version: 66.04
glider: 5
mission: 5
dive: 174
start: 12 11 108 21 36 56
data:
$ID,5
$MISSION,5
$DIVE,174
$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,-90629.289
$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,47
$R_STBD_OVSHOOT,20
$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
$GPS1,213008,6033.162,-402.862,42,1.4,42,-6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-55.3
$GPS2,213602,6033.283,-402.574,16,1.4,16,-6.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.041,-0.218
$KALMAN_X,120293.0,504.2,111.7,-21084.1,9161.7
$KALMAN_Y,41731.5,1404.0,706.5,-390197.4,1398.9
$MHEAD_RNG_PITCHd_Wd,196.9,32177,-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,13,begin dive
$GC,16,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-81.05,0.000,2,0.000,0.000,425,1967,3372
$GC,102,-0.97,-146.6,4.9,-5.9,4,125,10.30,2.47,-1.27,0.000,4,0.132,0.072,2430,611,3430
$GC,217,-0.61,-146.6,30.4,-13.6,9,223,0.40,2.50,0.00,0.000,6,0.084,0.050,2515,2016,3431
$GC,547,-0.49,-146.6,60.0,-9.2,25,551,0.12,2.58,0.00,0.000,4,0.090,0.064,2541,620,3431
$GC,597,-0.43,-146.6,64.5,-8.4,27,602,0.00,2.45,0.00,0.000,6,0.000,0.051,2541,1997,3431
$GC,915,-0.37,-146.6,85.7,-7.2,42,920,0.12,2.53,0.00,0.000,4,0.087,0.062,2568,620,3431
$GC,949,-0.41,-146.6,87.8,-4.9,43,955,0.00,2.45,0.00,0.000,6,0.000,0.051,2568,1998,3431
$GC,1266,-0.41,-146.6,104.8,-5.0,59,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1998,3431
$GC,1576,-0.41,-146.6,123.1,-6.2,74,1580,0.00,2.50,0.00,0.000,4,0.000,0.060,2568,3403,3432
$GC,1599,-0.41,-146.6,124.7,-6.4,75,1604,0.00,2.47,0.00,0.000,6,0.000,0.048,2568,2006,3431
$GC,1927,-0.41,-146.6,147.0,-6.7,91,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2005,3431
$GC,2235,-0.41,-146.6,167.5,-6.4,106,2239,0.00,2.53,0.00,0.000,4,0.000,0.060,2568,3403,3431
$GC,2262,-0.41,-146.6,169.5,-6.4,107,2267,0.00,2.50,0.00,0.000,6,0.000,0.048,2568,1992,3431
$GC,2584,-0.41,-146.6,188.6,-6.2,123,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1991,3431
$GC,2893,-0.41,-146.6,208.4,-6.6,138,2897,0.00,2.55,0.00,0.000,4,0.000,0.060,2568,3404,3432
$GC,2956,-0.41,-146.6,212.7,-7.4,141,2960,0.00,2.47,0.00,0.000,6,0.000,0.048,2568,2003,3432
$GC,3282,-0.41,-146.6,233.5,-6.5,157,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2002,3432
$GC,3591,-0.41,-146.6,253.5,-6.7,172,3596,0.00,2.55,0.00,0.000,4,0.000,0.061,2568,3412,3432
$GC,3636,-0.46,-146.6,256.7,-7.5,174,3641,0.00,2.50,0.00,0.000,6,0.000,0.051,2568,2005,3432
$GC,3958,-0.46,-146.6,277.9,-6.7,190,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2004,3432
$GC,4267,-0.46,-146.6,298.3,-6.8,205,4271,0.00,2.53,0.00,0.000,4,0.000,0.062,2568,3403,3432
$GC,4297,-0.50,-146.6,300.3,-7.0,206,4302,0.12,2.47,0.00,0.000,6,0.055,0.051,2531,2010,3432
$GC,4619,-0.42,-146.6,327.2,-8.2,222,4621,0.12,0.00,0.00,0.000,6,0.088,0.000,2558,2009,3432
$GC,4927,-0.42,-146.6,349.5,-7.0,237,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2009,3432
$GC,5237,-0.42,-146.6,369.7,-6.3,252,5241,0.00,2.55,0.00,0.000,4,0.000,0.064,2558,3412,3432
$GC,5264,-0.42,-146.6,371.5,-6.5,253,5268,0.00,2.47,0.00,0.000,6,0.000,0.052,2558,2010,3432
$GC,5580,-0.42,-146.6,390.5,-6.2,268,5584,0.00,2.55,0.00,0.000,4,0.000,0.064,2558,3411,3431
$GC,5624,-0.42,-146.6,393.4,-6.5,270,5628,0.00,2.47,0.00,0.000,6,0.000,0.053,2558,2023,3432
$GC,5945,-0.42,-146.6,412.0,-5.5,286,5950,0.00,2.53,0.00,0.000,4,0.000,0.064,2558,3409,3432
$GC,6014,-0.42,-146.6,416.0,-5.9,289,6019,0.00,2.45,0.00,0.000,6,0.000,0.054,2557,2039,3432
$GC,6336,-0.42,-146.6,436.9,-7.1,305,6337,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2038,3431
$GC,6645,-0.42,-146.6,456.7,-6.2,320,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2038,3431
$GC,6955,-0.42,-146.6,474.0,-5.3,335,6959,0.00,2.50,0.00,0.000,4,0.000,0.067,2558,3403,3431
$GC,6973,-0.42,-146.6,474.9,-5.2,336,6978,0.00,2.45,0.00,0.000,6,0.000,0.057,2558,2036,3431
$GC,7305,-0.42,-146.6,494.7,-6.3,352,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2036,3431
$GC,7614,-0.42,-146.6,514.9,-7.1,367,7619,0.00,2.50,0.00,0.000,4,0.000,0.068,2558,3402,3430
$GC,7677,-0.47,-146.6,519.8,-7.7,370,7682,0.00,2.45,0.00,0.000,6,0.000,0.058,2558,2043,3430
$GC,8005,-0.47,-146.6,544.0,-7.1,386,8009,0.00,2.65,0.00,0.000,4,0.000,0.074,2558,585,3430
$GC,8054,-0.47,-146.6,547.7,-7.8,388,8059,0.00,2.62,0.00,0.000,6,0.000,0.058,2558,2051,3430
$GC,8371,-0.51,-146.6,567.9,-6.4,403,8375,0.00,2.47,0.00,0.000,4,0.000,0.075,2558,3405,3430
$GC,8393,-0.56,-146.6,569.5,-6.7,404,8398,0.15,2.47,0.00,0.000,6,0.059,0.064,2517,2049,3430
$GC,8715,-0.49,-146.6,594.4,-7.7,420,8720,0.12,2.67,0.00,0.000,4,0.094,0.078,2543,589,3428
$GC,8743,-0.49,-146.6,596.4,-6.7,421,8747,0.00,2.62,0.00,0.000,6,0.000,0.062,2543,2041,3429
$GC,9059,-0.49,-146.6,617.0,-6.3,436,9063,0.00,2.50,0.00,0.000,4,0.000,0.080,2543,3408,3427
$GC,9099,-0.49,-146.6,619.6,-5.8,437,9105,0.00,2.50,0.00,0.000,6,0.000,0.072,2542,2051,3427
$STATE,9308,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9309,begin apogee
$GC,9316,-0.33,0.0,633.5,6.5,448,9440,0.15,0.00,121.35,1.308,6,0.083,0.000,2577,2203,2832
$STATE,9440,end apogee,CONTROL_FINISHED_OK
$STATE,9440,begin climb
$GC,9443,0.97,146.6,633.8,0.0,454,9572,1.33,2.78,120.78,1.272,4,0.072,0.082,2858,787,2234
$GC,9734,1.15,178.5,621.8,5.1,467,9767,0.20,2.62,27.10,1.215,6,0.054,0.064,2908,2208,2104
$GC,10078,1.15,182.9,601.3,5.9,484,10089,0.00,2.75,5.75,0.970,4,0.000,0.081,2908,787,2085
$GC,10220,1.15,182.9,591.7,7.0,490,10224,0.00,2.58,0.00,0.000,6,0.000,0.067,2908,2176,2085
$GC,10536,1.17,190.9,572.8,5.8,505,10550,0.00,2.70,8.18,1.098,4,0.000,0.081,2908,794,2053
$GC,10581,1.17,190.9,569.7,7.4,507,10585,0.00,2.55,0.00,0.000,6,0.000,0.067,2908,2166,2053
$GC,10908,1.18,198.2,550.0,5.8,523,10917,0.00,0.00,7.70,1.095,6,0.000,0.000,2908,2166,2023
$GC,11216,1.18,198.2,530.2,7.0,538,11221,0.00,2.58,0.00,0.000,4,0.000,0.081,2909,791,2022
$GC,11244,1.18,198.2,528.0,8.5,539,11248,0.00,2.50,0.00,0.000,6,0.000,0.067,2908,2149,2022
$GC,11560,1.18,198.2,506.7,6.4,554,11561,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2150,2021
$GC,11869,1.18,198.2,488.0,6.1,569,11873,0.00,2.70,0.00,0.000,4,0.000,0.080,2909,3608,2020
$GC,11901,1.18,198.2,485.7,6.2,570,11908,0.00,2.67,0.00,0.000,6,0.000,0.067,2908,2150,2020
$GC,12218,1.18,199.0,466.1,6.0,586,12222,0.00,2.50,0.00,0.000,4,0.000,0.075,2908,789,2020
$GC,12245,1.20,214.1,464.5,5.6,587,12265,0.00,2.47,13.98,1.161,6,0.000,0.061,2908,2151,1958
$GC,12590,1.30,272.7,448.2,4.4,604,12641,0.10,0.00,48.90,1.205,6,0.064,0.000,2939,2151,1719
$GC,12937,1.30,272.7,421.4,8.3,621,12942,0.00,2.67,0.00,0.000,4,0.000,0.072,2939,3607,1721
$GC,12959,1.30,272.7,419.2,9.8,622,12963,0.00,2.70,0.00,0.000,6,0.000,0.061,2939,2126,1721
$GC,13280,1.30,272.7,392.7,8.0,638,13281,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2127,1723
$GC,13589,1.30,272.7,366.7,7.9,653,13590,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2127,1724
$GC,13898,1.30,272.7,344.0,6.7,668,13902,0.00,2.72,0.00,0.000,4,0.000,0.065,2939,3610,1725
$GC,13925,1.30,272.7,342.0,7.2,669,13930,0.00,2.67,0.00,0.000,6,0.000,0.055,2939,2122,1725
$GC,14241,1.30,272.7,320.5,7.0,684,14242,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2122,1725
$GC,14550,1.30,272.7,298.5,7.1,699,14554,0.00,2.40,0.00,0.000,4,0.000,0.065,2939,787,1726
$GC,14571,1.30,272.7,296.8,7.6,700,14575,0.00,2.42,0.00,0.000,6,0.000,0.051,2939,2145,1726
$GC,14893,1.30,272.7,274.8,6.6,716,14897,0.00,2.50,0.00,0.000,4,0.000,0.066,2939,781,1726
$GC,14917,1.30,272.7,273.0,7.1,717,14922,0.00,2.40,0.00,0.000,6,0.000,0.051,2939,2127,1726
$GC,15244,1.30,272.7,251.4,6.5,733,15248,0.00,2.45,0.00,0.000,4,0.000,0.066,2939,788,1727
$GC,15266,1.30,272.7,249.7,7.4,734,15270,0.00,2.38,0.00,0.000,6,0.000,0.051,2939,2130,1727
$GC,15593,1.30,272.7,227.4,7.2,750,15594,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2131,1728
$GC,15902,1.30,272.7,206.1,6.8,765,15903,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2132,1729
$GC,16211,1.30,272.7,182.8,8.1,780,16215,0.00,2.45,0.00,0.000,4,0.000,0.065,2939,787,1729
$GC,16244,1.30,272.7,179.9,9.1,781,16250,0.00,2.38,0.00,0.000,6,0.000,0.051,2939,2125,1728
$GC,16560,1.30,272.7,155.5,7.2,797,16569,0.00,2.67,3.83,0.607,4,0.000,0.061,2939,3609,1720
$GC,16593,1.34,272.7,152.6,9.1,798,16597,0.00,2.67,0.00,0.000,6,0.000,0.049,2939,2105,1720
$GC,16909,1.34,272.7,129.2,6.5,813,16913,0.00,2.38,0.00,0.000,4,0.000,0.065,2939,783,1720
$GC,16937,1.34,272.7,126.7,8.6,814,16941,0.00,2.38,0.00,0.000,6,0.000,0.049,2939,2122,1720
$GC,17253,1.35,276.2,103.9,5.9,829,17260,0.00,0.00,5.00,0.676,6,0.000,0.000,2939,2123,1705
$GC,17564,1.36,286.5,78.8,5.7,844,17576,0.00,0.00,9.73,0.786,6,0.000,0.000,2939,2134,1662
$GC,17873,1.36,286.5,55.2,7.7,859,17877,0.00,2.47,0.00,0.000,4,0.000,0.065,2939,781,1662
$GC,17900,1.36,286.5,52.5,9.0,860,17905,0.00,2.38,0.00,0.000,6,0.000,0.050,2939,2119,1662
$GC,18217,1.43,286.5,28.1,8.7,875,18219,0.10,0.00,0.00,0.000,6,0.057,0.000,2973,2137,1663
$STATE,18461,end climb,SURFACE_DEPTH_REACHED
$STATE,18461,begin surface coast
$FINISH,0.5,1.027321
$STATE,18504,end surface coast,CONTROL_FINISHED_OK
$STATE,18504,begin surface
$SM_CCo,18587,0.00,0.000,0,0,1662,287.00
$SM_GC,1.19,11.12,0.00,0.00,0.039,0.000,0.000,422,1974,1662,-10.16,-0.68,287.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1786
$TCM_TEMP,17.40
$XPDR_PINGS,475
$ALTIM_TOP_PING,18.9,999.0
$ALTIM_BOTTOM_PING,550.8,91.8
$24V_AH,23.8,31.029
$10V_AH,10.1,15.050
$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,24.475,162.550,372.275,0.000,0.000,37.762,26.895,154.678,123.750,0.000,0.000,16.701,1643.191,14373.684,516.361,1854.603,548.377,33.373,1462.795,0.000,1815.680,0.000,34.358,0.000
$DEVICE_MAMPS,131.924,82.069,1307.735,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,657.371,601.177,556.477,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44160,889
$CAP_FILE_SIZE,135665,0
$CFSIZE,254472192,241741824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,49,0,0
$GPS,121208,024802,6033.078,-355.467,42,2.0,42,-6.2