version: 66.04
glider: 5
mission: 5
dive: 186
start: 12 14 108 4 3 42
data:
$ID,5
$MISSION,5
$DIVE,186
$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,-90930.344
$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,33
$R_STBD_OVSHOOT,23
$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
$GPS1,035737,6047.899,-311.475,67,1.3,67,-5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-57.8
$GPS2,040250,6047.944,-311.391,15,1.5,15,-5.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.140,-0.171
$KALMAN_X,180888.5,-1995.1,-2322.4,-34588.7,41759.7
$KALMAN_Y,106472.4,-2681.0,-2074.4,-420751.4,39718.1
$MHEAD_RNG_PITCHd_Wd,225.2,73568,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-59.17,0.000,2,0.000,0.000,420,1976,3001
$GC,82,-0.97,-146.6,3.5,-5.4,3,113,10.40,2.55,-12.40,0.000,4,0.135,0.073,2430,599,3430
$GC,241,-0.57,-146.6,27.5,-17.7,10,247,0.43,2.50,0.00,0.000,6,0.087,0.051,2521,2008,3431
$GC,569,-0.45,-146.6,66.1,-8.2,26,571,0.15,0.00,0.00,0.000,6,0.091,0.000,2552,2016,3431
$GC,878,-0.45,-146.6,91.3,-9.8,41,883,0.00,2.58,0.00,0.000,4,0.000,0.066,2552,599,3431
$GC,923,-0.45,-146.6,96.0,-9.7,43,927,0.00,2.50,0.00,0.000,6,0.000,0.051,2552,2006,3431
$GC,1244,-0.45,-146.6,123.2,-8.4,59,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2007,3431
$GC,1554,-0.45,-146.6,145.6,-8.3,74,1558,0.00,2.47,0.00,0.000,4,0.000,0.062,2552,3404,3431
$GC,1648,-0.45,-146.6,154.2,-9.7,78,1653,0.00,2.47,0.00,0.000,6,0.000,0.049,2552,2009,3431
$GC,1964,-0.45,-146.6,182.7,-9.1,93,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2008,3431
$GC,2274,-0.45,-146.6,209.1,-8.6,108,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2008,3431
$GC,2583,-0.45,-146.6,235.7,-8.6,123,2588,0.00,2.53,0.00,0.000,4,0.000,0.061,2552,3404,3431
$GC,2633,-0.45,-146.6,240.4,-8.9,125,2638,0.00,2.47,0.00,0.000,6,0.000,0.050,2552,2009,3431
$GC,2950,-0.45,-146.6,267.6,-8.5,140,2954,0.00,2.53,0.00,0.000,4,0.000,0.061,2552,3404,3431
$GC,2977,-0.45,-146.6,270.2,-9.1,141,2981,0.00,2.47,0.00,0.000,6,0.000,0.051,2552,2010,3431
$GC,3293,-0.45,-146.6,297.1,-8.5,156,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2010,3431
$GC,3603,-0.45,-146.6,323.7,-8.5,171,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2010,3431
$GC,3912,-0.45,-146.6,349.4,-8.1,186,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2010,3432
$GC,4220,-0.45,-146.6,373.9,-7.8,201,4225,0.00,2.55,0.00,0.000,4,0.000,0.064,2552,3412,3431
$GC,4254,-0.45,-146.6,376.7,-8.3,202,4260,0.00,2.47,0.00,0.000,6,0.000,0.053,2552,2025,3431
$GC,4570,-0.45,-146.6,399.6,-6.9,218,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2025,3431
$GC,4879,-0.45,-146.6,420.7,-6.6,233,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2025,3431
$GC,5189,-0.45,-146.6,440.2,-6.4,248,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2025,3431
$GC,5498,-0.45,-146.6,458.1,-5.2,263,5502,0.00,2.58,0.00,0.000,4,0.000,0.069,2552,589,3431
$GC,5543,-0.45,-146.6,461.1,-7.5,265,5547,0.00,2.55,0.00,0.000,6,0.000,0.053,2552,2026,3431
$GC,5865,-0.45,-146.6,479.2,-5.5,281,5869,0.00,2.60,0.00,0.000,4,0.000,0.067,2552,596,3430
$GC,5904,-0.45,-146.6,481.5,-6.9,283,5908,0.00,2.53,0.00,0.000,6,0.000,0.054,2552,2019,3431
$GC,6230,-0.45,-146.6,502.3,-6.6,299,6235,0.00,2.50,0.00,0.000,4,0.000,0.065,2552,3415,3431
$GC,6281,-0.45,-146.6,505.8,-7.0,301,6285,0.00,2.50,0.00,0.000,6,0.000,0.057,2552,2022,3430
$GC,6597,-0.45,-146.6,528.2,-7.1,316,6601,0.00,2.53,0.00,0.000,4,0.000,0.066,2552,3405,3430
$GC,6664,-0.45,-146.6,532.6,-6.9,319,6668,0.00,2.47,0.00,0.000,6,0.000,0.058,2552,2031,3430
$STATE,6713,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6714,begin apogee
$GC,6721,-0.33,0.0,536.0,6.6,322,6846,0.10,0.00,121.70,1.174,6,0.097,0.000,2575,2212,2832
$STATE,6846,end apogee,CONTROL_FINISHED_OK
$STATE,6846,begin climb
$GC,6849,0.97,146.6,542.0,0.0,328,6977,1.33,0.00,121.15,1.142,6,0.071,0.000,2856,2212,2234
$GC,7290,1.29,257.6,528.7,3.0,350,7387,0.30,2.70,91.22,1.127,4,0.043,0.066,2941,790,1780
$GC,7413,1.29,257.6,520.0,7.9,355,7418,0.00,2.55,0.00,0.000,6,0.000,0.054,2941,2196,1781
$GC,7740,1.29,257.6,493.8,8.5,371,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2197,1782
$GC,8049,1.29,257.6,469.2,8.8,386,8053,0.00,2.60,0.00,0.000,4,0.000,0.068,2941,788,1782
$GC,8099,1.29,257.6,464.0,9.8,388,8103,0.00,2.53,0.00,0.000,6,0.000,0.054,2941,2194,1782
$GC,8415,1.29,257.6,436.9,8.3,403,8419,0.00,2.58,0.00,0.000,4,0.000,0.067,2941,793,1782
$GC,8459,1.29,257.6,432.7,8.8,405,8463,0.00,2.50,0.00,0.000,6,0.000,0.054,2941,2194,1782
$GC,8780,1.29,257.6,409.3,6.8,421,8784,0.00,2.58,0.00,0.000,4,0.000,0.067,2941,791,1782
$GC,8824,1.29,257.6,405.9,7.0,423,8829,0.00,2.47,0.00,0.000,6,0.000,0.053,2941,2175,1782
$GC,9145,1.29,257.6,384.1,6.6,439,9149,0.00,2.55,0.00,0.000,4,0.000,0.066,2941,784,1782
$GC,9178,1.29,257.6,381.7,7.5,440,9184,0.00,2.47,0.00,0.000,6,0.000,0.053,2941,2165,1782
$GC,9495,1.29,257.6,360.2,7.1,456,9499,0.00,2.53,0.00,0.000,4,0.000,0.067,2941,787,1782
$GC,9527,1.29,257.6,357.7,7.6,457,9533,0.00,2.45,0.00,0.000,6,0.000,0.053,2941,2158,1782
$GC,9843,1.29,257.6,336.8,6.4,473,9847,0.00,2.47,0.00,0.000,4,0.000,0.066,2941,791,1782
$GC,9876,1.29,257.6,334.4,7.3,474,9880,0.00,2.40,0.00,0.000,6,0.000,0.053,2941,2139,1782
$GC,10192,1.29,257.6,312.7,7.3,489,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2141,1782
$GC,10501,1.29,257.6,290.1,7.4,504,10502,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2140,1782
$GC,10810,1.29,257.6,268.7,6.9,519,10814,0.00,2.47,0.00,0.000,4,0.000,0.067,2941,789,1782
$GC,10838,1.29,257.6,266.6,8.1,520,10842,0.00,2.40,0.00,0.000,6,0.000,0.053,2941,2134,1782
$GC,11159,1.29,257.6,244.6,6.8,536,11161,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2133,1781
$GC,11469,1.32,273.5,225.7,5.6,551,11490,0.00,2.50,14.27,0.907,4,0.000,0.065,2941,791,1716
$GC,11525,1.32,276.6,222.5,5.9,553,11536,0.00,2.40,4.32,0.668,6,0.000,0.052,2941,2129,1704
$GC,11846,1.37,309.2,206.1,5.1,569,11875,0.00,0.00,27.17,0.939,6,0.000,0.000,2941,2129,1571
$GC,12177,1.37,309.2,187.4,6.3,585,12178,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2129,1570
$GC,12486,1.42,309.2,165.5,7.1,600,12490,0.00,2.45,0.00,0.000,4,0.000,0.068,2941,787,1570
$GC,12541,1.42,309.2,161.2,7.3,602,12545,0.00,2.40,0.00,0.000,6,0.000,0.051,2941,2135,1570
$GC,12858,1.54,358.1,140.8,4.7,617,12905,0.17,2.55,39.03,0.902,4,0.047,0.064,2996,794,1371
$GC,12924,1.45,358.1,137.2,7.4,620,12929,0.15,2.38,0.00,0.000,6,0.079,0.051,2965,2116,1371
$GC,13251,1.45,358.1,111.5,9.8,636,13253,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2132,1372
$GC,13560,1.45,358.1,88.0,9.3,651,13564,0.00,2.45,0.00,0.000,4,0.000,0.066,2965,790,1373
$GC,13593,1.45,358.1,85.3,7.9,652,13599,0.00,2.38,0.00,0.000,6,0.000,0.051,2965,2124,1373
$GC,13911,1.45,358.1,56.5,9.4,668,13912,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2139,1373
$GC,14218,1.45,358.1,26.9,8.8,683,14222,0.00,2.45,0.00,0.000,4,0.000,0.065,2965,783,1373
$GC,14267,1.45,358.1,23.4,6.4,685,14271,0.00,2.33,0.00,0.000,6,0.000,0.051,2964,2091,1373
$STATE,14524,end climb,SURFACE_DEPTH_REACHED
$STATE,14524,begin surface coast
$FINISH,0.5,1.017120
$STATE,14567,end surface coast,CONTROL_FINISHED_OK
$STATE,14567,begin surface
$SM_CCo,14650,0.00,0.000,0,0,1373,357.89
$SM_GC,1.02,11.07,0.00,0.00,0.038,0.000,0.000,422,1990,1373,-10.17,-0.28,357.89
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1788
$TCM_TEMP,17.30
$XPDR_PINGS,492
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,475.8,69.3
$24V_AH,23.9,32.898
$10V_AH,10.1,15.931
$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,24.100,115.400,418.875,0.000,0.000,37.761,24.517,130.886,127.250,0.000,0.000,14.989,1272.213,11245.640,516.345,1471.918,457.729,33.361,1279.927,0.000,1444.544,0.000,29.504,0.000
$DEVICE_MAMPS,134.992,72.865,1174.277,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,522.428,470.747,468.887,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34823,700
$CAP_FILE_SIZE,104202,0
$CFSIZE,254472192,241106944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,0,0
$GPS,141208,080908,6048.482,-309.107,39,1.4,39,-5.9