version: 66.04
glider: 5
mission: 5
dive: 187
start: 12 14 108 8 29 26
data:
$ID,5
$MISSION,5
$DIVE,187
$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,-90946.727
$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,27
$R_STBD_OVSHOOT,25
$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
$GPS1,080908,6048.482,-309.107,39,1.4,39,-5.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-56.8
$GPS2,082834,6048.768,-308.598,15,2.0,15,-5.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.141,-0.171
$KALMAN_X,183354.1,-3068.1,-1536.2,-34471.7,38641.7
$KALMAN_Y,108502.1,-2139.7,-1906.1,-421975.1,36368.2
$MHEAD_RNG_PITCHd_Wd,225.4,76328,-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,16,-0.97,-146.6,0.0,0.0,0,118,0.00,0.00,-100.72,0.000,6,0.000,0.000,421,1976,3430
$GC,122,-0.97,-146.6,4.9,-4.3,5,138,10.35,2.50,0.00,0.000,4,0.133,0.058,2429,590,3431
$GC,352,-0.61,-146.6,47.5,-16.5,14,358,0.40,2.50,0.00,0.000,6,0.088,0.049,2513,2001,3432
$GC,669,-0.48,-146.6,83.9,-11.0,29,671,0.15,0.00,0.00,0.000,6,0.091,0.000,2545,2002,3432
$GC,978,-0.43,-146.6,111.7,-10.5,44,983,0.00,2.55,0.00,0.000,4,0.000,0.063,2545,598,3432
$GC,1006,-0.38,-146.6,114.5,-9.3,45,1011,0.12,2.47,0.00,0.000,6,0.088,0.051,2572,1992,3432
$GC,1324,-0.38,-146.6,137.4,-7.9,60,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2004,3431
$GC,1632,-0.38,-146.6,158.7,-6.0,75,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2004,3432
$GC,1942,-0.38,-146.6,175.4,-5.2,90,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2004,3432
$GC,2250,-0.38,-146.6,195.7,-6.8,105,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2004,3432
$GC,2559,-0.38,-146.6,214.4,-5.7,120,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2004,3432
$GC,2869,-0.38,-146.6,234.8,-6.7,135,2873,0.00,2.53,0.00,0.000,4,0.000,0.062,2572,3405,3431
$GC,2913,-0.43,-146.6,238.2,-7.9,137,2917,0.00,2.53,0.00,0.000,6,0.000,0.051,2572,1983,3432
$GC,3234,-0.43,-146.6,261.5,-7.3,153,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1983,3431
$GC,3543,-0.43,-146.6,284.6,-7.3,168,3548,0.00,2.58,0.00,0.000,4,0.000,0.061,2572,3405,3431
$GC,3594,-0.48,-146.6,288.4,-7.3,170,3599,0.12,2.53,0.00,0.000,6,0.054,0.051,2536,1985,3431
$GC,3911,-0.42,-146.6,315.7,-8.8,185,3913,0.10,0.00,0.00,0.000,6,0.095,0.000,2556,1984,3431
$GC,4219,-0.42,-146.6,339.4,-7.7,200,4224,0.00,2.58,0.00,0.000,4,0.000,0.062,2556,3407,3431
$GC,4269,-0.42,-146.6,343.5,-8.5,202,4273,0.00,2.53,0.00,0.000,6,0.000,0.052,2556,1988,3431
$GC,4584,-0.42,-146.6,367.4,-7.7,217,4589,0.00,2.58,0.00,0.000,4,0.000,0.063,2556,3408,3431
$GC,4613,-0.42,-146.6,369.6,-7.7,218,4617,0.00,2.53,0.00,0.000,6,0.000,0.053,2556,1993,3431
$GC,4928,-0.42,-146.6,394.1,-7.6,233,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1992,3431
$GC,5238,-0.42,-146.6,418.4,-7.9,248,5242,0.00,2.58,0.00,0.000,4,0.000,0.064,2556,3409,3431
$GC,5271,-0.42,-146.6,421.3,-8.7,249,5277,0.00,2.53,0.00,0.000,6,0.000,0.054,2556,1996,3431
$GC,5587,-0.42,-146.6,447.2,-8.3,265,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1995,3431
$GC,5896,-0.42,-146.6,474.2,-8.8,280,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1995,3430
$GC,6210,-0.42,-146.6,500.2,-7.8,295,6214,0.00,2.58,0.00,0.000,4,0.000,0.064,2556,3408,3430
$GC,6265,-0.42,-146.6,505.8,-9.6,297,6271,0.00,2.50,0.00,0.000,6,0.000,0.057,2556,2016,3430
$STATE,6557,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6558,begin apogee
$GC,6565,-0.33,0.0,530.1,9.0,312,6689,0.00,0.00,121.32,1.167,6,0.000,0.000,2556,2208,2832
$STATE,6689,end apogee,CONTROL_FINISHED_OK
$STATE,6689,begin climb
$GC,6692,0.97,146.6,537.3,0.0,318,6820,1.42,2.60,120.35,1.135,4,0.071,0.066,2859,3601,2234
$GC,6840,1.34,264.4,533.9,2.8,325,6943,0.35,2.55,96.15,1.114,6,0.045,0.054,2948,2185,1754
$GC,7265,1.34,264.4,502.8,7.1,346,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2185,1755
$GC,7574,1.34,264.4,481.4,6.4,361,7579,0.00,2.53,0.00,0.000,4,0.000,0.067,2948,807,1755
$GC,7602,1.34,264.4,479.2,8.1,362,7607,0.00,2.47,0.00,0.000,6,0.000,0.052,2948,2185,1755
$GC,7918,1.34,264.4,456.2,7.4,377,7922,0.00,2.55,0.00,0.000,4,0.000,0.067,2948,797,1755
$GC,7957,1.34,264.4,453.0,8.2,379,7962,0.00,2.50,0.00,0.000,6,0.000,0.053,2948,2193,1755
$GC,8285,1.34,264.4,428.9,7.3,395,8289,0.00,2.55,0.00,0.000,4,0.000,0.067,2948,806,1755
$GC,8334,1.34,264.4,425.1,7.5,397,8339,0.00,2.45,0.00,0.000,6,0.000,0.053,2948,2174,1755
$GC,8650,1.34,264.4,403.1,6.9,412,8654,0.00,2.50,0.00,0.000,4,0.000,0.067,2949,803,1755
$GC,8677,1.34,264.4,401.0,7.6,413,8682,0.00,2.42,0.00,0.000,6,0.000,0.052,2948,2160,1755
$GC,8993,1.34,264.4,378.6,6.9,428,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2160,1755
$GC,9302,1.34,264.4,358.6,6.6,443,9306,0.00,2.47,0.00,0.000,4,0.000,0.067,2948,798,1755
$GC,9348,1.34,264.4,355.4,7.1,445,9353,0.00,2.40,0.00,0.000,6,0.000,0.053,2948,2154,1754
$GC,9681,1.34,264.4,334.5,6.4,461,9686,0.00,2.47,0.00,0.000,4,0.000,0.067,2948,807,1754
$GC,9703,1.34,264.4,332.8,7.2,462,9708,0.00,2.40,0.00,0.000,6,0.000,0.052,2948,2149,1755
$GC,10025,1.34,264.4,310.7,7.2,478,10026,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2151,1754
$GC,10334,1.34,264.4,287.7,7.6,493,10338,0.00,2.47,0.00,0.000,4,0.000,0.067,2948,797,1754
$GC,10384,1.34,264.4,283.6,8.5,495,10388,0.00,2.40,0.00,0.000,6,0.000,0.052,2948,2146,1754
$GC,10706,1.34,264.4,257.1,8.5,511,10710,0.00,2.62,0.00,0.000,4,0.000,0.064,2948,3608,1754
$GC,10733,1.34,264.4,254.6,9.8,512,10737,0.00,2.60,0.00,0.000,6,0.000,0.054,2948,2152,1754
$GC,11048,1.34,264.4,225.2,9.4,527,11052,0.00,2.45,0.00,0.000,4,0.000,0.066,2948,790,1754
$GC,11076,1.34,264.4,222.5,9.8,528,11081,0.00,2.40,0.00,0.000,6,0.000,0.051,2948,2139,1755
$GC,11392,1.34,264.4,194.1,9.3,543,11393,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2139,1755
$GC,11701,1.34,264.4,166.2,8.7,558,11702,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2139,1755
$GC,12011,1.34,264.4,142.1,6.6,573,12012,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2139,1755
$GC,12320,1.34,264.4,120.2,8.2,588,12324,0.00,2.47,0.00,0.000,4,0.000,0.066,2948,786,1755
$GC,12360,1.34,264.4,116.6,9.1,590,12364,0.00,2.40,0.00,0.000,6,0.000,0.051,2948,2139,1754
$GC,12693,1.34,264.4,89.0,8.8,606,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2139,1755
$GC,13002,1.34,264.4,61.8,9.2,621,13003,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2139,1755
$GC,13312,1.34,264.4,34.2,9.2,636,13317,0.00,2.47,0.00,0.000,4,0.000,0.066,2948,784,1755
$GC,13353,1.34,264.4,30.4,9.2,638,13357,0.00,2.38,0.00,0.000,6,0.000,0.050,2948,2127,1755
$GC,13681,1.34,264.4,6.8,8.4,654,13685,0.00,2.45,0.00,0.000,4,0.000,0.065,2948,783,1755
$STATE,13711,end climb,SURFACE_DEPTH_REACHED
$STATE,13711,begin surface coast
$FINISH,3.2,1.027316
$STATE,13719,end surface coast,CONTROL_FINISHED_OK
$STATE,13719,begin surface
$SM_CCo,13804,0.00,0.000,0,0,1754,264.19
$SM_GC,1.18,11.12,0.00,0.00,0.045,0.000,0.000,421,2025,1754,-10.17,0.93,264.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1796
$TCM_TEMP,17.40
$XPDR_PINGS,483
$ALTIM_TOP_PING,19.2,19.0
$ALTIM_BOTTOM_PING,500.2,39.0
$24V_AH,23.4,33.058
$10V_AH,10.1,16.004
$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,24.150,105.125,337.825,0.000,0.000,190.061,332.354,263.561,125.250,0.000,0.000,15.761,1196.473,10882.198,459.172,1378.826,1055.303,33.366,1164.635,0.000,1350.345,0.000,31.000,0.000
$DEVICE_MAMPS,133.458,67.496,1166.607,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,483.411,441.694,441.273,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31683,656
$CAP_FILE_SIZE,102669,0
$CFSIZE,254472192,241057792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,0,0
$GPS,141208,122037,6050.230,-304.585,30,0.9,30,-5.9