version: 66.04
glider: 5
mission: 5
dive: 177
start: 12 12 108 12 1 7
data:
$ID,5
$MISSION,5
$DIVE,177
$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,-90739.719
$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,40
$R_STBD_OVSHOOT,29
$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
$GPS1,115501,6034.311,-343.592,36,2.0,41,-6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-57.4
$GPS2,120015,6034.399,-343.517,12,1.9,12,-6.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.132,-0.178
$KALMAN_X,144213.9,-1929.5,-58.4,-26682.1,33123.5
$KALMAN_Y,65501.0,-1424.0,583.6,-408847.7,27845.3
$MHEAD_RNG_PITCHd_Wd,222.7,36923,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-78.15,0.000,6,0.000,0.000,420,1974,3430
$GC,101,-0.97,-146.6,5.8,-7.2,4,116,10.35,2.45,0.00,0.000,4,0.134,0.057,2430,607,3431
$GC,209,-0.58,-146.6,31.3,-14.5,8,214,0.43,2.47,0.00,0.000,6,0.084,0.049,2520,1998,3433
$GC,538,-0.47,-146.6,63.1,-9.3,24,543,0.12,2.53,0.00,0.000,4,0.089,0.059,2548,609,3432
$GC,562,-0.41,-146.6,65.5,-9.6,25,566,0.00,2.47,0.00,0.000,6,0.000,0.050,2548,2006,3432
$GC,884,-0.36,-146.6,92.5,-8.4,41,886,0.10,0.00,0.00,0.000,6,0.094,0.000,2569,2016,3433
$GC,1194,-0.36,-146.6,110.2,-6.0,56,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2016,3432
$GC,1503,-0.36,-146.6,129.2,-5.8,71,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2016,3433
$GC,1811,-0.36,-146.6,148.8,-7.1,86,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2016,3433
$GC,2121,-0.36,-146.6,171.6,-7.0,101,2125,0.00,2.55,0.00,0.000,4,0.000,0.063,2570,608,3433
$GC,2165,-0.36,-146.6,175.4,-9.0,103,2170,0.00,2.45,0.00,0.000,6,0.000,0.050,2569,1998,3433
$GC,2489,-0.36,-146.6,201.1,-8.9,119,2494,0.00,2.50,0.00,0.000,4,0.000,0.060,2569,3405,3433
$GC,2517,-0.41,-146.6,204.1,-9.6,120,2522,0.00,2.45,0.00,0.000,6,0.000,0.049,2568,2015,3433
$GC,2839,-0.41,-146.6,228.9,-7.4,136,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2015,3433
$GC,3151,-0.41,-146.6,250.4,-6.4,151,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2015,3433
$GC,3458,-0.41,-146.6,270.9,-6.5,166,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2015,3433
$GC,3767,-0.41,-146.6,292.0,-6.7,181,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2015,3433
$GC,4076,-0.41,-146.6,311.4,-6.4,196,4081,0.00,2.53,0.00,0.000,4,0.000,0.061,2569,3410,3433
$GC,4110,-0.45,-146.6,313.8,-6.6,197,4116,0.00,2.50,0.00,0.000,6,0.000,0.051,2569,1998,3433
$GC,4426,-0.45,-146.6,334.5,-6.6,213,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1998,3433
$GC,4735,-0.45,-146.6,356.4,-7.2,228,4739,0.00,2.55,0.00,0.000,4,0.000,0.063,2568,3406,3433
$GC,4779,-0.50,-146.6,359.8,-7.4,230,4784,0.12,2.47,0.00,0.000,6,0.054,0.051,2533,2013,3432
$GC,5104,-0.43,-146.6,386.9,-8.1,246,5106,0.10,0.00,0.00,0.000,6,0.092,0.000,2554,2011,3432
$GC,5410,-0.43,-146.6,408.4,-7.2,261,5414,0.00,2.53,0.00,0.000,4,0.000,0.062,2554,3412,3432
$GC,5454,-0.43,-146.6,411.5,-7.0,263,5458,0.00,2.47,0.00,0.000,6,0.000,0.051,2554,2007,3432
$GC,5775,-0.43,-146.6,434.3,-6.8,279,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2006,3432
$GC,6084,-0.43,-146.6,458.2,-7.5,294,6088,0.00,2.55,0.00,0.000,4,0.000,0.063,2553,3411,3432
$GC,6124,-0.43,-146.6,461.1,-7.5,296,6128,0.00,2.47,0.00,0.000,6,0.000,0.052,2554,2019,3432
$GC,6450,-0.43,-146.6,483.4,-7.0,312,6455,0.00,2.53,0.00,0.000,4,0.000,0.064,2554,3406,3432
$GC,6495,-0.43,-146.6,486.8,-7.8,314,6499,0.00,2.47,0.00,0.000,6,0.000,0.054,2554,2019,3432
$GC,6816,-0.43,-146.6,506.3,-4.9,330,6818,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2006,3432
$GC,7125,-0.43,-146.6,524.6,-6.0,345,7130,0.00,2.55,0.00,0.000,4,0.000,0.068,2554,597,3432
$GC,7186,-0.43,-146.6,528.7,-6.6,347,7192,0.00,2.53,0.00,0.000,6,0.000,0.053,2554,2021,3432
$GC,7503,-0.72,-146.6,537.3,-0.1,363,7508,0.25,2.62,0.00,0.000,4,0.054,0.070,2485,598,3432
$GC,7582,-1.02,-146.6,537.3,-0.1,366,7589,0.28,2.40,0.00,0.000,6,0.052,0.055,2414,1963,3432
$STATE,7730,end dive,NO_VERTICAL_VELOCITY
$STATE,7730,begin apogee
$GC,7738,-0.33,0.0,537.4,0.0,374,7862,0.73,0.00,121.05,1.178,6,0.057,0.000,2581,2181,2832
$STATE,7863,end apogee,CONTROL_FINISHED_OK
$STATE,7863,begin climb
$GC,7866,0.97,146.6,537.2,0.0,380,7994,1.27,2.72,119.38,1.152,4,0.058,0.074,2863,3600,2234
$GC,8104,1.11,172.1,527.1,5.3,391,8133,0.12,2.58,22.05,1.088,6,0.060,0.062,2897,2196,2130
$GC,8458,1.22,172.1,503.7,7.6,408,8462,0.00,2.62,0.00,0.000,4,0.000,0.073,2897,3598,2128
$GC,8670,1.29,182.1,490.9,5.7,417,8685,0.15,2.75,9.50,1.008,6,0.055,0.064,2938,2103,2089
$GC,9010,1.25,187.5,469.2,5.9,434,9023,0.00,2.83,6.35,0.918,4,0.000,0.069,2938,3598,2067
$GC,9122,1.18,187.5,460.9,7.3,439,9127,0.15,2.67,0.00,0.000,6,0.089,0.061,2907,2129,2066
$GC,9449,1.27,216.8,442.6,5.2,455,9476,0.00,0.00,24.92,1.100,6,0.000,0.000,2907,2129,1948
$GC,9779,1.37,246.3,425.1,5.2,471,9808,0.17,0.00,25.58,1.084,6,0.053,0.000,2954,2129,1827
$GC,10108,1.32,246.3,399.6,8.0,487,10112,0.00,2.70,0.00,0.000,4,0.000,0.064,2954,3598,1827
$GC,10135,1.32,246.3,397.0,9.2,488,10139,0.00,2.65,0.00,0.000,6,0.000,0.054,2954,2124,1828
$GC,10451,1.28,246.3,369.8,8.7,503,10453,0.15,0.00,0.00,0.000,6,0.081,0.000,2923,2124,1829
$GC,10760,1.32,246.3,347.0,7.4,518,10761,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2125,1829
$GC,11070,1.37,246.3,325.1,7.2,533,11074,0.10,2.40,0.00,0.000,4,0.060,0.063,2952,788,1829
$GC,11103,1.32,246.3,322.1,9.6,534,11107,0.00,2.40,0.00,0.000,6,0.000,0.050,2953,2137,1829
$GC,11418,1.32,246.3,295.2,8.6,549,11423,0.00,2.62,0.00,0.000,4,0.000,0.063,2953,3599,1829
$GC,11452,1.32,246.3,292.2,8.8,550,11459,0.00,2.62,0.00,0.000,6,0.000,0.052,2953,2126,1829
$GC,11768,1.32,246.3,265.6,8.2,566,11769,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2126,1829
$GC,12077,1.32,246.3,241.5,7.7,581,12078,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2125,1829
$GC,12387,1.32,246.3,216.3,7.9,596,12388,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2125,1830
$GC,12696,1.32,246.3,191.4,8.8,611,12697,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2125,1830
$GC,13005,1.32,246.3,164.1,8.7,626,13006,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2125,1830
$GC,13315,1.32,246.3,136.3,9.3,641,13319,0.00,2.67,0.00,0.000,4,0.000,0.061,2953,3601,1830
$GC,13359,1.32,246.3,131.4,10.2,643,13363,0.00,2.62,0.00,0.000,6,0.000,0.049,2953,2117,1830
$GC,13680,1.32,246.3,106.1,7.4,659,13681,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2117,1830
$GC,13991,1.32,246.3,79.6,9.4,674,13992,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2117,1830
$GC,14298,1.32,246.3,48.5,11.1,689,14303,0.00,2.70,0.00,0.000,4,0.000,0.061,2953,3609,1830
$GC,14338,1.32,246.3,44.0,10.8,691,14343,0.00,2.62,0.00,0.000,6,0.000,0.048,2953,2120,1830
$GC,14666,1.25,246.3,12.2,11.6,707,14668,0.15,0.00,0.00,0.000,6,0.077,0.000,2920,2120,1830
$STATE,14786,end climb,SURFACE_DEPTH_REACHED
$STATE,14786,begin surface coast
$FINISH,2.6,1.027317
$STATE,14828,end surface coast,CONTROL_FINISHED_OK
$STATE,14828,begin surface
$SM_CCo,14851,3.88,0.546,0,0,1811,250.21
$SM_GC,2.55,0.00,0.00,3.88,0.000,0.000,0.546,422,1983,1811,-10.25,-0.45,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1786
$TCM_TEMP,17.30
$XPDR_PINGS,529
$ALTIM_TOP_PING,19.2,999.0
$24V_AH,23.9,31.475
$10V_AH,10.1,15.271
$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,25.725,97.775,328.825,3.875,0.000,37.761,25.526,131.996,136.750,0.000,0.000,12.251,1314.476,11461.190,443.449,1492.826,460.954,33.375,1193.803,0.000,1470.316,0.000,29.687,0.000
$DEVICE_MAMPS,134.225,73.632,1178.112,546.104,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,527.068,482.576,475.801,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34842,715
$CAP_FILE_SIZE,105755,0
$CFSIZE,254472192,241610752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,121208,161002,6034.485,-343.424,40,1.9,40,-6.2