version: 66.04
glider: 5
mission: 5
dive: 182
start: 12 13 108 10 35 2
data:
$ID,5
$MISSION,5
$DIVE,182
$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,-90846.195
$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,30
$R_STBD_OVSHOOT,22
$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
$GPS1,102808,6041.175,-325.564,36,0.9,36,-6.0
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-58.3
$GPS2,103409,6041.314,-325.321,16,1.2,16,-6.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.128,-0.180
$KALMAN_X,163887.0,-2367.3,-1156.0,-29859.8,34471.5
$KALMAN_Y,93956.2,-2689.6,-1747.5,-420851.2,40512.3
$MHEAD_RNG_PITCHd_Wd,221.4,56169,-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,-146.6,0.0,0.0,0,132,0.00,0.00,-114.22,0.000,6,0.000,0.000,422,1975,3430
$GC,136,-0.97,-146.6,2.5,-2.2,5,151,10.32,2.45,0.00,0.000,4,0.132,0.054,2431,595,3430
$GC,191,-0.59,-146.6,21.3,-17.8,6,198,0.43,2.53,0.00,0.000,6,0.082,0.051,2521,2009,3431
$GC,507,-0.48,-146.6,53.6,-11.5,22,512,0.10,2.60,0.00,0.000,4,0.094,0.064,2543,598,3432
$GC,541,-0.43,-146.6,57.4,-9.6,23,548,0.00,2.50,0.00,0.000,6,0.000,0.051,2543,2005,3432
$GC,859,-0.39,-146.6,84.7,-7.8,39,861,0.10,0.00,0.00,0.000,6,0.093,0.000,2565,2006,3432
$GC,1166,-0.39,-146.6,109.3,-7.9,54,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2006,3432
$GC,1476,-0.39,-146.6,132.2,-6.8,69,1480,0.00,2.50,0.00,0.000,4,0.000,0.061,2565,3404,3432
$GC,1504,-0.39,-146.6,134.2,-6.8,70,1508,0.00,2.50,0.00,0.000,6,0.000,0.049,2565,1995,3432
$GC,1819,-0.39,-146.6,156.0,-7.3,85,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1995,3432
$GC,2129,-0.39,-146.6,177.5,-6.7,100,2133,0.00,2.55,0.00,0.000,4,0.000,0.061,2565,3404,3432
$GC,2169,-0.39,-146.6,180.3,-6.7,102,2173,0.00,2.47,0.00,0.000,6,0.000,0.049,2565,2007,3432
$GC,2496,-0.39,-146.6,201.1,-6.3,118,2501,0.00,2.55,0.00,0.000,4,0.000,0.061,2565,3413,3432
$GC,2541,-0.39,-146.6,204.1,-6.5,120,2546,0.00,2.47,0.00,0.000,6,0.000,0.050,2565,2020,3431
$GC,2863,-0.39,-146.6,224.3,-6.4,136,2868,0.00,2.53,0.00,0.000,4,0.000,0.062,2565,3407,3432
$GC,2903,-0.39,-146.6,227.1,-7.2,138,2908,0.00,2.47,0.00,0.000,6,0.000,0.051,2565,2016,3432
$GC,3231,-0.39,-146.6,248.3,-6.6,154,3235,0.00,2.53,0.00,0.000,4,0.000,0.061,2565,3412,3432
$GC,3286,-0.39,-146.6,252.1,-7.3,156,3292,0.00,2.45,0.00,0.000,6,0.000,0.051,2564,2037,3432
$GC,3601,-0.39,-146.6,272.8,-6.7,172,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2036,3431
$GC,3911,-0.39,-146.6,293.6,-6.8,187,3916,0.00,2.50,0.00,0.000,4,0.000,0.063,2565,3410,3431
$GC,3961,-0.39,-146.6,297.4,-7.5,189,3966,0.00,2.45,0.00,0.000,6,0.000,0.051,2565,2037,3432
$GC,4277,-0.39,-146.6,319.4,-7.0,204,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2037,3431
$GC,4587,-0.39,-146.6,341.4,-7.1,219,4591,0.00,2.50,0.00,0.000,4,0.000,0.064,2565,3409,3431
$GC,4631,-0.43,-146.6,345.0,-8.1,221,4635,0.00,2.42,0.00,0.000,6,0.000,0.054,2565,2051,3431
$GC,4952,-0.43,-146.6,367.6,-6.5,237,4953,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2051,3431
$GC,5262,-0.43,-146.6,388.4,-6.5,252,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2051,3431
$GC,5570,-0.43,-146.6,410.6,-7.4,267,5574,0.00,2.47,0.00,0.000,4,0.000,0.064,2565,3407,3430
$GC,5615,-0.48,-146.6,414.2,-7.9,269,5619,0.00,2.42,0.00,0.000,6,0.000,0.054,2564,2049,3431
$GC,5936,-0.48,-146.6,438.4,-7.8,285,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2050,3431
$GC,6245,-0.48,-146.6,462.2,-6.7,300,6249,0.00,2.47,0.00,0.000,4,0.000,0.064,2565,3405,3431
$GC,6312,-0.55,-146.6,466.4,-6.1,303,6317,0.15,2.40,0.00,0.000,6,0.054,0.054,2523,2064,3431
$GC,6634,-0.48,-146.6,489.9,-7.4,319,6635,0.10,0.00,0.00,0.000,6,0.091,0.000,2545,2063,3431
$GC,6943,-0.48,-146.6,509.7,-5.9,334,6947,0.00,2.47,0.00,0.000,4,0.000,0.069,2545,3409,3431
$GC,7044,-0.48,-146.6,516.0,-7.2,338,7049,0.00,2.40,0.00,0.000,6,0.000,0.058,2545,2080,3431
$STATE,7214,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7214,begin apogee
$GC,7221,-0.33,0.0,527.5,6.6,346,7345,0.15,0.00,121.35,1.185,6,0.089,0.000,2577,2214,2832
$STATE,7346,end apogee,CONTROL_FINISHED_OK
$STATE,7346,begin climb
$GC,7349,0.97,146.6,533.9,0.0,352,7477,1.33,2.62,119.75,1.154,4,0.071,0.073,2857,3596,2234
$GC,7495,1.21,200.8,529.2,4.5,359,7547,0.25,2.58,45.15,1.121,6,0.047,0.061,2922,2199,2013
$GC,7870,1.23,212.5,507.4,5.7,377,7890,0.00,2.62,11.27,1.023,4,0.000,0.071,2922,796,1964
$GC,7953,1.23,212.5,502.0,6.0,380,7960,0.00,2.55,0.00,0.000,6,0.000,0.058,2922,2198,1964
$GC,8270,1.25,227.6,484.5,5.6,396,8288,0.00,0.00,13.85,1.069,6,0.000,0.000,2922,2198,1904
$GC,8598,1.28,247.0,465.1,5.5,412,8621,0.00,2.72,17.08,1.092,4,0.000,0.071,2922,791,1825
$GC,8690,1.28,247.0,459.3,7.2,416,8694,0.00,2.53,0.00,0.000,6,0.000,0.059,2922,2177,1825
$GC,9017,1.34,282.9,441.9,5.0,432,9050,0.00,0.00,31.00,1.128,6,0.000,0.000,2922,2177,1677
$GC,9346,1.43,303.3,425.3,5.4,448,9371,0.17,2.65,18.10,1.084,4,0.051,0.069,2976,797,1595
$GC,9459,1.34,303.3,415.4,10.2,453,9464,0.17,2.50,0.00,0.000,6,0.080,0.056,2941,2176,1595
$GC,9786,1.34,303.3,391.8,7.2,469,9790,0.00,2.58,0.00,0.000,4,0.000,0.069,2941,788,1596
$GC,9852,1.34,303.3,386.7,8.1,472,9856,0.00,2.45,0.00,0.000,6,0.000,0.054,2941,2157,1596
$GC,10180,1.34,303.3,362.3,7.6,488,10184,0.00,2.53,0.00,0.000,4,0.000,0.068,2941,790,1596
$GC,10235,1.34,303.3,357.5,9.2,490,10242,0.00,2.42,0.00,0.000,6,0.000,0.054,2941,2141,1596
$GC,10551,1.34,303.3,332.8,8.1,506,10555,0.00,2.47,0.00,0.000,4,0.000,0.068,2941,794,1596
$GC,10607,1.34,303.3,327.9,9.1,508,10613,0.00,2.38,0.00,0.000,6,0.000,0.053,2941,2122,1596
$GC,10923,1.34,303.3,303.4,7.8,524,10927,0.00,2.42,0.00,0.000,4,0.000,0.070,2941,794,1596
$GC,10969,1.34,303.3,299.7,8.5,526,10973,0.00,2.35,0.00,0.000,6,0.000,0.053,2941,2112,1596
$GC,11296,1.34,303.3,275.2,7.7,542,11300,0.00,2.42,0.00,0.000,4,0.000,0.069,2941,793,1596
$GC,11335,1.34,303.3,271.8,8.7,544,11339,0.00,2.33,0.00,0.000,6,0.000,0.053,2941,2098,1596
$GC,11662,1.34,303.3,246.3,8.0,560,11666,0.00,2.40,0.00,0.000,4,0.000,0.069,2941,794,1596
$GC,11695,1.34,303.3,243.4,8.2,561,11701,0.00,2.30,0.00,0.000,6,0.000,0.053,2941,2081,1596
$GC,12010,1.34,303.3,218.0,8.1,577,12011,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2083,1597
$GC,12320,1.39,303.3,192.5,8.0,592,12324,0.00,2.38,0.00,0.000,4,0.000,0.069,2941,792,1597
$GC,12364,1.39,303.3,188.9,7.7,594,12368,0.00,2.30,0.00,0.000,6,0.000,0.053,2941,2079,1597
$GC,12685,1.43,303.3,164.9,7.5,610,12687,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2081,1597
$GC,12996,1.43,303.3,140.3,7.9,625,13001,0.00,2.38,0.00,0.000,4,0.000,0.068,2941,791,1597
$GC,13041,1.43,303.3,136.2,9.0,627,13045,0.00,2.28,0.00,0.000,6,0.000,0.053,2941,2065,1597
$GC,13362,1.43,303.3,112.4,7.5,643,13363,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2066,1597
$GC,13672,1.47,303.3,90.8,6.6,658,13677,0.12,2.38,0.00,0.000,4,0.055,0.067,2978,784,1597
$GC,13716,1.39,303.3,86.9,9.1,660,13721,0.12,2.28,0.00,0.000,6,0.082,0.051,2951,2060,1597
$GC,14043,1.39,303.3,60.8,7.9,676,14044,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2077,1597
$GC,14353,1.39,303.3,36.5,9.8,691,14357,0.00,2.35,0.00,0.000,4,0.000,0.067,2951,791,1598
$GC,14386,1.39,303.3,32.8,11.3,692,14392,0.00,2.25,0.00,0.000,6,0.000,0.051,2951,2054,1598
$STATE,14699,end climb,SURFACE_DEPTH_REACHED
$STATE,14700,begin surface coast
$FINISH,0.2,1.027442
$STATE,14744,end surface coast,CONTROL_FINISHED_OK
$STATE,14744,begin surface
$SM_CCo,14826,0.00,0.000,0,0,1596,302.95
$SM_GC,1.09,11.02,0.00,0.00,0.040,0.000,0.000,425,1964,1596,-10.16,-1.02,302.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1812
$TCM_TEMP,17.00
$XPDR_PINGS,496
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,450.4,86.3
$24V_AH,23.9,32.287
$10V_AH,10.1,15.645
$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,24.550,128.450,377.550,0.000,0.000,37.761,27.595,172.528,128.000,0.000,0.000,18.447,1308.895,11288.079,528.155,1549.446,511.697,33.366,1328.701,0.000,1516.464,0.000,27.958,0.000
$DEVICE_MAMPS,131.924,72.865,1185.015,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,524.866,477.100,477.494,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34821,710
$CAP_FILE_SIZE,111546,0
$CFSIZE,254472192,241315840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,44,0,0
$GPS,131208,144326,6042.708,-322.948,41,1.0,41,-6.0