version: 66.04
glider: 5
mission: 5
dive: 201
start: 12 17 108 16 39 32
data:
$ID,5
$MISSION,5
$DIVE,201
$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,-91201.633
$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,35
$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
$GPS1,163256,6047.494,-316.797,39,1.8,39,-6.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-58.3
$GPS2,163839,6047.539,-316.777,11,1.7,11,-6.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.132,-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,222.7,70113,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.38,0.000,2,0.000,0.000,421,2001,3402
$GC,102,-0.97,-146.6,4.4,-5.3,4,119,10.40,2.58,-0.68,0.000,4,0.135,0.071,2429,3415,3431
$GC,167,-0.63,-146.6,19.7,-11.9,6,172,0.40,2.50,0.00,0.000,6,0.085,0.047,2513,2005,3432
$GC,496,-0.49,-146.6,50.7,-8.2,22,501,0.12,2.53,0.00,0.000,4,0.088,0.062,2541,590,3432
$GC,537,-0.44,-146.6,53.8,-6.8,24,541,0.00,2.53,0.00,0.000,6,0.000,0.051,2541,2016,3432
$GC,864,-0.36,-146.6,78.2,-10.3,40,866,0.15,0.00,0.00,0.000,6,0.084,0.000,2573,2017,3432
$GC,1173,-0.36,-146.6,114.2,-7.5,55,1178,0.00,2.60,0.00,0.000,4,0.000,0.066,2573,588,3432
$GC,1214,-0.36,-146.6,117.2,-8.1,57,1218,0.00,2.50,0.00,0.000,6,0.000,0.051,2573,2006,3432
$GC,1548,-0.36,-146.6,136.2,-4.5,73,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2007,3432
$GC,1856,-0.36,-146.6,151.4,-4.8,88,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2007,3432
$GC,2166,-0.41,-146.6,164.4,-3.6,103,2170,0.00,2.58,0.00,0.000,4,0.000,0.066,2573,588,3432
$GC,2199,-0.46,-146.6,165.5,-3.1,104,2206,0.10,2.50,0.00,0.000,6,0.056,0.051,2543,2006,3432
$GC,2516,-0.40,-146.6,184.5,-7.3,120,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2008,3432
$GC,2825,-0.34,-146.6,207.2,-7.8,135,2827,0.15,0.00,0.00,0.000,6,0.084,0.000,2576,2007,3432
$GC,3134,-0.34,-146.6,230.7,-7.9,150,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2008,3432
$GC,3444,-0.38,-146.6,246.6,-4.8,165,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2008,3432
$GC,3752,-0.38,-146.6,262.9,-5.2,180,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2008,3432
$GC,4063,-0.43,-146.6,278.1,-6.0,195,4067,0.00,2.58,0.00,0.000,4,0.000,0.066,2576,587,3432
$GC,4113,-0.49,-146.6,281.2,-6.1,197,4118,0.15,2.47,0.00,0.000,6,0.052,0.051,2532,1995,3432
$GC,4429,-0.40,-146.6,303.3,-8.7,212,4430,0.12,0.00,0.00,0.000,6,0.087,0.000,2560,1995,3432
$GC,4739,-0.40,-146.6,325.7,-6.6,227,4740,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1996,3432
$GC,5047,-0.40,-146.6,346.0,-6.4,242,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1995,3431
$GC,5356,-0.40,-146.6,366.7,-6.6,257,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1996,3432
$GC,5666,-0.40,-146.6,388.1,-6.9,272,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1996,3432
$GC,5975,-0.40,-146.6,408.5,-6.1,287,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1995,3431
$GC,6284,-0.40,-146.6,431.1,-7.5,302,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1995,3431
$GC,6594,-0.40,-146.6,451.6,-7.0,317,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1995,3432
$GC,6902,-0.40,-146.6,473.0,-6.7,332,6907,0.00,2.53,0.00,0.000,4,0.000,0.063,2560,3409,3431
$GC,6930,-0.40,-146.6,474.9,-6.8,333,6935,0.00,2.53,0.00,0.000,6,0.000,0.054,2560,1992,3431
$GC,7252,-0.40,-146.6,496.2,-6.7,349,7256,0.00,2.47,0.00,0.000,4,0.000,0.064,2560,596,3431
$GC,7285,-0.40,-146.6,498.3,-6.6,350,7291,0.00,2.45,0.00,0.000,6,0.000,0.051,2560,1991,3431
$GC,7601,-0.40,-146.6,519.2,-7.8,366,7605,0.00,2.53,0.00,0.000,4,0.000,0.064,2559,3402,3431
$GC,7637,-0.47,-146.6,521.5,-6.6,367,7643,0.00,2.50,0.00,0.000,6,0.000,0.054,2560,1997,3431
$GC,7953,-0.53,-146.6,538.7,-5.9,383,7958,0.12,2.53,0.00,0.000,4,0.055,0.069,2520,591,3432
$GC,8061,-0.45,-146.6,547.6,-10.0,388,8066,0.12,2.45,0.00,0.000,6,0.087,0.053,2548,1986,3432
$STATE,8390,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8390,begin apogee
$GC,8397,-0.33,0.0,568.4,5.9,404,8522,0.12,0.00,122.65,1.185,6,0.091,0.000,2576,2207,2832
$STATE,8523,end apogee,CONTROL_FINISHED_OK
$STATE,8523,begin climb
$GC,8526,0.97,146.6,573.9,0.0,410,8656,1.33,2.72,122.00,1.163,4,0.074,0.072,2856,795,2234
$GC,8675,1.21,223.0,570.3,3.9,418,8747,0.25,2.58,64.25,1.140,6,0.048,0.060,2921,2195,1921
$GC,9069,1.21,223.0,543.0,6.7,437,9074,0.00,2.65,0.00,0.000,4,0.000,0.077,2921,792,1922
$GC,9109,1.21,223.0,540.1,6.8,439,9113,0.00,2.58,0.00,0.000,6,0.000,0.062,2921,2195,1922
$GC,9435,1.21,224.9,521.2,5.9,455,9440,0.00,2.65,0.00,0.000,4,0.000,0.078,2921,790,1920
$GC,9498,1.21,224.9,517.6,6.4,458,9502,0.00,2.55,0.00,0.000,6,0.000,0.064,2921,2176,1920
$GC,9824,1.23,236.7,501.0,5.7,474,9843,0.00,0.00,12.25,1.090,6,0.000,0.000,2921,2176,1866
$GC,10154,1.28,267.6,483.5,5.2,490,10186,0.00,2.65,26.52,1.151,4,0.000,0.071,2921,791,1740
$GC,10231,1.28,267.6,479.0,6.2,493,10238,0.00,2.53,0.00,0.000,6,0.000,0.060,2921,2171,1740
$GC,10548,1.34,270.3,461.3,5.9,509,10557,0.00,2.58,4.25,0.778,4,0.000,0.070,2921,789,1730
$GC,10597,1.34,270.3,458.1,6.9,511,10601,0.00,2.47,0.00,0.000,6,0.000,0.056,2921,2162,1730
$GC,10925,1.39,270.3,438.5,6.4,527,10930,0.12,2.55,0.00,0.000,4,0.054,0.067,2958,787,1731
$GC,10958,1.33,270.3,435.7,8.6,528,10964,0.00,2.42,0.00,0.000,6,0.000,0.054,2958,2140,1731
$GC,11275,1.28,270.3,410.4,8.3,544,11276,0.15,0.00,0.00,0.000,6,0.081,0.000,2927,2139,1731
$GC,11584,1.32,270.3,390.0,6.8,559,11587,0.00,2.45,0.00,0.000,4,0.000,0.066,2928,790,1731
$GC,11622,1.32,270.3,387.3,6.8,560,11629,0.00,2.40,0.00,0.000,6,0.000,0.052,2927,2138,1731
$GC,11939,1.37,270.3,364.9,6.2,576,11944,0.00,2.47,0.00,0.000,4,0.000,0.067,2928,786,1732
$GC,11979,1.37,270.3,362.0,6.9,578,11984,0.00,2.40,0.00,0.000,6,0.000,0.052,2928,2133,1732
$GC,12307,1.41,270.3,340.4,6.4,594,12309,0.12,0.00,0.00,0.000,6,0.053,0.000,2966,2133,1732
$GC,12616,1.35,270.3,312.0,9.4,609,12621,0.12,2.45,0.00,0.000,4,0.084,0.064,2939,793,1733
$GC,12649,1.35,270.3,309.0,7.8,610,12656,0.00,2.38,0.00,0.000,6,0.000,0.051,2940,2138,1733
$GC,12966,1.35,270.3,285.1,7.5,626,12967,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2138,1733
$GC,13275,1.35,270.3,256.8,9.0,641,13279,0.00,2.45,0.00,0.000,4,0.000,0.064,2940,791,1734
$GC,13308,1.35,270.3,253.5,9.7,642,13314,0.00,2.35,0.00,0.000,6,0.000,0.051,2940,2117,1734
$GC,13624,1.42,316.8,229.0,4.7,658,13669,0.00,2.78,38.78,0.941,4,0.000,0.061,2940,3603,1540
$GC,13690,1.59,377.1,226.3,4.3,661,13746,0.25,2.67,49.03,0.930,6,0.046,0.052,3003,2117,1294
$GC,14062,1.48,377.1,182.2,13.3,679,14067,0.15,2.40,0.00,0.000,4,0.084,0.064,2973,788,1294
$GC,14103,1.48,377.1,176.8,12.7,681,14107,0.00,2.38,0.00,0.000,6,0.000,0.050,2973,2121,1294
$GC,14430,1.48,377.1,140.9,10.7,697,14431,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2124,1294
$GC,14740,1.48,377.1,106.2,9.8,712,14744,0.00,2.45,0.00,0.000,4,0.000,0.066,2973,792,1295
$GC,14772,1.48,377.1,103.1,8.8,713,14779,0.00,2.33,0.00,0.000,6,0.000,0.051,2973,2100,1295
$GC,15090,1.48,377.1,76.6,7.8,729,15094,0.00,2.67,0.00,0.000,4,0.000,0.059,2973,3605,1295
$GC,15113,1.48,377.1,74.4,8.9,730,15117,0.00,2.67,0.00,0.000,6,0.000,0.050,2973,2099,1295
$GC,15435,1.48,377.1,45.1,8.6,746,15439,0.00,2.35,0.00,0.000,4,0.000,0.066,2973,793,1295
$GC,15457,1.48,377.1,42.0,13.3,747,15461,0.00,2.33,0.00,0.000,6,0.000,0.049,2973,2108,1295
$GC,15778,1.48,377.1,10.4,9.9,763,15783,0.00,2.70,0.00,0.000,4,0.000,0.063,2973,3612,1295
$GC,15801,1.48,377.1,8.3,8.4,764,15805,0.00,2.65,0.00,0.000,6,0.000,0.048,2973,2113,1295
$STATE,15851,end climb,SURFACE_DEPTH_REACHED
$STATE,15851,begin surface coast
$FINISH,0.6,1.027320
$STATE,15894,end surface coast,CONTROL_FINISHED_OK
$STATE,15894,begin surface
$SM_CCo,15977,0.00,0.000,0,0,1294,377.52
$SM_GC,1.05,11.15,0.00,0.00,0.041,0.000,0.000,422,1970,1294,-10.16,-0.85,377.52
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1795
$TCM_TEMP,17.40
$XPDR_PINGS,523
$ALTIM_TOP_PING,18.7,18.2
$ALTIM_BOTTOM_PING,550.9,27.0
$24V_AH,23.9,35.448
$10V_AH,10.1,17.248
$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,25.625,126.525,439.725,0.000,0.000,37.763,27.184,162.060,135.750,0.000,0.000,11.472,1400.365,12282.234,565.051,1561.055,512.896,33.375,1373.872,0.000,1533.260,0.000,34.160,0.000
$DEVICE_MAMPS,134.992,78.234,1185.015,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,567.359,517.158,487.702,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38009,769
$CAP_FILE_SIZE,117991,0
$CFSIZE,254472192,240107520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,0,0
$GPS,171208,210707,6046.186,-318.885,41,1.3,41,-6.0