version: 66.04
glider: 5
mission: 5
dive: 202
start: 12 17 108 21 12 58
data:
$ID,5
$MISSION,5
$DIVE,202
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,315
$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,-91217.648
$T_RSLEEP,27
$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,27
$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
$GPS1,210707,6046.186,-318.885,41,1.3,41,-6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-58.3
$GPS2,211239,6046.208,-318.778,15,1.2,15,-6.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6053.844,-334.478
$TGT_RADIUS,1852.000
$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,321.0,20000,-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,-146.6,0.0,0.0,0,121,0.00,0.00,-101.38,0.000,2,0.000,0.000,422,1980,3222
$GC,125,-0.97,-146.6,3.2,-2.9,5,148,10.35,2.50,-5.78,0.000,4,0.131,0.073,2433,596,3429
$GC,397,-0.59,-146.6,54.1,-14.3,17,402,0.40,2.50,0.00,0.000,6,0.085,0.050,2518,2011,3429
$GC,726,-0.45,-146.6,81.8,-8.1,33,731,0.15,2.60,0.00,0.000,4,0.089,0.066,2550,597,3429
$GC,789,-0.45,-146.6,87.2,-7.4,36,794,0.00,2.47,0.00,0.000,6,0.000,0.051,2550,1996,3429
$GC,1119,-0.41,-146.6,114.6,-9.7,52,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2015,3428
$GC,1427,-0.35,-146.6,139.0,-8.1,67,1429,0.10,0.00,0.00,0.000,6,0.091,0.000,2571,2003,3429
$GC,1735,-0.35,-146.6,161.1,-7.7,82,1739,0.00,2.53,0.00,0.000,4,0.000,0.064,2571,593,3428
$GC,1774,-0.35,-146.6,164.4,-9.4,84,1778,0.00,2.47,0.00,0.000,6,0.000,0.051,2571,1995,3429
$GC,2107,-0.35,-146.6,188.4,-7.0,100,2111,0.00,2.53,0.00,0.000,4,0.000,0.061,2571,3412,3429
$GC,2140,-0.41,-146.6,191.6,-8.9,101,2146,0.00,2.53,0.00,0.000,6,0.000,0.050,2571,1988,3429
$GC,2456,-0.41,-146.6,215.5,-6.1,117,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1985,3429
$GC,2766,-0.41,-146.6,240.3,-7.2,132,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1985,3428
$GC,3075,-0.41,-146.6,258.9,-5.9,147,3079,0.00,2.55,0.00,0.000,4,0.000,0.060,2571,3409,3429
$GC,3108,-0.46,-146.6,261.0,-6.7,148,3115,0.10,2.53,0.00,0.000,6,0.055,0.051,2541,1985,3429
$GC,3424,-0.41,-146.6,285.3,-7.9,164,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1984,3429
$GC,3733,-0.34,-146.6,312.4,-8.5,179,3735,0.15,0.00,0.00,0.000,6,0.085,0.000,2574,1984,3428
$GC,4042,-0.34,-146.6,334.9,-6.1,194,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1984,3428
$GC,4351,-0.34,-146.6,354.9,-6.0,209,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1984,3429
$GC,4661,-0.34,-146.6,373.4,-6.2,224,4665,0.00,2.58,0.00,0.000,4,0.000,0.061,2574,3411,3428
$GC,4711,-0.40,-146.6,376.8,-6.6,226,4715,0.00,2.50,0.00,0.000,6,0.000,0.052,2574,2001,3429
$GC,5027,-0.40,-146.6,395.8,-6.0,241,5029,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2001,3428
$GC,5337,-0.44,-146.6,415.5,-6.4,256,5338,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2001,3429
$GC,5647,-0.49,-146.6,435.0,-6.5,271,5652,0.15,2.58,0.00,0.000,4,0.051,0.061,2530,3413,3428
$GC,5697,-0.43,-146.6,439.2,-8.2,273,5702,0.12,2.50,0.00,0.000,6,0.088,0.053,2557,2006,3429
$GC,6013,-0.43,-146.6,461.5,-7.2,288,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2005,3429
$GC,6322,-0.43,-146.6,483.2,-7.3,303,6326,0.00,2.55,0.00,0.000,4,0.000,0.062,2557,3412,3428
$GC,6361,-0.43,-146.6,486.4,-8.4,305,6366,0.00,2.50,0.00,0.000,6,0.000,0.053,2557,2005,3428
$GC,6689,-0.43,-146.6,509.4,-6.7,321,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2005,3428
$GC,6998,-0.43,-146.6,528.6,-5.5,336,7002,0.00,2.55,0.00,0.000,4,0.000,0.061,2556,3413,3428
$GC,7106,-0.49,-146.6,536.5,-7.5,341,7111,0.00,2.47,0.00,0.000,6,0.000,0.053,2556,2010,3429
$GC,7434,-0.49,-146.6,558.3,-5.0,357,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2009,3428
$GC,7743,-0.53,-146.6,578.0,-6.4,372,7748,0.12,2.55,0.00,0.000,4,0.058,0.071,2519,597,3429
$GC,7811,-0.45,-146.6,583.5,-9.0,375,7816,0.15,2.50,0.00,0.000,6,0.083,0.057,2552,1999,3429
$STATE,7840,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7840,begin apogee
$GC,7848,-0.33,0.0,586.4,9.1,377,7973,0.12,0.00,122.85,1.197,6,0.088,0.000,2580,2211,2832
$STATE,7974,end apogee,CONTROL_FINISHED_OK
$STATE,7974,begin climb
$GC,7977,0.97,146.6,592.1,0.0,383,8107,1.30,2.62,122.03,1.172,4,0.070,0.074,2857,3599,2233
$GC,8178,1.12,151.1,586.8,5.9,392,8190,0.17,2.58,5.32,0.848,6,0.053,0.065,2904,2190,2215
$GC,8499,1.16,177.5,570.6,5.3,408,8529,0.00,2.67,22.83,1.132,4,0.000,0.078,2905,807,2108
$GC,8657,1.22,215.8,562.5,4.9,415,8699,0.00,2.50,33.05,1.164,6,0.000,0.063,2905,2166,1952
$GC,9012,1.36,270.1,545.5,4.5,432,9064,0.17,2.75,45.97,1.190,4,0.056,0.078,2956,3607,1729
$GC,9161,1.30,270.1,535.1,8.2,439,9166,0.12,2.60,0.00,0.000,6,0.094,0.067,2931,2198,1730
$GC,9488,1.30,270.1,514.9,6.5,455,9493,0.00,2.60,0.00,0.000,4,0.000,0.075,2932,789,1730
$GC,9544,1.30,270.1,510.7,8.0,457,9550,0.00,2.53,0.00,0.000,6,0.000,0.060,2932,2172,1730
$GC,9860,1.30,270.1,488.6,7.2,473,9864,0.00,2.58,0.00,0.000,4,0.000,0.071,2932,785,1730
$GC,9887,1.30,270.1,486.3,8.3,474,9892,0.00,2.50,0.00,0.000,6,0.000,0.057,2932,2167,1730
$GC,10203,1.30,270.1,461.6,7.5,489,10207,0.00,2.55,0.00,0.000,4,0.000,0.069,2932,786,1730
$GC,10236,1.30,270.1,458.8,8.3,490,10242,0.00,2.45,0.00,0.000,6,0.000,0.054,2932,2150,1730
$GC,10552,1.30,270.1,438.6,6.4,506,10554,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2151,1730
$GC,10861,1.31,274.3,418.7,5.9,521,10872,0.00,2.55,5.68,0.861,4,0.000,0.066,2932,785,1712
$GC,10906,1.32,280.3,416.2,5.8,523,10921,0.00,2.45,6.60,0.892,6,0.000,0.051,2932,2150,1689
$GC,11231,1.32,280.3,396.6,6.9,539,11235,0.00,2.50,0.00,0.000,4,0.000,0.067,2932,789,1689
$GC,11259,1.32,280.3,394.5,7.5,540,11263,0.00,2.40,0.00,0.000,6,0.000,0.051,2933,2138,1689
$GC,11580,1.32,280.3,370.7,7.3,556,11581,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2138,1690
$GC,11890,1.36,280.3,345.4,8.2,571,11895,0.00,2.47,0.00,0.000,4,0.000,0.066,2933,788,1690
$GC,11923,1.36,280.3,342.8,7.0,572,11930,0.00,2.40,0.00,0.000,6,0.000,0.051,2932,2138,1690
$GC,12240,1.40,280.3,317.0,6.7,588,12241,0.10,0.00,0.00,0.000,6,0.057,0.000,2965,2136,1690
$GC,12549,1.35,280.3,289.1,8.1,603,12551,0.10,0.00,0.00,0.000,6,0.087,0.000,2943,2136,1691
$GC,12858,1.35,280.3,262.1,9.1,618,12862,0.00,2.45,0.00,0.000,4,0.000,0.066,2943,787,1691
$GC,12896,1.35,280.3,258.0,9.8,619,12902,0.00,2.40,0.00,0.000,6,0.000,0.051,2943,2138,1691
$GC,13213,1.35,280.3,228.8,9.7,635,13214,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2138,1691
$GC,13522,1.57,422.8,208.2,2.1,650,13642,0.22,0.00,113.57,0.929,6,0.045,0.000,3004,2158,1107
$GC,13952,1.49,422.8,165.2,12.0,671,13957,0.15,2.50,0.00,0.000,4,0.078,0.064,2973,787,1108
$GC,14002,1.49,422.8,159.4,10.5,673,14006,0.00,2.40,0.00,0.000,6,0.000,0.050,2974,2131,1108
$GC,14318,1.49,422.8,128.9,11.2,688,14322,0.00,2.47,0.00,0.000,4,0.000,0.066,2974,786,1109
$GC,14345,1.49,422.8,125.5,11.9,689,14350,0.00,2.38,0.00,0.000,6,0.000,0.050,2973,2119,1109
$GC,14663,1.49,422.8,91.4,11.1,704,14667,0.00,2.45,0.00,0.000,4,0.000,0.067,2973,786,1109
$GC,14690,1.49,422.8,87.9,11.4,705,14695,0.00,2.35,0.00,0.000,6,0.000,0.051,2974,2107,1109
$GC,15007,1.49,422.8,51.2,11.0,720,15008,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2127,1109
$GC,15316,1.49,422.8,22.4,9.2,735,15320,0.00,2.42,0.00,0.000,4,0.000,0.067,2974,784,1109
$GC,15365,1.49,422.8,17.0,10.1,737,15370,0.00,2.35,0.00,0.000,6,0.000,0.050,2973,2109,1109
$STATE,15515,end climb,SURFACE_DEPTH_REACHED
$STATE,15515,begin surface coast
$FINISH,0.6,1.027324
$STATE,15556,end surface coast,CONTROL_FINISHED_OK
$STATE,15556,begin surface
$SM_CCo,15640,0.00,0.000,0,0,1108,422.90
$SM_GC,0.80,11.10,0.00,0.00,0.038,0.000,0.000,421,1984,1108,-10.17,-0.40,422.90
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1813
$TCM_TEMP,17.30
$XPDR_PINGS,531
$ALTIM_TOP_PING,20.0,20.1
$ALTIM_BOTTOM_PING,551.0,45.5
$24V_AH,23.9,35.625
$10V_AH,10.1,17.320
$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,25.375,120.900,477.900,0.000,0.000,37.762,27.706,145.108,137.750,0.000,0.000,15.388,1374.309,11873.405,608.181,1622.836,493.195,0.000,1450.167,0.000,1588.808,0.000,34.203,0.000
$DEVICE_MAMPS,131.157,78.234,1197.287,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,552.191,501.470,453.337,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37926,746
$CAP_FILE_SIZE,116569,0
$CFSIZE,254472192,240050176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,0,0
$GPS,181208,013455,6050.336,-317.503,40,1.6,40,-6.0