version: 66.04
glider: 5
mission: 5
dive: 185
start: 12 13 108 23 43 11
data:
$ID,5
$MISSION,5
$DIVE,185
$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,-90914.727
$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,28
$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
$GPS1,232952,6046.865,-315.730,38,2.5,57,-6.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-49.0
$GPS2,234220,6047.143,-315.204,34,1.8,34,-6.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.136,-0.175
$KALMAN_X,177216.8,-2110.3,-1658.5,-34641.6,40942.6
$KALMAN_Y,104419.6,-3117.4,-2192.8,-419631.3,41430.5
$MHEAD_RNG_PITCHd_Wd,223.8,70320,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.38,0.000,2,0.000,0.000,420,1979,3067
$GC,102,-0.97,-146.6,3.2,-3.6,4,127,10.38,0.00,-10.60,0.000,6,0.134,0.000,2430,1989,3431
$GC,436,-0.63,-146.6,61.4,-17.4,20,441,0.35,2.53,0.00,0.000,4,0.090,0.061,2507,597,3431
$GC,499,-0.46,-146.6,70.3,-11.2,23,504,0.20,2.50,0.00,0.000,6,0.085,0.051,2549,2004,3431
$GC,828,-0.46,-146.6,95.1,-6.8,39,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2022,3431
$GC,1136,-0.42,-146.6,118.2,-8.1,54,1140,0.00,2.50,0.00,0.000,4,0.000,0.061,2550,3404,3431
$GC,1191,-0.42,-146.6,123.0,-8.9,56,1197,0.00,2.50,0.00,0.000,6,0.000,0.048,2550,1996,3431
$GC,1507,-0.42,-146.6,148.3,-9.0,72,1512,0.00,2.58,0.00,0.000,4,0.000,0.061,2549,3412,3431
$GC,1548,-0.42,-146.6,152.2,-9.7,74,1553,0.00,2.53,0.00,0.000,6,0.000,0.049,2550,1989,3431
$GC,1875,-0.42,-146.6,182.1,-8.5,90,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1987,3431
$GC,2184,-0.42,-146.6,205.8,-7.5,105,2188,0.00,2.50,0.00,0.000,4,0.000,0.066,2549,585,3431
$GC,2225,-0.42,-146.6,209.1,-8.4,106,2231,0.00,2.50,0.00,0.000,6,0.000,0.052,2550,1993,3431
$GC,2541,-0.42,-146.6,234.4,-8.1,122,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1994,3432
$GC,2850,-0.42,-146.6,259.5,-8.2,137,2854,0.00,2.53,0.00,0.000,4,0.000,0.064,2550,3405,3431
$GC,2877,-0.42,-146.6,262.0,-8.6,138,2882,0.00,2.55,0.00,0.000,6,0.000,0.053,2550,1976,3431
$GC,3199,-0.42,-146.6,288.4,-8.3,154,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1976,3431
$GC,3508,-0.42,-146.6,313.3,-8.1,169,3513,0.00,2.60,0.00,0.000,4,0.000,0.064,2549,3408,3431
$GC,3549,-0.42,-146.6,316.6,-8.4,171,3553,0.00,2.53,0.00,0.000,6,0.000,0.053,2550,1991,3431
$GC,3875,-0.42,-146.6,342.0,-7.6,187,3879,0.00,2.58,0.00,0.000,4,0.000,0.064,2550,3406,3431
$GC,3908,-0.42,-146.6,344.7,-7.8,188,3914,0.00,2.53,0.00,0.000,6,0.000,0.053,2550,1991,3431
$GC,4224,-0.42,-146.6,368.0,-7.3,204,4228,0.00,2.58,0.00,0.000,4,0.000,0.064,2550,3405,3431
$GC,4251,-0.42,-146.6,370.3,-7.5,205,4255,0.00,2.50,0.00,0.000,6,0.000,0.054,2550,2006,3431
$GC,4567,-0.42,-146.6,392.1,-6.7,220,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2006,3431
$GC,4876,-0.42,-146.6,413.8,-7.2,235,4880,0.00,2.55,0.00,0.000,4,0.000,0.064,2549,3406,3431
$GC,4909,-0.42,-146.6,416.3,-7.6,236,4915,0.00,2.50,0.00,0.000,6,0.000,0.054,2550,2007,3431
$GC,5224,-0.42,-146.6,438.8,-7.1,252,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2007,3431
$GC,5534,-0.42,-146.6,462.5,-8.3,267,5538,0.00,2.55,0.00,0.000,4,0.000,0.064,2550,3408,3431
$GC,5566,-0.42,-146.6,465.3,-8.1,268,5573,0.00,2.50,0.00,0.000,6,0.000,0.056,2550,2013,3431
$GC,5883,-0.42,-146.6,487.9,-6.2,284,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2011,3430
$GC,6192,-0.42,-146.6,510.4,-7.9,299,6196,0.00,2.53,0.00,0.000,4,0.000,0.065,2550,3406,3431
$GC,6230,-0.42,-146.6,514.0,-9.2,300,6237,0.00,2.47,0.00,0.000,6,0.000,0.056,2550,2024,3431
$GC,6547,-0.42,-146.6,533.9,-5.7,316,6552,0.00,2.55,0.00,0.000,4,0.000,0.067,2550,3409,3430
$GC,6592,-0.42,-146.6,537.2,-7.2,318,6596,0.00,2.45,0.00,0.000,6,0.000,0.058,2550,2047,3430
$STATE,6770,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6770,begin apogee
$GC,6777,-0.33,0.0,550.3,8.0,327,6902,0.12,0.00,121.75,1.197,6,0.089,0.000,2577,2227,2832
$STATE,6903,end apogee,CONTROL_FINISHED_OK
$STATE,6903,begin climb
$GC,6906,0.97,146.6,555.3,0.0,333,7031,1.30,0.00,121.00,1.166,6,0.061,0.000,2858,2212,2234
$GC,7340,1.20,218.6,539.6,4.0,354,7403,0.22,0.00,60.12,1.144,6,0.048,0.000,2919,2212,1940
$GC,7707,1.20,218.6,512.8,7.7,372,7708,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2212,1939
$GC,8016,1.20,218.6,487.6,8.5,387,8020,0.00,2.60,0.00,0.000,4,0.000,0.067,2919,793,1939
$GC,8055,1.20,218.6,484.0,9.9,389,8059,0.00,2.53,0.00,0.000,6,0.000,0.055,2919,2199,1939
$GC,8382,1.20,218.6,457.4,8.1,405,8386,0.00,2.60,0.00,0.000,4,0.000,0.068,2919,788,1938
$GC,8421,1.20,218.6,454.1,8.0,407,8426,0.00,2.53,0.00,0.000,6,0.000,0.056,2919,2192,1938
$GC,8749,1.20,218.6,428.9,7.6,423,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2192,1938
$GC,9057,1.20,218.6,406.1,7.4,438,9062,0.00,2.58,0.00,0.000,4,0.000,0.067,2919,790,1938
$GC,9113,1.20,218.6,401.5,8.5,440,9119,0.00,2.50,0.00,0.000,6,0.000,0.054,2919,2183,1937
$GC,9430,1.20,218.6,379.0,6.7,456,9431,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2185,1937
$GC,9738,1.20,218.6,358.8,6.0,471,9742,0.00,2.53,0.00,0.000,4,0.000,0.066,2919,794,1937
$GC,9777,1.20,218.6,356.0,7.2,472,9783,0.00,2.47,0.00,0.000,6,0.000,0.053,2919,2177,1937
$GC,10093,1.20,218.6,337.2,6.1,488,10097,0.00,2.53,0.00,0.000,4,0.000,0.066,2919,793,1937
$GC,10120,1.20,218.6,335.5,6.5,489,10125,0.00,2.45,0.00,0.000,6,0.000,0.053,2919,2172,1937
$GC,10436,1.20,218.6,316.3,6.2,504,10440,0.00,2.53,0.00,0.000,4,0.000,0.066,2919,788,1937
$GC,10463,1.20,218.6,314.3,7.1,505,10468,0.00,2.45,0.00,0.000,6,0.000,0.053,2919,2161,1937
$GC,10779,1.20,218.6,294.6,6.4,520,10780,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2162,1938
$GC,11088,1.20,219.4,275.4,6.0,535,11089,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2161,1937
$GC,11398,1.23,234.0,257.7,5.6,550,11419,0.00,2.58,13.30,0.937,4,0.000,0.066,2919,794,1877
$GC,11454,1.23,234.0,254.1,6.5,552,11458,0.00,2.45,0.00,0.000,6,0.000,0.053,2919,2157,1877
$GC,11770,1.27,235.5,235.2,6.0,567,11771,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2158,1877
$GC,12079,1.33,235.5,216.0,6.6,582,12083,0.00,2.50,0.00,0.000,4,0.000,0.065,2919,789,1877
$GC,12125,1.37,235.5,212.7,7.6,584,12130,0.12,2.42,0.00,0.000,6,0.054,0.053,2959,2150,1877
$GC,12452,1.31,235.5,186.7,7.8,600,12457,0.12,2.62,0.00,0.000,4,0.083,0.064,2933,3612,1877
$GC,12474,1.31,235.5,185.0,7.4,601,12479,0.00,2.60,0.00,0.000,6,0.000,0.051,2932,2152,1877
$GC,12795,1.31,235.5,164.7,6.4,617,12799,0.00,2.45,0.00,0.000,4,0.000,0.066,2933,781,1878
$GC,12833,1.31,235.5,161.9,7.2,618,12840,0.00,2.42,0.00,0.000,6,0.000,0.051,2933,2153,1877
$GC,13150,1.31,235.5,140.7,6.2,634,13151,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2153,1878
$GC,13459,1.31,235.5,121.2,6.4,649,13460,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2154,1877
$GC,13769,1.38,253.5,101.2,5.5,664,13788,0.00,0.00,17.10,0.850,6,0.000,0.000,2932,2154,1798
$GC,14099,1.38,253.5,78.2,7.8,680,14100,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2153,1798
$GC,14407,1.43,253.5,58.3,6.6,695,14412,0.12,2.53,0.00,0.000,4,0.054,0.064,2972,782,1798
$GC,14435,1.37,253.5,55.6,9.6,696,14439,0.12,2.42,0.00,0.000,6,0.084,0.051,2945,2141,1798
$GC,14751,1.37,253.5,24.9,11.3,711,14752,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2141,1798
$STATE,15036,end climb,SURFACE_DEPTH_REACHED
$STATE,15036,begin surface coast
$FINISH,0.6,1.027334
$STATE,15079,end surface coast,CONTROL_FINISHED_OK
$STATE,15079,begin surface
$SM_CCo,15162,0.00,0.000,0,0,1798,253.64
$SM_GC,0.93,10.93,0.00,0.00,0.036,0.000,0.000,420,1989,1798,-10.15,-0.34,253.64
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1800
$TCM_TEMP,17.30
$XPDR_PINGS,485
$ALTIM_TOP_PING,19.2,17.8
$ALTIM_BOTTOM_PING,550.3,5.6
$24V_AH,23.9,32.742
$10V_AH,10.1,15.862
$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,24.000,116.475,333.275,0.000,0.000,115.588,89.560,270.148,126.250,0.000,0.000,34.026,1311.117,11889.415,492.618,1463.589,752.801,33.358,1221.584,0.000,1417.379,0.000,34.076,0.000
$DEVICE_MAMPS,134.225,68.263,1197.287,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,538.420,489.314,489.555,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37971,727
$CAP_FILE_SIZE,110727,0
$CFSIZE,254472192,241147904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,0,0
$GPS,141208,035737,6047.899,-311.475,67,1.3,67,-5.9