version: 66.04
glider: 5
mission: 5
dive: 188
start: 12 14 108 12 26 43
data:
$ID,5
$MISSION,5
$DIVE,188
$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,-90961.508
$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,22
$R_STBD_OVSHOOT,30
$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
$GPS1,122037,6050.230,-304.585,30,0.9,30,-5.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-59.7
$GPS2,122551,6050.322,-304.477,14,1.2,14,-5.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.146,-0.167
$KALMAN_X,188196.8,-3243.2,-2247.1,-35056.9,46449.4
$KALMAN_Y,113170.0,-2229.9,-1683.8,-423911.4,40760.7
$MHEAD_RNG_PITCHd_Wd,227.1,80923,-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,-79.70,0.000,6,0.000,0.000,421,2025,3430
$GC,101,-0.97,-146.6,5.4,-6.5,4,117,10.45,2.58,0.00,0.000,4,0.137,0.051,2432,580,3431
$GC,283,-0.62,-146.6,44.0,-13.9,11,289,0.38,2.50,0.00,0.000,6,0.089,0.050,2511,1996,3432
$GC,605,-0.48,-146.6,76.6,-10.6,27,610,0.17,2.58,0.00,0.000,4,0.090,0.062,2551,586,3432
$GC,650,-0.48,-146.6,81.3,-9.2,29,654,0.00,2.50,0.00,0.000,6,0.000,0.050,2552,1999,3432
$GC,971,-0.48,-146.6,105.3,-6.8,45,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1999,3432
$GC,1280,-0.48,-146.6,132.0,-9.6,60,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2012,3432
$GC,1589,-0.48,-146.6,155.2,-7.3,75,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2010,3432
$GC,1898,-0.48,-146.6,178.3,-7.0,90,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2010,3432
$GC,2208,-0.48,-146.6,197.1,-6.0,105,2212,0.00,2.50,0.00,0.000,4,0.000,0.061,2551,3405,3432
$GC,2241,-0.48,-146.6,199.3,-7.0,106,2247,0.00,2.53,0.00,0.000,6,0.000,0.048,2552,1976,3432
$GC,2557,-0.48,-146.6,221.8,-7.4,122,2561,0.00,2.58,0.00,0.000,4,0.000,0.061,2552,3405,3432
$GC,2590,-0.48,-146.6,224.5,-8.3,123,2596,0.00,2.50,0.00,0.000,6,0.000,0.049,2551,1991,3432
$GC,2905,-0.48,-146.6,248.6,-7.6,139,2910,0.00,2.58,0.00,0.000,4,0.000,0.061,2552,3414,3432
$GC,2946,-0.48,-146.6,251.5,-7.5,141,2950,0.00,2.50,0.00,0.000,6,0.000,0.050,2552,1999,3432
$GC,3273,-0.48,-146.6,275.9,-7.5,157,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1998,3433
$GC,3581,-0.48,-146.6,298.3,-7.1,172,3585,0.00,2.55,0.00,0.000,4,0.000,0.061,2551,3406,3432
$GC,3637,-0.48,-146.6,302.7,-8.8,174,3643,0.00,2.50,0.00,0.000,6,0.000,0.051,2552,1998,3432
$GC,3953,-0.48,-146.6,326.3,-7.4,190,3958,0.00,2.55,0.00,0.000,4,0.000,0.062,2552,3405,3432
$GC,3998,-0.48,-146.6,329.8,-7.4,192,4002,0.00,2.47,0.00,0.000,6,0.000,0.051,2551,2013,3432
$GC,4319,-0.48,-146.6,353.5,-7.7,208,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2012,3432
$GC,4628,-0.48,-146.6,379.1,-8.2,223,4632,0.00,2.55,0.00,0.000,4,0.000,0.063,2552,3415,3431
$GC,4678,-0.48,-146.6,383.6,-8.9,225,4682,0.00,2.50,0.00,0.000,6,0.000,0.053,2552,2012,3432
$GC,4993,-0.48,-146.6,408.4,-7.5,240,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2012,3431
$GC,5302,-0.48,-146.6,431.5,-6.6,255,5307,0.00,2.53,0.00,0.000,4,0.000,0.066,2552,596,3432
$GC,5330,-0.48,-146.6,433.5,-6.6,256,5334,0.00,2.53,0.00,0.000,6,0.000,0.052,2552,2025,3432
$GC,5647,-0.48,-146.6,455.0,-6.4,271,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2026,3431
$GC,5955,-0.48,-146.6,479.3,-8.5,286,5957,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2026,3431
$GC,6265,-0.48,-146.6,505.6,-8.2,301,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2026,3431
$GC,6574,-0.48,-146.6,529.9,-7.6,316,6578,0.00,2.47,0.00,0.000,4,0.000,0.065,2552,3408,3431
$STATE,6666,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6666,begin apogee
$GC,6675,-0.33,0.0,536.7,5.6,320,6800,0.12,0.00,121.62,1.164,6,0.087,0.000,2580,2178,2832
$STATE,6800,end apogee,CONTROL_FINISHED_OK
$STATE,6800,begin climb
$GC,6804,0.97,146.6,543.3,0.0,326,6932,1.30,2.65,120.12,1.135,4,0.069,0.066,2858,3603,2234
$GC,6994,1.12,174.0,539.5,5.3,335,7025,0.15,2.55,23.80,1.068,6,0.051,0.054,2900,2172,2121
$GC,7344,1.16,201.3,520.9,5.3,352,7373,0.00,2.58,23.67,1.068,4,0.000,0.065,2900,822,2011
$GC,7397,1.22,201.3,517.5,6.4,354,7402,0.00,2.50,0.00,0.000,6,0.000,0.051,2900,2207,2011
$GC,7714,1.34,239.2,501.4,5.0,369,7753,0.17,0.00,32.12,1.091,6,0.048,0.000,2950,2207,1856
$GC,8063,1.29,239.2,473.1,8.8,386,8067,0.00,2.55,0.00,0.000,4,0.000,0.066,2950,817,1857
$GC,8108,1.23,239.2,468.8,9.2,388,8113,0.17,2.47,0.00,0.000,6,0.078,0.052,2915,2199,1858
$GC,8429,1.28,239.2,444.5,7.6,404,8433,0.00,2.55,0.00,0.000,4,0.000,0.066,2915,812,1857
$GC,8457,1.33,239.2,442.1,8.0,405,8462,0.10,2.47,0.00,0.000,6,0.058,0.052,2946,2194,1857
$GC,8773,1.33,239.2,414.6,8.6,420,8774,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2195,1857
$GC,9082,1.33,239.2,388.4,8.3,435,9086,0.00,2.53,0.00,0.000,4,0.000,0.065,2946,817,1857
$GC,9114,1.33,239.2,385.5,9.0,436,9120,0.00,2.45,0.00,0.000,6,0.000,0.052,2946,2187,1858
$GC,9430,1.33,239.2,360.4,7.7,452,9434,0.00,2.50,0.00,0.000,4,0.000,0.066,2946,817,1858
$GC,9470,1.27,239.2,357.0,8.5,453,9476,0.00,2.42,0.00,0.000,6,0.000,0.052,2947,2176,1857
$GC,9785,1.27,239.2,331.9,8.1,469,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2176,1857
$GC,10095,1.27,239.2,307.2,7.9,484,10099,0.00,2.50,0.00,0.000,4,0.000,0.065,2946,811,1857
$GC,10122,1.27,239.2,304.9,8.2,485,10126,0.00,2.42,0.00,0.000,6,0.000,0.052,2946,2167,1857
$GC,10438,1.27,239.2,280.8,7.4,500,10439,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2167,1857
$GC,10747,1.27,239.2,259.5,6.9,515,10752,0.00,2.47,0.00,0.000,4,0.000,0.064,2946,812,1857
$GC,10810,1.23,239.2,255.3,6.9,518,10815,0.15,2.40,0.00,0.000,6,0.081,0.051,2915,2160,1857
$GC,11139,1.40,304.4,241.4,4.2,534,11199,0.17,2.55,53.03,0.963,4,0.048,0.064,2966,810,1590
$GC,11223,1.36,304.4,235.6,7.5,538,11228,0.00,2.42,0.00,0.000,6,0.000,0.051,2966,2152,1590
$GC,11550,1.36,304.4,211.3,7.5,554,11554,0.00,2.45,0.00,0.000,4,0.000,0.065,2966,809,1590
$GC,11579,1.31,304.4,209.0,8.7,555,11584,0.15,2.38,0.00,0.000,6,0.077,0.051,2934,2138,1590
$GC,11901,1.42,331.9,190.5,5.2,571,11931,0.10,2.53,23.20,0.903,4,0.057,0.065,2967,815,1478
$GC,11970,1.42,331.9,185.9,7.1,574,11975,0.00,2.38,0.00,0.000,6,0.000,0.050,2967,2136,1478
$GC,12292,1.42,331.9,163.2,7.4,590,12293,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2136,1477
$GC,12602,1.42,331.9,137.4,9.2,605,12606,0.00,2.42,0.00,0.000,4,0.000,0.064,2967,812,1477
$GC,12657,1.42,331.9,131.8,12.0,607,12664,0.00,2.33,0.00,0.000,6,0.000,0.050,2967,2121,1477
$GC,12974,1.42,331.9,109.0,6.3,623,12978,0.00,2.40,0.00,0.000,4,0.000,0.066,2967,818,1477
$GC,13001,1.42,331.9,106.3,9.4,624,13005,0.00,2.33,0.00,0.000,6,0.000,0.050,2967,2121,1477
$GC,13317,1.42,331.9,74.3,10.2,639,13318,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2122,1477
$GC,13627,1.42,331.9,50.9,8.1,654,13631,0.00,2.40,0.00,0.000,4,0.000,0.065,2967,818,1477
$GC,13667,1.42,331.9,46.2,11.6,656,13671,0.00,2.30,0.00,0.000,6,0.000,0.050,2967,2112,1478
$GC,14000,1.43,338.6,15.4,5.8,672,14009,0.00,0.00,6.95,0.690,6,0.000,0.000,2967,2131,1451
$STATE,14161,end climb,SURFACE_DEPTH_REACHED
$STATE,14161,begin surface coast
$FINISH,0.4,1.027452
$STATE,14204,end surface coast,CONTROL_FINISHED_OK
$STATE,14204,begin surface
$SM_CCo,14287,0.00,0.000,0,0,1450,339.00
$SM_GC,1.27,11.10,0.00,0.00,0.039,0.000,0.000,421,2001,1450,-10.17,0.03,339.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1791
$TCM_TEMP,17.30
$XPDR_PINGS,497
$ALTIM_TOP_PING,18.8,18.7
$ALTIM_BOTTOM_PING,500.5,46.1
$24V_AH,23.9,33.209
$10V_AH,10.1,16.071
$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,24.700,119.300,404.525,0.000,0.000,37.761,31.698,132.706,128.750,0.000,0.000,14.160,1253.872,10916.376,511.656,1462.082,458.799,33.362,1273.086,0.000,1431.497,0.000,31.016,0.000
$DEVICE_MAMPS,137.293,65.962,1163.539,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,504.482,458.640,446.434,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34831,682
$CAP_FILE_SIZE,105215,0
$CFSIZE,254472192,241004544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,0,0
$GPS,141208,162608,6051.562,-305.360,42,1.2,42,-5.9