GPS2,025509,6050.275,-313.102,14,1.5,14,-6.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.147,-0.166
$KALMAN_X,216869.7,-2493.2,-882.8,-72980.7,28333.4
$KALMAN_Y,124572.4,-1213.1,1142.2,-439323.8,11063.2
$MHEAD_RNG_PITCHd_Wd,227.6,76202,-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,13,begin dive
$GC,16,-0.97,-146.6,0.0,0.0,0,79,0.00,0.00,-61.03,0.000,2,0.000,0.000,420,1971,3012
$GC,82,-0.97,-146.6,3.0,-3.9,3,108,10.32,0.00,-11.75,0.000,6,0.130,0.000,2430,1968,3431
$GC,416,-0.61,-146.6,52.9,-12.1,19,418,0.40,0.00,0.00,0.000,6,0.084,0.000,2515,1961,3431
$GC,723,-0.46,-146.6,77.9,-10.8,34,728,0.15,2.47,0.00,0.000,4,0.087,0.061,2548,597,3431
$GC,745,-0.38,-146.6,80.8,-12.1,35,750,0.00,2.50,0.00,0.000,6,0.000,0.051,2548,2008,3431
$GC,1069,-0.31,-146.6,111.0,-6.7,51,1071,0.15,0.00,0.00,0.000,6,0.085,0.000,2580,2026,3430
$GC,1376,-0.31,-146.6,127.5,-3.9,66,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2012,3431
$GC,1686,-0.31,-146.6,138.2,-3.6,81,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2012,3431
$GC,1994,-0.31,-146.6,155.5,-6.7,96,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2012,3431
$GC,2304,-0.35,-146.6,171.8,-5.8,111,2309,0.00,2.55,0.00,0.000,4,0.000,0.066,2580,601,3431
$GC,2346,-0.42,-146.6,175.2,-8.5,113,2351,0.10,2.47,0.00,0.000,6,0.055,0.051,2550,2004,3431
$GC,2674,-0.38,-146.6,200.2,-7.2,129,2678,0.00,2.50,0.00,0.000,4,0.000,0.062,2550,3404,3431
$GC,2714,-0.38,-146.6,203.3,-7.8,131,2718,0.00,2.50,0.00,0.000,6,0.000,0.050,2550,1994,3431
$GC,3041,-0.38,-146.6,228.9,-8.8,147,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1993,3431
$GC,3349,-0.38,-146.6,252.8,-7.5,162,3354,0.00,2.55,0.00,0.000,4,0.000,0.061,2550,3403,3431
$GC,3382,-0.38,-146.6,256.1,-10.0,163,3389,0.00,2.50,0.00,0.000,6,0.000,0.050,2550,1993,3431
$GC,3699,-0.33,-146.6,281.2,-7.3,179,3701,0.12,0.00,0.00,0.000,6,0.088,0.000,2578,1993,3431
$GC,4009,-0.38,-146.6,300.4,-6.9,194,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1993,3431
$GC,4317,-0.42,-146.6,320.5,-6.4,209,4322,0.00,2.55,0.00,0.000,4,0.000,0.061,2577,3402,3431
$GC,4375,-0.50,-146.6,324.8,-7.8,211,4383,0.17,2.50,0.00,0.000,6,0.052,0.049,2528,1990,3431
$GC,4691,-0.40,-146.6,351.8,-8.4,227,4693,0.15,0.00,0.00,0.000,6,0.083,0.000,2560,1990,3431
$GC,5000,-0.40,-146.6,371.7,-6.6,242,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1990,3431
$GC,5309,-0.40,-146.6,392.4,-6.8,257,5314,0.00,2.58,0.00,0.000,4,0.000,0.063,2560,3409,3431
$GC,5349,-0.40,-146.6,395.2,-6.8,259,5354,0.00,2.50,0.00,0.000,6,0.000,0.053,2560,2003,3431
$GC,5677,-0.40,-146.6,417.3,-7.0,275,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2003,3431
$GC,5985,-0.40,-146.6,437.2,-6.2,290,5990,0.00,2.55,0.00,0.000,4,0.000,0.064,2561,3408,3431
$GC,6019,-0.40,-146.6,439.5,-6.5,291,6025,0.00,2.50,0.00,0.000,6,0.000,0.053,2560,2004,3431
$GC,6335,-0.40,-146.6,459.0,-5.9,307,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2004,3431
$GC,6644,-0.40,-146.6,480.3,-6.9,322,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2004,3431
$GC,6953,-0.40,-146.6,502.3,-7.5,337,6957,0.00,2.55,0.00,0.000,4,0.000,0.064,2560,3405,3431
$GC,7015,-0.45,-146.6,506.8,-6.9,340,7020,0.00,2.47,0.00,0.000,6,0.000,0.054,2560,2015,3431
$GC,7350,-0.45,-146.6,527.2,-5.6,356,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2015,3431
$GC,7658,-0.45,-146.6,546.8,-6.3,371,7660,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2015,3431
$GC,7967,-0.50,-146.6,567.6,-7.2,386,7972,0.00,2.55,0.00,0.000,4,0.000,0.069,2560,3402,3431
$GC,8001,-0.56,-146.6,570.1,-7.4,387,8008,0.15,2.50,0.00,0.000,6,0.058,0.059,2518,2016,3431
$STATE,8252,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8252,begin apogee
$GC,8260,-0.33,0.0,590.0,7.6,400,8385,0.28,0.00,122.45,1.217,6,0.079,0.000,2578,2203,2832
$STATE,8386,end apogee,CONTROL_FINISHED_OK
$STATE,8386,begin climb
$GC,8389,0.97,146.6,596.2,0.0,406,8518,1.33,2.65,121.40,1.189,4,0.074,0.075,2857,3598,2234
$GC,8538,1.17,174.1,592.0,5.2,413,8569,0.20,2.60,23.85,1.123,6,0.051,0.063,2909,2176,2122
$GC,8888,1.27,178.2,572.0,5.9,430,8898,0.00,2.58,5.25,0.862,4,0.000,0.072,2909,802,2104
$GC,9094,1.27,178.2,559.3,7.1,439,9099,0.00,2.47,0.00,0.000,6,0.000,0.060,2909,2159,2103
$GC,9410,1.28,185.8,540.9,5.8,454,9424,0.00,2.60,7.80,1.009,4,0.000,0.074,2909,807,2074
$GC,9449,1.29,195.4,538.6,5.7,455,9465,0.10,2.45,9.70,1.052,6,0.062,0.061,2940,2143,2035
$GC,9789,1.24,195.4,516.4,6.9,472,9793,0.00,2.70,0.00,0.000,4,0.000,0.076,2939,3606,2033
$GC,9856,1.16,195.4,511.3,7.2,475,9862,0.17,2.65,0.00,0.000,6,0.090,0.064,2904,2161,2033
$GC,10179,1.30,248.6,495.9,4.5,491,10226,0.12,0.00,44.47,1.176,6,0.061,0.000,2939,2161,1818
$GC,10527,1.30,248.6,473.1,6.7,508,10528,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2161,1819
$GC,10837,1.30,248.6,451.6,7.2,523,10841,0.00,2.50,0.00,0.000,4,0.000,0.069,2939,783,1819
$GC,10860,1.30,248.6,449.8,7.6,524,10864,0.00,2.47,0.00,0.000,6,0.000,0.054,2939,2157,1819
$GC,11186,1.30,248.6,425.4,7.6,540,11187,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2157,1818
$GC,11496,1.30,248.6,402.5,7.4,555,11500,0.00,2.50,0.00,0.000,4,0.000,0.066,2939,790,1819
$GC,11535,1.30,248.6,399.1,8.5,557,11539,0.00,2.42,0.00,0.000,6,0.000,0.053,2939,2148,1819
$GC,11862,1.30,248.6,374.0,7.7,573,11863,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2148,1819
$GC,12171,1.30,248.6,350.7,7.5,588,12175,0.00,2.50,0.00,0.000,4,0.000,0.065,2939,782,1820
$GC,12215,1.30,248.6,347.1,7.8,590,12219,0.00,2.42,0.00,0.000,6,0.000,0.051,2939,2142,1820
$GC,12537,1.30,248.6,322.1,7.6,606,12541,0.00,2.62,0.00,0.000,4,0.000,0.064,2939,3605,1821
$GC,12564,1.30,248.6,320.0,8.3,607,12569,0.00,2.60,0.00,0.000,6,0.000,0.054,2939,2142,1821
$GC,12880,1.30,248.6,296.1,7.5,622,12881,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2142,1821
$GC,13189,1.30,248.6,268.3,9.0,637,13193,0.00,2.42,0.00,0.000,4,0.000,0.064,2939,790,1821
$GC,13229,1.30,248.6,264.4,9.3,639,13233,0.00,2.42,0.00,0.000,6,0.000,0.050,2939,2161,1821
$GC,13555,1.30,248.6,236.3,8.3,655,13559,0.00,2.47,0.00,0.000,4,0.000,0.065,2939,790,1822
$GC,13583,1.30,248.6,233.9,8.7,656,13587,0.00,2.40,0.00,0.000,6,0.000,0.051,2939,2140,1822
$GC,13904,1.30,248.6,213.8,7.0,672,13905,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2141,1822
$GC,14213,1.30,248.6,190.8,9.0,687,14217,0.00,2.47,0.00,0.000,4,0.000,0.065,2939,787,1822
$GC,14246,1.30,248.6,187.2,10.4,688,14252,0.00,2.42,0.00,0.000,6,0.000,0.051,2938,2149,1823
$GC,14562,1.30,248.6,161.1,8.1,704,14563,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2151,1823
$GC,14872,1.30,248.6,137.5,7.3,719,14877,0.00,2.47,0.00,0.000,4,0.000,0.065,2939,791,1823
$GC,14906,1.30,248.6,134.2,8.7,720,14912,0.00,2.38,0.00,0.000,6,0.000,0.050,2939,2131,1823
$GC,15222,1.30,248.6,107.8,7.8,736,15227,0.00,2.62,0.00,0.000,4,0.000,0.061,2939,3603,1823
$GC,15250,1.30,248.6,105.5,8.6,737,15254,0.00,2.60,0.00,0.000,6,0.000,0.049,2939,2134,1823
$GC,15567,1.30,248.6,82.3,7.9,752,15571,0.00,2.40,0.00,0.000,4,0.000,0.064,2939,790,1823
$GC,15595,1.30,248.6,79.8,8.1,753,15599,0.00,2.40,0.00,0.000,6,0.000,0.049,2939,2145,1824
$GC,15912,1.37,293.2,59.8,4.8,768,15952,0.00,0.00,36.72,0.832,6,0.000,0.000,2939,2146,1636
$GC,16263,1.44,293.2,26.9,10.2,785,16267,0.12,2.50,0.00,0.000,4,0.051,0.061,2977,784,1636
$GC,16286,1.44,293.2,24.9,8.2,786,16290,0.00,2.40,0.00,0.000,6,0.000,0.050,2978,2131,1636
$STATE,16522,end climb,SURFACE_DEPTH_REACHED
$STATE,16522,begin surface coast
$FINISH,3.2,1.027320
$STATE,16544,end surface coast,CONTROL_FINISHED_OK
$STATE,16544,begin surface
$SM_CCo,16628,0.00,0.000,0,0,1634,293.87
$SM_GC,1.28,11.27,0.00,0.00,0.045,0.000,0.000,426,1962,1634,-10.15,-0.76,293.87
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1774
$TCM_TEMP,16.50
$XPDR_PINGS,552
$ALTIM_TOP_PING,19.8,17.3
$ALTIM_BOTTOM_PING,525.9,73.9
$24V_AH,23.9,34.982
$10V_AH,10.1,17.030
$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,25.325,121.075,371.650,0.000,0.000,37.761,25.413,142.829,142.750,0.000,0.000,14.020,1450.844,12897.765,485.838,1622.456,503.162,33.360,1307.135,0.000,1593.618,0.000,32.694,0.000
$DEVICE_MAMPS,130.390,75.933,1217.229,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,589.079,538.924,523.727,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41162,799
$CAP_FILE_SIZE,118133,0
$CFSIZE,254472192,240271360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,0,0
$GPS,171208,073431,6048.837,-315.391,38,1.2,43,-6.0