version: 66.04
glider: 5
mission: 5
dive: 189
start: 12 14 108 16 32 12
data:
$ID,5
$MISSION,5
$DIVE,189
$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,-90974.109
$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,45
$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
$GPS1,162608,6051.562,-305.360,42,1.2,42,-5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-58.1
$GPS2,163120,6051.669,-305.367,12,1.6,12,-5.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.196,0.103
$KALMAN_X,185896.3,-2430.5,-2379.8,-34140.4,37739.6
$KALMAN_Y,117394.6,-2471.4,-2097.3,-424979.4,43431.3
$MHEAD_RNG_PITCHd_Wd,303.5,82405,-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,-146.6,0.0,0.0,0,118,0.00,0.00,-96.57,0.000,6,0.000,0.000,422,1984,3430
$GC,122,-0.97,-146.6,5.2,-4.4,5,138,10.43,2.50,0.00,0.000,4,0.137,0.058,2432,604,3431
$GC,335,-0.60,-146.6,46.5,-16.9,13,342,0.40,2.50,0.00,0.000,6,0.086,0.050,2517,2007,3432
$GC,653,-0.48,-146.6,83.5,-10.8,29,658,0.12,2.55,0.00,0.000,4,0.091,0.063,2544,617,3432
$GC,703,-0.44,-146.6,88.7,-10.4,31,708,0.00,2.45,0.00,0.000,6,0.000,0.050,2544,1998,3432
$GC,1022,-0.37,-146.6,115.6,-9.3,46,1023,0.12,0.00,0.00,0.000,6,0.089,0.000,2571,2011,3432
$GC,1329,-0.37,-146.6,134.2,-5.9,61,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2011,3432
$GC,1638,-0.37,-146.6,152.4,-6.6,76,1642,0.00,2.50,0.00,0.000,4,0.000,0.064,2570,617,3432
$GC,1672,-0.42,-146.6,154.8,-6.9,77,1676,0.00,2.42,0.00,0.000,6,0.000,0.050,2571,1991,3432
$GC,1988,-0.46,-146.6,174.7,-7.4,92,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2005,3432
$GC,2298,-0.46,-146.6,194.8,-5.6,107,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2004,3432
$GC,2606,-0.46,-146.6,210.5,-5.0,122,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2004,3432
$GC,2916,-0.46,-146.6,223.6,-3.6,137,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2001,3432
$GC,3225,-0.46,-146.6,237.5,-4.6,152,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1999,3432
$GC,3534,-0.46,-146.6,254.8,-6.1,167,3538,0.00,2.53,0.00,0.000,4,0.000,0.068,2571,610,3432
$GC,3573,-0.46,-146.6,257.5,-7.1,169,3578,0.00,2.45,0.00,0.000,6,0.000,0.051,2571,1998,3432
$GC,3901,-0.46,-146.6,276.3,-4.9,185,3905,0.00,2.53,0.00,0.000,4,0.000,0.067,2571,608,3432
$GC,3947,-0.46,-146.6,278.3,-4.6,187,3951,0.00,2.42,0.00,0.000,6,0.000,0.051,2571,1981,3432
$GC,4274,-0.46,-146.6,295.8,-6.3,203,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1985,3431
$GC,4583,-0.46,-146.6,313.5,-5.8,218,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1984,3432
$GC,4892,-0.46,-146.6,330.8,-5.4,233,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1984,3431
$GC,5203,-0.51,-146.6,345.2,-5.1,248,5208,0.15,2.55,0.00,0.000,4,0.053,0.063,2528,3407,3431
$GC,5281,-0.44,-146.6,350.9,-8.4,251,5288,0.12,2.50,0.00,0.000,6,0.088,0.054,2555,2003,3431
$GC,5597,-0.44,-146.6,372.8,-7.5,267,5601,0.00,2.53,0.00,0.000,4,0.000,0.068,2554,590,3431
$GC,5642,-0.44,-146.6,375.7,-6.2,269,5647,0.00,2.47,0.00,0.000,6,0.000,0.052,2555,1989,3431
$GC,5968,-0.44,-146.6,396.6,-6.5,285,5973,0.00,2.55,0.00,0.000,4,0.000,0.069,2555,591,3431
$GC,5996,-0.44,-146.6,398.5,-7.0,286,6000,0.00,2.50,0.00,0.000,6,0.000,0.053,2555,1994,3431
$GC,6313,-0.44,-146.6,419.0,-6.5,301,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2007,3431
$GC,6622,-0.44,-146.6,436.1,-6.0,316,6626,0.00,2.58,0.00,0.000,4,0.000,0.070,2555,594,3431
$GC,6729,-0.44,-146.6,444.3,-7.4,321,6733,0.00,2.45,0.00,0.000,6,0.000,0.053,2555,1980,3431
$GC,7062,-0.44,-146.6,466.0,-5.6,337,7067,0.00,2.58,0.00,0.000,4,0.000,0.067,2555,3412,3431
$GC,7102,-0.44,-146.6,468.6,-6.8,339,7107,0.00,2.58,0.00,0.000,6,0.000,0.058,2555,1978,3430
$GC,7429,-0.44,-146.6,486.5,-5.8,355,7433,0.00,2.50,0.00,0.000,4,0.000,0.072,2555,594,3430
$GC,7457,-0.44,-146.6,488.4,-6.2,356,7461,0.00,2.47,0.00,0.000,6,0.000,0.056,2555,1980,3430
$GC,7773,-0.44,-146.6,508.4,-6.4,371,7777,0.00,2.58,0.00,0.000,4,0.000,0.071,2555,3405,3430
$GC,7824,-0.48,-146.6,511.6,-6.6,373,7828,0.00,2.60,0.00,0.000,6,0.000,0.061,2554,1968,3429
$GC,8145,-0.48,-146.6,528.9,-5.6,389,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1967,3429
$GC,8454,-0.48,-146.6,547.8,-6.3,404,8458,0.00,2.65,0.00,0.000,4,0.000,0.074,2555,3408,3428
$GC,8520,-0.48,-146.6,552.9,-7.7,407,8525,0.00,2.60,0.00,0.000,6,0.000,0.065,2555,1982,3428
$GC,8842,-0.48,-146.6,577.0,-7.6,423,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1982,3427
$GC,9151,-0.48,-146.6,597.7,-6.2,438,9156,0.00,2.65,0.00,0.000,4,0.000,0.080,2555,3408,3426
$GC,9194,-0.48,-146.6,600.2,-6.0,440,9198,0.00,2.60,0.00,0.000,6,0.000,0.071,2555,1984,3426
$GC,9521,-0.52,-146.6,619.1,-5.5,456,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1983,3425
$GC,9830,-0.52,-146.6,637.1,-6.3,471,9835,0.00,2.67,0.00,0.000,4,0.000,0.084,2555,3402,3423
$STATE,9877,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9877,begin apogee
$GC,9886,-0.33,0.0,640.8,7.9,473,10011,0.10,0.00,122.40,1.338,6,0.107,0.000,2576,2171,2832
$STATE,10012,end apogee,CONTROL_FINISHED_OK
$STATE,10012,begin climb
$GC,10015,0.97,146.6,646.5,0.0,479,10147,1.35,2.85,122.32,1.295,4,0.084,0.086,2855,3605,2234
$GC,10179,1.21,209.9,640.5,4.3,486,10241,0.28,2.67,53.62,1.266,6,0.058,0.076,2920,2197,1976
$GC,10557,1.21,209.9,615.5,7.0,505,10561,0.00,2.67,0.00,0.000,4,0.000,0.090,2920,784,1976
$GC,10612,1.21,209.9,611.3,7.8,507,10618,0.00,2.62,0.00,0.000,6,0.000,0.072,2920,2187,1976
$GC,10928,1.22,213.4,591.6,5.9,523,10934,0.00,0.00,4.53,0.910,6,0.000,0.000,2920,2188,1962
$GC,11238,1.23,224.9,573.2,5.7,538,11258,0.00,2.75,11.27,1.203,4,0.000,0.087,2920,790,1914
$GC,11286,1.23,224.9,570.1,6.7,540,11291,0.00,2.62,0.00,0.000,6,0.000,0.073,2920,2183,1914
$GC,11609,1.25,235.8,552.0,5.7,556,11622,0.00,0.00,10.60,1.206,6,0.000,0.000,2920,2185,1870
$GC,11917,1.25,235.8,533.1,6.3,571,11922,0.00,2.65,0.00,0.000,4,0.000,0.086,2920,790,1870
$GC,11957,1.25,235.8,530.3,7.6,573,11962,0.00,2.58,0.00,0.000,6,0.000,0.071,2920,2176,1870
$GC,12285,1.26,243.3,510.7,5.8,589,12294,0.00,0.00,7.62,1.139,6,0.000,0.000,2920,2176,1840
$GC,12593,1.26,243.3,491.6,6.2,604,12598,0.00,2.62,0.00,0.000,4,0.000,0.084,2920,786,1839
$GC,12649,1.26,243.3,487.9,6.3,606,12655,0.00,2.58,0.00,0.000,6,0.000,0.072,2920,2175,1839
$GC,12965,1.26,243.3,467.4,6.6,622,12969,0.00,2.62,0.00,0.000,4,0.000,0.081,2920,784,1839
$GC,13004,1.26,243.3,464.8,6.5,624,13009,0.00,2.53,0.00,0.000,6,0.000,0.066,2920,2160,1839
$GC,13331,1.26,243.3,443.2,6.7,640,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2160,1839
$GC,13641,1.26,243.3,418.1,7.9,655,13645,0.00,2.55,0.00,0.000,4,0.000,0.076,2920,789,1839
$GC,13680,1.26,243.3,414.2,10.5,657,13685,0.00,2.47,0.00,0.000,6,0.000,0.061,2920,2152,1839
$GC,14007,1.26,243.3,390.6,6.2,673,14012,0.00,2.55,0.00,0.000,4,0.000,0.075,2920,785,1839
$GC,14063,1.26,243.3,387.2,6.3,675,14070,0.00,2.45,0.00,0.000,6,0.000,0.061,2920,2140,1840
$GC,14380,1.26,243.3,366.3,6.3,691,14384,0.00,2.67,0.00,0.000,4,0.000,0.072,2920,3613,1840
$GC,14430,1.26,243.3,363.2,6.0,693,14434,0.00,2.67,0.00,0.000,6,0.000,0.061,2920,2140,1840
$GC,14746,1.28,256.5,346.5,5.6,708,14764,0.00,0.00,13.07,1.055,6,0.000,0.000,2920,2139,1785
$GC,15075,1.34,256.5,326.5,7.1,724,15079,0.00,2.47,0.00,0.000,4,0.000,0.071,2920,780,1785
$GC,15102,1.34,256.5,324.6,7.2,725,15107,0.00,2.47,0.00,0.000,6,0.000,0.057,2920,2149,1786
$GC,15425,1.39,256.5,301.6,6.5,741,15430,0.12,2.55,0.00,0.000,4,0.056,0.070,2958,781,1786
$GC,15470,1.31,256.5,297.5,9.7,743,15475,0.12,2.45,0.00,0.000,6,0.087,0.055,2933,2141,1786
$GC,15791,1.31,256.5,273.9,6.7,759,15795,0.00,2.50,0.00,0.000,4,0.000,0.070,2933,787,1787
$GC,15824,1.31,256.5,271.4,6.7,760,15828,0.00,2.42,0.00,0.000,6,0.000,0.054,2933,2140,1787
$GC,16139,1.31,256.5,250.2,6.8,775,16143,0.00,2.47,0.00,0.000,4,0.000,0.070,2933,788,1788
$GC,16167,1.31,256.5,248.3,7.0,776,16171,0.00,2.40,0.00,0.000,6,0.000,0.054,2933,2127,1788
$GC,16494,1.33,272.9,225.6,5.6,792,16513,0.00,0.00,15.15,0.948,6,0.000,0.000,2933,2128,1719
$GC,16823,1.38,272.9,205.5,6.1,808,16827,0.00,2.50,0.00,0.000,4,0.000,0.069,2933,784,1719
$GC,16873,1.38,272.9,202.1,6.4,810,16877,0.00,2.40,0.00,0.000,6,0.000,0.053,2933,2126,1719
$GC,17195,1.42,272.9,179.6,7.8,826,17197,0.12,0.00,0.00,0.000,6,0.054,0.000,2971,2127,1720
$GC,17505,1.36,272.9,149.0,9.8,841,17507,0.12,0.00,0.00,0.000,6,0.083,0.000,2944,2127,1721
$GC,17815,1.36,272.9,121.7,8.7,856,17816,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2127,1721
$GC,18123,1.36,272.9,97.4,8.4,871,18127,0.00,2.47,0.00,0.000,4,0.000,0.067,2944,780,1722
$GC,18162,1.36,272.9,93.8,9.8,873,18167,0.00,2.40,0.00,0.000,6,0.000,0.051,2944,2126,1721
$GC,18490,1.36,272.9,66.4,8.9,889,18494,0.00,2.47,0.00,0.000,4,0.000,0.067,2944,780,1722
$GC,18518,1.36,272.9,63.6,9.5,890,18522,0.00,2.38,0.00,0.000,6,0.000,0.051,2944,2114,1722
$GC,18834,1.52,374.6,42.3,3.2,905,18920,0.15,2.58,79.75,0.846,4,0.049,0.067,2989,790,1304
$GC,18957,1.39,374.6,33.7,14.7,910,18962,0.17,2.38,0.00,0.000,6,0.074,0.051,2952,2113,1304
$GC,19274,1.45,374.6,5.4,7.8,925,19275,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2132,1305
$STATE,19291,end climb,SURFACE_DEPTH_REACHED
$STATE,19291,begin surface coast
$FINISH,1.1,1.027333
$STATE,19334,end surface coast,CONTROL_FINISHED_OK
$STATE,19334,begin surface
$SM_CCo,19417,0.00,0.000,0,0,1304,374.82
$SM_GC,1.06,11.18,0.00,0.00,0.044,0.000,0.000,422,1965,1304,-10.16,-0.99,374.82
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1800
$TCM_TEMP,17.30
$XPDR_PINGS,422
$ALTIM_TOP_PING,18.4,999.0
$ALTIM_BOTTOM_PING,600.2,50.3
$24V_AH,23.8,33.382
$10V_AH,10.1,16.157
$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,25.075,162.475,440.350,0.000,0.000,37.761,31.078,128.376,111.000,0.000,0.000,11.980,1698.488,14951.065,577.140,1974.335,529.734,33.365,1596.719,0.000,1935.178,0.000,37.409,0.000
$DEVICE_MAMPS,137.293,89.739,1337.648,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,685.175,626.566,542.914,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47517,928
$CAP_FILE_SIZE,141213,0
$CFSIZE,254472192,240898048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,48,0,0
$GPS,141208,215708,6056.966,-308.956,42,0.9,42,-6.0