version: 66.04
glider: 5
mission: 5
dive: 200
start: 12 17 108 12 14 14
data:
$ID,5
$MISSION,5
$DIVE,200
$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,-91189.539
$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,24
$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
$GPS1,120807,6048.063,-317.409,42,1.0,42,-6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-57.1
$GPS2,121322,6048.121,-317.306,12,1.7,13,-6.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.127,-0.181
$KALMAN_X,214534.1,215.9,311.3,-77991.5,16312.0
$KALMAN_Y,129431.7,248.5,494.9,-448970.0,12454.1
$MHEAD_RNG_PITCHd_Wd,221.1,70750,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.97,-146.6,0.0,0.0,0,120,0.00,0.00,-97.00,0.000,6,0.000,0.000,421,1978,3428
$GC,123,-0.97,-146.6,6.2,-5.6,5,140,10.38,2.58,0.00,0.000,4,0.133,0.061,2430,3408,3428
$GC,187,-0.62,-146.6,26.3,-18.6,7,193,0.40,2.50,0.00,0.000,6,0.081,0.047,2514,1997,3430
$GC,516,-0.48,-146.6,57.8,-8.0,23,518,0.15,0.00,0.00,0.000,6,0.089,0.000,2546,1974,3430
$GC,824,-0.48,-146.6,86.6,-11.9,38,828,0.00,2.58,0.00,0.000,4,0.000,0.059,2546,3408,3430
$GC,857,-0.48,-146.6,90.3,-10.8,39,863,0.00,2.50,0.00,0.000,6,0.000,0.048,2546,1997,3430
$GC,1175,-0.44,-146.6,116.7,-10.5,55,1179,0.00,2.50,0.00,0.000,4,0.000,0.061,2546,588,3430
$GC,1242,-0.44,-146.6,124.0,-9.9,58,1246,0.00,2.50,0.00,0.000,6,0.000,0.049,2546,2006,3430
$GC,1566,-0.38,-146.6,150.2,-10.3,74,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2008,3430
$GC,1873,-0.33,-146.6,173.4,-5.5,89,1874,0.15,0.00,0.00,0.000,6,0.084,0.000,2579,2008,3430
$GC,2182,-0.38,-146.6,182.0,-3.0,104,2187,0.00,2.55,0.00,0.000,4,0.000,0.065,2579,598,3430
$GC,2216,-0.45,-146.6,183.8,-4.6,105,2223,0.12,2.47,0.00,0.000,6,0.054,0.051,2543,2002,3430
$GC,2536,-0.38,-146.6,200.3,-5.7,121,2538,0.12,0.00,0.00,0.000,6,0.087,0.000,2570,2003,3430
$GC,2843,-0.38,-146.6,225.3,-8.4,136,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2011,3430
$GC,3151,-0.38,-146.6,236.9,-1.7,151,3156,0.00,2.58,0.00,0.000,4,0.000,0.064,2570,588,3429
$GC,3196,-0.38,-146.6,238.9,-5.1,153,3201,0.00,2.50,0.00,0.000,6,0.000,0.050,2569,2007,3429
$GC,3518,-0.38,-146.6,262.3,-7.3,169,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2020,3429
$GC,3827,-0.38,-146.6,286.5,-7.6,184,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2021,3429
$GC,4136,-0.38,-146.6,314.1,-8.4,199,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2013,3429
$GC,4445,-0.38,-146.6,340.7,-9.0,214,4450,0.00,2.58,0.00,0.000,4,0.000,0.065,2570,596,3429
$GC,4486,-0.38,-146.6,343.9,-8.2,216,4490,0.00,2.50,0.00,0.000,6,0.000,0.051,2570,2005,3429
$GC,4813,-0.38,-146.6,367.4,-7.9,232,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2008,3429
$GC,5122,-0.42,-146.6,391.4,-8.0,247,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2025,3429
$GC,5430,-0.42,-146.6,414.9,-7.2,262,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2023,3429
$GC,5740,-0.42,-146.6,435.6,-8.5,277,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2024,3429
$GC,6049,-0.42,-146.6,457.1,-7.0,292,6053,0.00,2.58,0.00,0.000,4,0.000,0.066,2571,596,3429
$GC,6089,-0.48,-146.6,460.2,-8.2,294,6094,0.12,2.45,0.00,0.000,6,0.054,0.051,2532,1989,3429
$GC,6416,-0.41,-146.6,487.6,-8.1,310,6418,0.12,0.00,0.00,0.000,6,0.087,0.000,2559,1989,3429
$GC,6725,-0.41,-146.6,511.4,-7.7,325,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1989,3429
$GC,7034,-0.41,-146.6,535.0,-6.8,340,7039,0.00,2.53,0.00,0.000,4,0.000,0.064,2559,3404,3429
$GC,7068,-0.41,-146.6,537.2,-7.2,341,7074,0.00,2.53,0.00,0.000,6,0.000,0.054,2559,1984,3429
$GC,7383,-0.41,-146.6,559.1,-7.9,357,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1984,3429
$GC,7693,-0.46,-146.6,580.4,-6.5,372,7697,0.00,2.47,0.00,0.000,4,0.000,0.064,2559,593,3429
$STATE,7729,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7729,begin apogee
$GC,7739,-0.33,0.0,583.1,7.2,373,7865,0.00,0.00,122.55,1.174,6,0.000,0.000,2559,2197,2832
$STATE,7866,end apogee,CONTROL_FINISHED_OK
$STATE,7866,begin climb
$GC,7869,0.97,146.6,590.3,0.0,380,7998,1.40,2.62,121.20,1.154,4,0.071,0.067,2856,3602,2234
$GC,8059,1.21,212.5,584.1,4.2,389,8122,0.25,2.53,55.28,1.124,6,0.044,0.059,2922,2193,1965
$GC,8432,1.22,217.1,565.4,5.9,407,8440,0.00,0.00,5.85,0.865,6,0.000,0.000,2922,2175,1946
$GC,8740,1.22,217.1,545.9,6.8,422,8744,0.00,2.53,0.00,0.000,4,0.000,0.070,2922,803,1946
$GC,8779,1.22,217.1,543.1,6.6,423,8785,0.00,2.50,0.00,0.000,6,0.000,0.054,2922,2190,1945
$GC,9095,1.22,217.1,521.0,7.1,439,9099,0.00,2.55,0.00,0.000,4,0.000,0.066,2922,804,1945
$GC,9122,1.22,217.1,518.8,8.2,440,9127,0.00,2.47,0.00,0.000,6,0.000,0.053,2922,2180,1944
$GC,9438,1.23,224.6,498.2,5.8,455,9448,0.00,0.00,7.60,0.943,6,0.000,0.000,2922,2181,1916
$GC,9747,1.23,224.6,476.1,7.1,470,9748,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2181,1916
$GC,10057,1.23,224.6,454.4,7.3,485,10061,0.00,2.53,0.00,0.000,4,0.000,0.064,2922,794,1916
$GC,10090,1.23,224.6,451.5,8.8,486,10094,0.00,2.47,0.00,0.000,6,0.000,0.051,2922,2185,1916
$GC,10411,1.29,262.1,430.0,5.0,502,10452,0.00,2.65,31.67,1.060,4,0.000,0.062,2922,791,1762
$GC,10480,1.29,262.1,425.9,6.1,505,10485,0.00,2.47,0.00,0.000,6,0.000,0.051,2922,2170,1762
$GC,10803,1.34,262.1,399.9,7.8,521,10807,0.00,2.50,0.00,0.000,4,0.000,0.062,2922,795,1763
$GC,10830,1.40,262.1,397.3,8.5,522,10835,0.12,2.42,0.00,0.000,6,0.051,0.051,2962,2162,1763
$GC,11152,1.34,262.1,367.2,9.5,538,11154,0.10,0.00,0.00,0.000,6,0.083,0.000,2942,2163,1763
$GC,11460,1.34,262.1,340.5,8.8,553,11465,0.00,2.47,0.00,0.000,4,0.000,0.063,2942,794,1762
$GC,11511,1.34,262.1,335.8,9.6,555,11515,0.00,2.42,0.00,0.000,6,0.000,0.051,2942,2159,1762
$GC,11827,1.34,262.1,304.8,9.4,570,11828,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2161,1763
$GC,12136,1.34,262.1,273.2,10.5,585,12140,0.00,2.45,0.00,0.000,4,0.000,0.063,2942,801,1763
$GC,12177,1.34,262.1,268.7,11.2,586,12183,0.00,2.40,0.00,0.000,6,0.000,0.051,2942,2149,1763
$GC,12492,1.34,262.1,238.4,9.0,602,12497,0.00,2.60,0.00,0.000,4,0.000,0.062,2942,3605,1763
$GC,12514,1.34,262.1,236.5,8.4,603,12519,0.00,2.58,0.00,0.000,6,0.000,0.050,2942,2149,1763
$GC,12836,1.34,262.1,215.5,7.2,619,12840,0.00,2.42,0.00,0.000,4,0.000,0.064,2942,794,1763
$GC,12880,1.34,262.1,212.0,7.8,621,12884,0.00,2.38,0.00,0.000,6,0.000,0.050,2942,2135,1763
$GC,13206,1.34,262.1,188.2,6.9,637,13207,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2135,1763
$GC,13516,1.34,262.1,160.4,9.8,652,13517,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2135,1764
$GC,13827,1.34,262.1,133.0,8.7,667,13828,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2135,1763
$GC,14135,1.34,262.1,105.4,8.4,682,14139,0.00,2.42,0.00,0.000,4,0.000,0.064,2942,800,1764
$GC,14168,1.34,262.1,102.9,7.0,683,14174,0.00,2.38,0.00,0.000,6,0.000,0.051,2942,2139,1764
$GC,14486,1.34,262.1,78.5,9.4,699,14487,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2162,1764
$GC,14793,1.34,262.1,48.4,9.7,714,14794,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2155,1764
$GC,15102,1.34,262.1,14.6,9.5,729,15107,0.00,2.42,0.00,0.000,4,0.000,0.063,2943,800,1764
$GC,15121,1.34,262.1,13.9,6.3,730,15125,0.00,2.38,0.00,0.000,6,0.000,0.051,2942,2141,1764
$STATE,15321,end climb,SURFACE_DEPTH_REACHED
$STATE,15321,begin surface coast
$FINISH,0.1,1.027345
$STATE,15364,end surface coast,CONTROL_FINISHED_OK
$STATE,15364,begin surface
$SM_CCo,15446,0.00,0.000,0,0,1764,261.98
$SM_GC,1.23,10.98,0.00,0.00,0.040,0.000,0.000,420,1987,1764,-10.17,-0.37,261.98
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1787
$TCM_TEMP,17.30
$XPDR_PINGS,579
$ALTIM_TOP_PING,18.4,999.0
$ALTIM_BOTTOM_PING,525.0,68.1
$24V_AH,23.9,35.281
$10V_AH,10.1,17.174
$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,24.425,105.550,344.150,0.000,0.000,37.760,25.780,131.764,149.500,0.000,0.000,13.726,1332.920,12014.429,472.269,1476.825,464.081,33.376,1231.348,0.000,1451.338,0.000,32.686,0.000
$DEVICE_MAMPS,133.458,69.797,1174.277,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,549.343,499.752,472.151,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37924,742
$CAP_FILE_SIZE,106253,0
$CFSIZE,254472192,240173056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,0,0
$GPS,171208,163256,6047.494,-316.797,39,1.8,39,-6.0