version: 66.04
glider: 5
mission: 5
dive: 178
start: 12 12 108 16 16 46
data:
$ID,5
$MISSION,5
$DIVE,178
$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,-90778.336
$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,31
$R_STBD_OVSHOOT,28
$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
$GPS1,161002,6034.485,-343.424,40,1.9,40,-6.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-58.0
$GPS2,161553,6034.602,-343.385,18,2.1,37,-6.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.125,-0.183
$KALMAN_X,146094.7,-1120.9,-1351.7,-27929.3,31713.9
$KALMAN_Y,70282.7,-610.1,-1074.9,-412380.7,30813.7
$MHEAD_RNG_PITCHd_Wd,220.5,37318,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-80.82,0.000,6,0.000,0.000,422,1972,3430
$GC,102,-0.97,-146.6,4.3,-5.2,4,117,10.27,2.47,0.00,0.000,4,0.133,0.054,2432,594,3431
$GC,256,-0.56,-146.6,35.0,-16.0,10,262,0.45,2.47,0.00,0.000,6,0.085,0.048,2526,2001,3432
$GC,586,-0.45,-146.6,70.5,-11.4,26,587,0.10,0.00,0.00,0.000,6,0.097,0.000,2549,2010,3432
$GC,894,-0.40,-146.6,88.0,-3.7,41,898,0.00,2.55,0.00,0.000,4,0.000,0.061,2549,601,3432
$GC,938,-0.40,-146.6,90.1,-5.0,43,943,0.00,2.47,0.00,0.000,6,0.000,0.050,2549,2000,3432
$GC,1260,-0.34,-146.6,107.7,-7.5,59,1262,0.12,0.00,0.00,0.000,6,0.090,0.000,2576,2006,3432
$GC,1570,-0.34,-146.6,128.6,-5.5,74,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2020,3432
$GC,1879,-0.38,-146.6,147.9,-5.3,89,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2007,3432
$GC,2188,-0.43,-146.6,168.0,-7.5,104,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2006,3433
$GC,2497,-0.49,-146.6,187.0,-7.3,119,2499,0.15,0.00,0.00,0.000,6,0.053,0.000,2533,2007,3433
$GC,2806,-0.42,-146.6,214.7,-8.3,134,2808,0.12,0.00,0.00,0.000,6,0.087,0.000,2560,2007,3433
$GC,3116,-0.42,-146.6,237.0,-7.2,149,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2007,3433
$GC,3424,-0.42,-146.6,257.6,-7.5,164,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2007,3433
$GC,3734,-0.42,-146.6,280.4,-7.5,179,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2007,3432
$GC,4043,-0.42,-146.6,304.7,-7.9,194,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2007,3433
$GC,4352,-0.42,-146.6,329.3,-7.8,209,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2007,3433
$GC,4661,-0.42,-146.6,351.6,-7.2,224,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2007,3432
$GC,4971,-0.42,-146.6,373.5,-6.9,239,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2007,3432
$GC,5280,-0.42,-146.6,394.8,-7.1,254,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2006,3432
$GC,5589,-0.42,-146.6,417.4,-7.4,269,5594,0.00,2.55,0.00,0.000,4,0.000,0.064,2560,601,3432
$GC,5634,-0.42,-146.6,421.0,-7.7,271,5639,0.00,2.45,0.00,0.000,6,0.000,0.051,2560,1987,3432
$GC,5955,-0.42,-146.6,445.6,-7.6,287,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1988,3432
$GC,6264,-0.42,-146.6,470.7,-8.0,302,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1988,3432
$GC,6574,-0.42,-146.6,493.5,-7.4,317,6578,0.00,2.55,0.00,0.000,4,0.000,0.064,2560,3411,3432
$GC,6607,-0.42,-146.6,496.1,-8.0,318,6613,0.00,2.53,0.00,0.000,6,0.000,0.054,2560,1996,3432
$GC,6923,-0.42,-146.6,515.7,-5.9,334,6927,0.00,2.55,0.00,0.000,4,0.000,0.064,2560,3408,3432
$GC,6973,-0.46,-146.6,518.8,-6.5,336,6978,0.00,2.50,0.00,0.000,6,0.000,0.054,2560,2005,3432
$STATE,7287,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7287,begin apogee
$GC,7294,-0.33,0.0,533.9,4.8,351,7417,0.00,0.00,120.95,1.159,6,0.000,0.000,2560,2211,2832
$STATE,7418,end apogee,CONTROL_FINISHED_OK
$STATE,7418,begin climb
$GC,7421,0.97,146.6,539.6,0.0,357,7549,1.40,2.62,119.07,1.132,4,0.070,0.067,2858,3593,2234
$GC,7568,1.17,165.3,535.1,5.5,364,7591,0.20,2.55,16.67,1.042,6,0.048,0.058,2912,2178,2158
$GC,7902,1.24,177.7,514.4,5.7,380,7923,0.00,2.72,11.60,1.007,4,0.000,0.067,2912,3598,2107
$GC,8127,1.30,213.4,502.6,5.0,390,8162,0.00,2.62,30.38,1.101,6,0.000,0.061,2912,2158,1961
$GC,8477,1.36,226.4,484.3,5.6,406,8493,0.15,0.00,12.15,1.030,6,0.055,0.000,2955,2158,1909
$GC,8803,1.29,226.4,457.4,8.7,422,8805,0.12,0.00,0.00,0.000,6,0.088,0.000,2930,2158,1909
$GC,9112,1.29,226.4,436.7,6.7,437,9116,0.00,2.45,0.00,0.000,4,0.000,0.066,2930,790,1908
$GC,9145,1.29,226.4,434.0,8.3,438,9149,0.00,2.40,0.00,0.000,6,0.000,0.052,2930,2130,1908
$GC,9460,1.29,226.4,411.2,7.2,453,9462,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2130,1908
$GC,9770,1.29,226.4,388.4,7.3,468,9774,0.00,2.45,0.00,0.000,4,0.000,0.065,2931,790,1908
$GC,9792,1.29,226.4,386.8,7.0,469,9797,0.00,2.40,0.00,0.000,6,0.000,0.051,2930,2137,1908
$GC,10119,1.29,226.4,362.5,7.5,485,10120,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2137,1907
$GC,10429,1.29,226.4,339.4,7.4,500,10433,0.00,2.47,0.00,0.000,4,0.000,0.064,2930,782,1908
$GC,10456,1.29,226.4,337.1,8.5,501,10460,0.00,2.40,0.00,0.000,6,0.000,0.051,2930,2128,1908
$GC,10772,1.29,226.4,314.9,7.2,516,10773,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2128,1908
$GC,11082,1.29,226.4,293.3,6.6,531,11083,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2140,1908
$GC,11391,1.29,226.4,270.0,8.0,546,11395,0.00,2.47,0.00,0.000,4,0.000,0.065,2930,784,1908
$GC,11423,1.29,226.4,267.0,8.5,547,11428,0.00,2.38,0.00,0.000,6,0.000,0.051,2930,2124,1908
$GC,11739,1.29,226.4,246.7,6.3,562,11740,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2124,1908
$GC,12049,1.29,226.4,223.9,6.5,577,12050,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2140,1908
$GC,12358,1.29,226.4,202.1,7.7,592,12359,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2139,1908
$GC,12667,1.29,226.4,176.9,9.0,607,12671,0.00,2.45,0.00,0.000,4,0.000,0.064,2931,787,1909
$GC,12700,1.29,226.4,173.9,8.8,608,12704,0.00,2.38,0.00,0.000,6,0.000,0.050,2931,2125,1909
$GC,13016,1.29,226.4,147.3,8.0,623,13021,0.00,2.62,0.00,0.000,4,0.000,0.061,2930,3596,1909
$GC,13049,1.29,226.4,144.6,8.0,624,13056,0.00,2.62,0.00,0.000,6,0.000,0.050,2930,2114,1909
$GC,13366,1.30,237.7,123.6,5.7,640,13379,0.00,0.00,10.55,0.811,6,0.000,0.000,2930,2114,1862
$GC,13676,1.30,237.7,106.9,8.4,655,13680,0.00,2.70,0.00,0.000,4,0.000,0.060,2930,3603,1862
$GC,13703,1.30,237.7,104.5,8.5,656,13708,0.00,2.62,0.00,0.000,6,0.000,0.049,2930,2120,1862
$GC,14020,1.30,237.7,87.3,6.0,671,14021,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2121,1862
$GC,14328,1.30,237.7,65.8,7.8,686,14333,0.00,2.67,0.00,0.000,4,0.000,0.059,2930,3601,1862
$GC,14350,1.35,237.7,64.0,8.3,687,14355,0.00,2.60,0.00,0.000,6,0.000,0.048,2930,2129,1863
$GC,14673,1.36,240.7,42.8,5.9,703,14679,0.00,0.00,4.18,0.589,6,0.000,0.000,2930,2129,1850
$GC,14982,1.40,240.7,16.1,9.6,718,14987,0.10,2.40,0.00,0.000,4,0.057,0.061,2963,783,1850
$GC,15010,1.36,240.7,13.3,10.5,719,15014,0.00,2.38,0.00,0.000,6,0.000,0.049,2963,2124,1850
$STATE,15096,end climb,SURFACE_DEPTH_REACHED
$STATE,15096,begin surface coast
$FINISH,0.1,1.027316
$STATE,15118,end surface coast,CONTROL_FINISHED_OK
$STATE,15119,begin surface
$SM_CCo,15141,5.85,0.659,0,0,1811,250.21
$SM_GC,2.43,0.00,0.00,5.85,0.000,0.000,0.659,423,1991,1811,-10.24,-0.23,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1779
$TCM_TEMP,16.30
$XPDR_PINGS,524
$ALTIM_TOP_PING,17.8,17.3
$ALTIM_BOTTOM_PING,450.9,92.8
$24V_AH,23.9,31.606
$10V_AH,10.1,15.341
$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,24.250,81.125,325.550,5.850,0.000,37.760,25.217,147.202,135.000,0.000,0.000,37.995,1296.420,11833.019,432.325,1471.306,470.574,33.372,1149.854,0.000,1424.516,0.000,27.958,0.000
$DEVICE_MAMPS,133.458,71.331,1158.937,658.853,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,535.798,489.057,513.463,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34852,724
$CAP_FILE_SIZE,101091,0
$CFSIZE,254472192,241561600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,121208,203056,6036.203,-339.197,62,2.0,62,-6.1