version: 66.04
glider: 5
mission: 5
dive: 204
start: 12 18 108 6 54 51
data:
$ID,5
$MISSION,5
$DIVE,204
$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,-91246.492
$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,31
$R_STBD_OVSHOOT,17
$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
$GPS1,064808,6054.599,-319.786,30,1.5,30,-6.0
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-50.5
$GPS2,065432,6054.672,-319.669,13,1.5,13,-6.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6102.309,-335.439
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.97,-146.6,0.0,0.0,0,112,0.00,0.00,-94.18,0.000,6,0.000,0.000,420,1979,3431
$GC,116,-0.97,-146.6,2.8,-3.4,4,131,10.30,2.50,0.00,0.000,4,0.130,0.056,2430,597,3431
$GC,205,-0.54,-146.6,29.0,-18.0,7,210,0.47,2.50,0.00,0.000,6,0.082,0.051,2531,2008,3432
$GC,527,-0.42,-146.6,56.0,-9.0,23,532,0.12,2.60,0.00,0.000,4,0.087,0.064,2558,595,3433
$GC,572,-0.42,-146.6,62.7,-14.3,25,576,0.00,2.50,0.00,0.000,6,0.000,0.050,2558,2006,3432
$GC,893,-0.42,-146.6,91.1,-7.2,41,897,0.00,2.58,0.00,0.000,4,0.000,0.065,2558,595,3433
$GC,948,-0.42,-146.6,95.7,-9.8,43,954,0.00,2.47,0.00,0.000,6,0.000,0.051,2558,1993,3433
$GC,1265,-0.42,-146.6,119.8,-7.0,59,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2000,3432
$GC,1575,-0.42,-146.6,137.1,-4.4,74,1579,0.00,2.58,0.00,0.000,4,0.000,0.067,2558,592,3433
$GC,1630,-0.42,-146.6,140.8,-7.6,76,1637,0.00,2.47,0.00,0.000,6,0.000,0.051,2558,1993,3433
$GC,1947,-0.42,-146.6,155.8,-4.8,92,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1993,3433
$GC,2255,-0.42,-146.6,181.2,-8.5,107,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1993,3432
$GC,2565,-0.42,-146.6,202.1,-6.2,122,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1994,3433
$GC,2874,-0.42,-146.6,220.9,-6.9,137,2878,0.00,2.55,0.00,0.000,4,0.000,0.067,2558,597,3433
$GC,2907,-0.42,-146.6,223.2,-6.9,138,2913,0.00,2.47,0.00,0.000,6,0.000,0.051,2558,1994,3433
$GC,3223,-0.42,-146.6,242.9,-5.9,154,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1994,3433
$GC,3532,-0.42,-146.6,264.3,-6.1,169,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1994,3433
$GC,3842,-0.42,-146.6,285.3,-6.2,184,3843,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1995,3433
$GC,4150,-0.42,-146.6,304.2,-6.8,199,4155,0.00,2.55,0.00,0.000,4,0.000,0.067,2558,595,3432
$GC,4201,-0.42,-146.6,308.0,-7.8,201,4205,0.00,2.47,0.00,0.000,6,0.000,0.051,2557,1999,3433
$GC,4522,-0.42,-146.6,329.0,-6.4,217,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2000,3432
$GC,4831,-0.42,-146.6,348.6,-6.3,232,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2000,3433
$GC,5140,-0.42,-146.6,365.8,-5.6,247,5145,0.00,2.58,0.00,0.000,4,0.000,0.067,2557,591,3433
$GC,5168,-0.42,-146.6,367.4,-6.0,248,5173,0.00,2.47,0.00,0.000,6,0.000,0.051,2558,1993,3433
$GC,5484,-0.42,-146.6,387.0,-7.3,263,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1994,3433
$GC,5794,-0.42,-146.6,410.8,-6.9,278,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1993,3433
$GC,6103,-0.42,-146.6,432.1,-7.0,293,6107,0.00,2.55,0.00,0.000,4,0.000,0.069,2557,598,3433
$GC,6198,-0.42,-146.6,440.0,-9.4,297,6202,0.00,2.45,0.00,0.000,6,0.000,0.051,2557,1984,3433
$GC,6513,-0.42,-146.6,465.2,-7.1,312,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1984,3432
$GC,6823,-0.42,-146.6,487.9,-6.7,327,6827,0.00,2.55,0.00,0.000,4,0.000,0.070,2557,594,3432
$GC,6850,-0.42,-146.6,489.7,-6.5,328,6855,0.00,2.45,0.00,0.000,6,0.000,0.053,2557,1971,3432
$GC,7166,-0.42,-146.6,506.0,-6.0,343,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1973,3432
$GC,7476,-0.42,-146.6,524.7,-5.5,358,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1973,3432
$GC,7785,-0.42,-146.6,545.3,-7.0,373,7789,0.00,2.60,0.00,0.000,4,0.000,0.068,2557,3412,3432
$GC,7825,-0.49,-146.6,548.0,-7.3,375,7829,0.00,2.60,0.00,0.000,6,0.000,0.061,2558,1974,3432
$GC,8152,-0.49,-146.6,569.3,-6.5,391,8153,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1973,3432
$GC,8461,-0.49,-146.6,586.6,-4.6,406,8463,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1973,3431
$GC,8770,-0.49,-146.6,601.8,-5.6,421,8775,0.00,2.65,0.00,0.000,4,0.000,0.075,2557,3403,3430
$GC,8815,-0.55,-146.6,604.6,-6.7,423,8820,0.12,2.60,0.00,0.000,6,0.063,0.064,2524,1975,3430
$GC,9137,-0.49,-146.6,627.1,-7.1,439,9138,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1975,3429
$GC,9447,-0.44,-146.6,650.4,-8.1,454,9449,0.12,0.00,0.00,0.000,6,0.097,0.000,2551,1975,3428
$GC,9755,-0.44,-146.6,671.4,-6.5,469,9756,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1975,3427
$GC,10064,-0.44,-146.6,689.6,-5.2,484,10069,0.00,2.67,0.00,0.000,4,0.000,0.081,2551,3401,3426
$GC,10106,-0.48,-146.6,691.7,-6.0,486,10110,0.00,2.62,0.00,0.000,6,0.000,0.071,2551,1976,3425
$GC,10433,-0.48,-146.6,710.1,-5.8,502,10434,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1976,3425
$GC,10742,-0.48,-146.6,728.4,-5.8,517,10746,0.00,2.60,0.00,0.000,4,0.000,0.091,2551,585,3423
$GC,10769,-0.48,-146.6,730.2,-7.3,518,10773,0.00,2.60,0.00,0.000,6,0.000,0.071,2551,1999,3423
$GC,11086,-0.48,-146.6,750.5,-6.5,533,11090,0.00,2.62,0.00,0.000,4,0.000,0.086,2551,3412,3422
$GC,11132,-0.53,-146.6,753.7,-6.6,535,11136,0.00,2.62,0.00,0.000,6,0.000,0.074,2551,2000,3421
$GC,11453,-0.53,-146.6,774.4,-6.2,551,11454,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1999,3421
$GC,11763,-0.57,-146.6,794.9,-6.7,566,11764,0.12,0.00,0.00,0.000,6,0.071,0.000,2519,2000,3419
$GC,12072,-0.52,-146.6,818.8,-7.6,581,12073,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1999,3417
$GC,12381,-0.48,-146.6,843.5,-7.9,596,12383,0.12,0.00,0.00,0.000,6,0.107,0.000,2545,1999,3417
$GC,12690,-0.48,-146.6,865.0,-7.2,611,12691,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1999,3416
$GC,12999,-0.48,-146.6,885.5,-7.0,626,13004,0.00,2.70,0.00,0.000,4,0.000,0.091,2544,3408,3414
$GC,13027,-0.54,-146.6,887.2,-5.8,627,13032,0.00,2.62,0.00,0.000,6,0.000,0.080,2544,2012,3414
$GC,13343,-0.54,-146.6,903.4,-5.5,642,13345,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1999,3414
$GC,13653,-0.54,-146.6,921.3,-6.5,657,13654,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1998,3413
$STATE,13670,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13670,begin apogee
$GC,13678,-0.33,0.0,922.5,5.9,658,13807,0.15,0.00,126.50,1.594,6,0.109,0.000,2574,2201,2832
$STATE,13808,end apogee,CONTROL_FINISHED_OK
$STATE,13808,begin climb
$GC,13811,0.97,146.6,929.3,0.0,664,13948,1.38,2.80,129.15,1.543,4,0.089,0.091,2855,3601,2234
$GC,13969,1.23,227.4,927.3,3.8,671,14047,0.28,2.70,71.95,1.505,6,0.062,0.081,2917,2201,1904
$GC,14369,1.23,227.4,900.7,7.7,691,14374,0.00,2.72,0.00,0.000,4,0.000,0.097,2917,790,1905
$GC,14500,1.23,227.4,890.8,7.3,697,14504,0.00,2.65,0.00,0.000,6,0.000,0.077,2917,2191,1905
$GC,14826,1.23,227.4,869.0,6.4,713,14831,0.00,2.72,0.00,0.000,4,0.000,0.094,2917,785,1906
$GC,14854,1.23,227.4,867.0,7.1,714,14859,0.00,2.65,0.00,0.000,6,0.000,0.077,2917,2183,1906
$GC,15170,1.23,227.4,845.7,6.7,729,15171,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2184,1906
$GC,15479,1.23,227.4,824.0,7.2,744,15484,0.00,2.72,0.00,0.000,4,0.000,0.094,2917,783,1905
$GC,15521,1.23,227.4,820.7,9.3,746,15525,0.00,2.65,0.00,0.000,6,0.000,0.078,2918,2185,1905
$GC,15847,1.23,227.4,796.7,7.2,762,15848,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2186,1905
$GC,16156,1.23,227.4,775.3,7.0,777,16161,0.00,2.70,0.00,0.000,4,0.000,0.094,2917,783,1905
$GC,16189,1.23,227.4,772.8,7.6,778,16195,0.00,2.62,0.00,0.000,6,0.000,0.077,2917,2176,1905
$GC,16505,1.23,227.4,751.7,6.2,794,16509,0.00,2.70,0.00,0.000,4,0.000,0.095,2918,787,1904
$GC,16538,1.23,227.4,749.6,6.2,795,16545,0.00,2.60,0.00,0.000,6,0.000,0.077,2918,2166,1904
$GC,16855,1.31,281.8,734.5,4.5,811,16905,0.00,0.00,48.20,1.487,6,0.000,0.000,2917,2167,1683
$GC,17203,1.31,281.8,711.9,7.1,828,17207,0.00,2.67,0.00,0.000,4,0.000,0.094,2917,787,1683
$GC,17247,1.31,281.8,708.6,6.8,830,17251,0.00,2.60,0.00,0.000,6,0.000,0.077,2917,2165,1683
$GC,17568,1.31,281.8,687.4,7.6,846,17573,0.00,2.67,0.00,0.000,4,0.000,0.094,2917,791,1683
$GC,17608,1.31,281.8,683.9,8.3,848,17612,0.00,2.55,0.00,0.000,6,0.000,0.075,2917,2148,1683
$GC,17934,1.31,281.8,660.4,6.6,864,17939,0.00,2.62,0.00,0.000,4,0.000,0.093,2918,794,1683
$GC,17957,1.31,281.8,658.7,7.1,865,17961,0.00,2.53,0.00,0.000,6,0.000,0.074,2917,2144,1683
$GC,18284,1.31,281.8,630.2,9.6,881,18285,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2144,1683
$GC,18594,1.36,281.8,603.1,8.2,896,18599,0.10,2.62,0.00,0.000,4,0.073,0.090,2945,783,1683
$GC,18673,1.30,281.8,595.4,9.4,899,18679,0.00,2.50,0.00,0.000,6,0.000,0.073,2944,2122,1683
$GC,18988,1.30,281.8,567.0,9.2,915,18990,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2122,1683
$GC,19298,1.34,309.1,545.5,5.3,930,19328,0.00,2.65,24.80,1.324,4,0.000,0.085,2944,784,1570
$GC,19345,1.34,309.1,542.2,7.2,932,19350,0.00,2.53,0.00,0.000,6,0.000,0.071,2944,2122,1570
$GC,19661,1.34,309.1,517.1,8.0,947,19662,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2122,1570
$GC,19970,1.34,309.1,495.1,6.7,962,19974,0.00,2.55,0.00,0.000,4,0.000,0.085,2944,786,1570
$GC,20003,1.34,309.1,492.6,7.7,963,20010,0.00,2.47,0.00,0.000,6,0.000,0.069,2944,2122,1570
$GC,20319,1.34,309.1,468.8,7.9,979,20320,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2138,1570
$GC,20628,1.34,309.1,442.3,8.4,994,20633,0.00,2.55,0.00,0.000,4,0.000,0.081,2944,783,1570
$GC,20662,1.34,309.1,438.9,9.4,995,20668,0.00,2.42,0.00,0.000,6,0.000,0.068,2944,2106,1570
$GC,20978,1.34,309.1,411.4,9.1,1011,20979,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2106,1571
$GC,21288,1.34,309.1,383.2,9.5,1026,21289,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2106,1571
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$STATE,25984,end climb,SURFACE_DEPTH_REACHED
$STATE,25984,begin surface coast
$FINISH,-0.0,1.013812
$STATE,26009,end surface coast,CONTROL_FINISHED_OK
$STATE,26009,begin surface
$SM_CCo,26092,0.00,0.000,0,0,1156,411.12
$SM_GC,0.81,11.50,0.00,0.00,0.041,0.000,0.000,421,1985,1156,-10.17,-0.40,411.12
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1778
$TCM_TEMP,17.40
$XPDR_PINGS,410
$ALTIM_TOP_PING,18.8,999.0
$ALTIM_BOTTOM_PING,851.0,81.2
$24V_AH,23.7,36.015
$10V_AH,10.1,17.508
$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,25.350,181.825,484.000,0.000,0.000,37.761,26.221,189.854,110.500,0.000,0.000,12.962,2219.851,20495.443,635.579,2452.975,669.482,0.000,1881.922,0.000,2406.140,0.000,53.456,0.000
$DEVICE_MAMPS,130.390,97.409,1593.826,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,935.720,849.636,663.194,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63201,1254
$CAP_FILE_SIZE,175383,0
$CFSIZE,254472192,239845376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,57,0,0
$GPS,181208,141107,6059.606,-326.567,41,1.0,46,-6.1