version: 66.04
glider: 5
mission: 5
dive: 179
start: 12 12 108 20 39 11
data:
$ID,5
$MISSION,5
$DIVE,179
$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,-90798.094
$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,21
$R_STBD_OVSHOOT,31
$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
$GPS1,203056,6036.203,-339.197,62,2.0,62,-6.1
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,1
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-56.4
$GPS2,203820,6036.388,-338.971,19,1.9,19,-6.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.125,-0.182
$KALMAN_X,152145.7,-2387.0,-1584.6,-28872.5,35838.0
$KALMAN_Y,78766.0,-2081.2,-1593.5,-415566.8,38450.5
$MHEAD_RNG_PITCHd_Wd,220.6,42002,-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,-78.32,0.000,6,0.000,0.000,423,1986,3430
$GC,101,-0.97,-146.6,5.9,-6.9,4,118,10.40,0.00,0.00,0.000,6,0.132,0.000,2433,1986,3430
$GC,429,-0.61,-146.6,60.4,-13.6,20,434,0.35,2.53,0.00,0.000,4,0.086,0.061,2513,591,3431
$GC,463,-0.49,-146.6,64.9,-11.1,21,470,0.15,2.50,0.00,0.000,6,0.092,0.050,2543,2001,3431
$GC,781,-0.44,-146.6,88.9,-6.9,37,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2015,3431
$GC,1089,-0.37,-146.6,110.8,-7.7,52,1093,0.12,2.50,0.00,0.000,4,0.090,0.059,2571,3407,3431
$GC,1129,-0.42,-146.6,114.4,-8.6,54,1134,0.00,2.50,0.00,0.000,6,0.000,0.048,2571,1992,3431
$GC,1457,-0.42,-146.6,138.4,-6.0,70,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1991,3432
$GC,1765,-0.42,-146.6,158.5,-7.5,85,1769,0.00,2.55,0.00,0.000,4,0.000,0.060,2571,3404,3431
$GC,1805,-0.47,-146.6,162.0,-9.0,87,1809,0.00,2.45,0.00,0.000,6,0.000,0.047,2571,2015,3431
$GC,2131,-0.47,-146.6,187.5,-6.7,103,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1999,3432
$GC,2441,-0.47,-146.6,204.6,-4.9,118,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2001,3431
$GC,2750,-0.47,-146.6,215.5,-2.6,133,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2001,3431
$GC,3059,-0.47,-146.6,226.6,-4.5,148,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2001,3431
$GC,3368,-0.47,-146.6,245.0,-6.1,163,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2001,3431
$GC,3678,-0.47,-146.6,263.5,-7.4,178,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2001,3431
$GC,3987,-0.47,-146.6,290.1,-8.8,193,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2001,3431
$GC,4296,-0.47,-146.6,313.6,-7.1,208,4300,0.00,2.53,0.00,0.000,4,0.000,0.061,2571,3409,3431
$GC,4341,-0.53,-146.6,316.7,-6.2,210,4346,0.17,2.47,0.00,0.000,6,0.050,0.051,2521,2017,3431
$GC,4663,-0.44,-146.6,340.6,-6.8,226,4668,0.15,2.55,0.00,0.000,4,0.087,0.064,2554,588,3431
$GC,4696,-0.44,-146.6,342.8,-6.4,227,4702,0.00,2.53,0.00,0.000,6,0.000,0.051,2554,2020,3431
$GC,5013,-0.44,-146.6,359.8,-5.2,243,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2021,3431
$GC,5321,-0.44,-146.6,379.5,-6.7,258,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2020,3431
$GC,5633,-0.44,-146.6,400.8,-7.4,273,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2020,3431
$GC,5940,-0.44,-146.6,427.7,-9.3,288,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2021,3431
$GC,6249,-0.44,-146.6,447.3,-4.8,303,6254,0.00,2.60,0.00,0.000,4,0.000,0.067,2554,591,3431
$GC,6283,-0.44,-146.6,449.3,-5.4,304,6289,0.00,2.50,0.00,0.000,6,0.000,0.051,2554,2006,3430
$GC,6599,-0.44,-146.6,469.5,-6.6,320,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2006,3431
$GC,6908,-0.44,-146.6,493.3,-5.7,335,6909,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2006,3431
$GC,7218,-0.44,-146.6,504.5,-4.8,350,7222,0.00,2.58,0.00,0.000,4,0.000,0.071,2554,597,3431
$GC,7257,-0.44,-146.6,507.2,-7.0,352,7262,0.00,2.50,0.00,0.000,6,0.000,0.056,2554,2001,3431
$STATE,7561,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7561,begin apogee
$GC,7568,-0.33,0.0,528.1,6.5,367,7691,0.10,0.00,120.12,1.177,6,0.096,0.000,2576,2205,2832
$STATE,7692,end apogee,CONTROL_FINISHED_OK
$STATE,7692,begin climb
$GC,7695,0.97,146.6,534.4,0.0,373,7823,1.33,2.67,119.57,1.147,4,0.071,0.070,2858,791,2234
$GC,7859,1.26,226.1,529.5,3.8,380,7932,0.30,2.58,65.50,1.116,6,0.044,0.058,2937,2202,1910
$GC,8259,1.26,226.1,501.3,6.8,400,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2202,1910
$GC,8568,1.26,226.1,478.5,7.9,415,8572,0.00,2.62,0.00,0.000,4,0.000,0.074,2938,794,1909
$GC,8631,1.20,226.1,473.5,8.2,418,8636,0.12,2.55,0.00,0.000,6,0.091,0.062,2911,2190,1909
$GC,8958,1.25,226.1,454.5,6.4,434,8959,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2190,1908
$GC,9267,1.31,226.1,434.3,6.1,449,9272,0.10,2.60,0.00,0.000,4,0.063,0.071,2942,790,1908
$GC,9363,1.25,226.1,426.9,8.2,453,9368,0.00,2.47,0.00,0.000,6,0.000,0.058,2942,2161,1907
$GC,9679,1.25,226.1,406.4,6.4,468,9683,0.00,2.62,0.00,0.000,4,0.000,0.070,2942,3603,1907
$GC,9712,1.25,226.1,403.9,7.4,469,9718,0.00,2.60,0.00,0.000,6,0.000,0.058,2942,2167,1907
$GC,10028,1.25,226.1,381.2,7.7,485,10032,0.00,2.50,0.00,0.000,4,0.000,0.068,2942,784,1907
$GC,10096,1.20,226.1,375.3,8.9,488,10101,0.15,2.45,0.00,0.000,6,0.087,0.054,2909,2155,1906
$GC,10423,1.28,226.1,351.7,7.0,504,10424,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2154,1906
$GC,10732,1.41,264.5,333.7,4.9,519,10775,0.20,2.62,31.52,1.039,4,0.049,0.066,2970,788,1752
$GC,10799,1.32,264.5,328.7,8.2,522,10804,0.15,2.47,0.00,0.000,6,0.081,0.054,2938,2156,1752
$GC,11126,1.32,264.5,303.3,8.3,538,11130,0.00,2.50,0.00,0.000,4,0.000,0.067,2938,783,1752
$GC,11159,1.32,264.5,300.2,9.1,539,11163,0.00,2.45,0.00,0.000,6,0.000,0.053,2939,2149,1752
$GC,11475,1.32,264.5,276.5,6.4,554,11476,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2149,1753
$GC,11784,1.32,264.5,259.9,6.5,569,11788,0.00,2.50,0.00,0.000,4,0.000,0.067,2938,783,1753
$GC,11856,1.32,264.5,253.9,8.3,572,11860,0.00,2.42,0.00,0.000,6,0.000,0.052,2939,2141,1754
$GC,12177,1.32,264.5,222.8,11.5,588,12181,0.00,2.47,0.00,0.000,4,0.000,0.066,2938,788,1754
$GC,12210,1.32,264.5,218.7,11.8,589,12216,0.00,2.38,0.00,0.000,6,0.000,0.051,2938,2124,1754
$GC,12526,1.32,264.5,189.6,7.4,605,12530,0.00,2.67,0.00,0.000,4,0.000,0.063,2938,3615,1754
$GC,12576,1.32,264.5,185.3,9.7,607,12580,0.00,2.65,0.00,0.000,6,0.000,0.051,2938,2123,1754
$GC,12892,1.36,264.5,161.7,9.1,622,12896,0.00,2.40,0.00,0.000,4,0.000,0.065,2938,786,1755
$GC,12919,1.36,264.5,158.3,12.7,623,12923,0.00,2.38,0.00,0.000,6,0.000,0.050,2938,2126,1755
$GC,13237,1.36,264.5,133.1,7.0,638,13241,0.00,2.45,0.00,0.000,4,0.000,0.065,2938,783,1755
$GC,13261,1.40,264.5,130.9,8.9,639,13265,0.00,2.38,0.00,0.000,6,0.000,0.051,2938,2121,1755
$GC,13582,1.40,264.5,109.2,7.5,655,13587,0.00,2.65,0.00,0.000,4,0.000,0.062,2938,3603,1755
$GC,13616,1.40,264.5,106.1,9.1,656,13623,0.00,2.67,0.00,0.000,6,0.000,0.051,2938,2095,1755
$GC,13932,1.40,264.5,80.1,6.6,672,13933,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2094,1755
$GC,14241,1.40,264.5,51.5,9.2,687,14242,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2094,1756
$GC,14551,1.77,495.8,43.1,-0.3,702,14739,0.40,2.83,177.55,0.818,4,0.041,0.059,3041,3603,809
$GC,14763,1.69,495.8,12.7,18.1,711,14768,0.12,2.70,0.00,0.000,6,0.088,0.051,3018,2110,810
$STATE,14840,end climb,SURFACE_DEPTH_REACHED
$STATE,14840,begin surface coast
$FINISH,0.6,1.027329
$STATE,14862,end surface coast,CONTROL_FINISHED_OK
$STATE,14862,begin surface
$SM_CCo,14946,0.00,0.000,0,0,811,495.75
$SM_GC,0.96,11.32,0.00,0.00,0.036,0.000,0.000,425,1983,811,-10.15,-0.42,495.75
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1771
$TCM_TEMP,17.40
$XPDR_PINGS,482
$ALTIM_TOP_PING,19.5,18.3
$ALTIM_BOTTOM_PING,525.1,12.0
$24V_AH,23.9,31.786
$10V_AH,10.1,15.413
$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,25.650,107.050,514.275,0.000,0.000,37.762,27.301,217.906,125.250,0.000,0.000,19.134,1287.005,11439.320,584.144,1495.728,583.761,33.373,1372.786,0.000,1460.661,0.000,32.537,0.000
$DEVICE_MAMPS,131.924,74.399,1177.345,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,529.011,481.580,479.157,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34866,716
$CAP_FILE_SIZE,108850,0
$CFSIZE,254472192,241504256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
$GPS,131208,004932,6037.910,-334.309,38,1.2,38,-6.1