version: 66.04
glider: 5
mission: 5
dive: 176
start: 12 12 108 7 38 12
data:
$ID,5
$MISSION,5
$DIVE,176
$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,-90726.844
$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,29
$R_STBD_OVSHOOT,43
$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
$GPS1,073108,6033.470,-349.100,36,1.8,36,-6.2
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-54.2
$GPS2,073720,6033.593,-348.878,9,1.8,14,-6.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.120,-0.186
$KALMAN_X,138356.8,-1702.6,-818.3,-24733.5,26870.8
$KALMAN_Y,59733.6,-1547.4,363.9,-404274.5,22198.2
$MHEAD_RNG_PITCHd_Wd,218.9,33882,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.55,0.000,2,0.000,0.000,420,1976,3156
$GC,123,-0.97,-146.6,3.4,-2.6,5,147,10.38,2.58,-7.45,0.000,4,0.133,0.076,2431,598,3431
$GC,186,-0.60,-146.6,14.8,-14.0,7,194,0.40,2.47,0.00,0.000,6,0.086,0.049,2515,1989,3431
$GC,503,-0.48,-146.6,49.0,-8.3,23,508,0.12,2.55,0.00,0.000,4,0.088,0.062,2543,598,3431
$GC,544,-0.43,-146.6,54.1,-11.6,25,548,0.00,2.50,0.00,0.000,6,0.000,0.051,2543,2001,3431
$GC,871,-0.36,-146.6,72.4,-5.3,41,876,0.12,2.58,0.00,0.000,4,0.089,0.063,2570,598,3431
$GC,934,-0.36,-146.6,76.9,-7.2,44,938,0.00,2.47,0.00,0.000,6,0.000,0.050,2570,1995,3431
$GC,1261,-0.36,-146.6,97.7,-7.8,60,1266,0.00,2.50,0.00,0.000,4,0.000,0.058,2570,3404,3431
$GC,1312,-0.36,-146.6,102.5,-9.2,62,1316,0.00,2.47,0.00,0.000,6,0.000,0.046,2570,1994,3431
$GC,1628,-0.36,-146.6,132.5,-10.4,77,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1994,3431
$GC,1936,-0.36,-146.6,162.1,-9.5,92,1941,0.00,2.55,0.00,0.000,4,0.000,0.059,2570,3413,3431
$GC,1970,-0.41,-146.6,165.0,-8.5,93,1976,0.00,2.50,0.00,0.000,6,0.000,0.048,2570,1999,3431
$GC,2286,-0.41,-146.6,185.4,-6.5,109,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1999,3431
$GC,2595,-0.41,-146.6,205.7,-7.0,124,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1999,3431
$GC,2904,-0.41,-146.6,230.6,-8.4,139,2908,0.00,2.55,0.00,0.000,4,0.000,0.061,2570,3406,3431
$GC,2945,-0.47,-146.6,233.9,-8.3,141,2949,0.00,2.50,0.00,0.000,6,0.000,0.049,2570,1996,3431
$GC,3271,-0.47,-146.6,258.9,-7.4,157,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1995,3431
$GC,3580,-0.47,-146.6,282.0,-7.3,172,3585,0.00,2.55,0.00,0.000,4,0.000,0.061,2570,3404,3431
$GC,3644,-0.51,-146.6,286.8,-7.8,175,3649,0.15,2.47,0.00,0.000,6,0.052,0.050,2528,2005,3431
$GC,3971,-0.43,-146.6,315.8,-9.2,191,3973,0.12,0.00,0.00,0.000,6,0.089,0.000,2554,2004,3431
$GC,4281,-0.43,-146.6,340.1,-7.6,206,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2004,3431
$GC,4589,-0.43,-146.6,362.4,-7.3,221,4590,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2004,3431
$GC,4898,-0.43,-146.6,382.7,-6.4,236,4903,0.00,2.55,0.00,0.000,4,0.000,0.063,2554,3408,3431
$GC,4938,-0.43,-146.6,385.4,-7.5,238,4943,0.00,2.47,0.00,0.000,6,0.000,0.052,2554,2017,3431
$GC,5266,-0.43,-146.6,407.6,-7.3,254,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2016,3431
$GC,5574,-0.43,-146.6,431.0,-7.5,269,5579,0.00,2.53,0.00,0.000,4,0.000,0.064,2554,3403,3431
$GC,5637,-0.43,-146.6,436.0,-8.8,272,5642,0.00,2.45,0.00,0.000,6,0.000,0.052,2554,2026,3431
$GC,5964,-0.43,-146.6,459.5,-7.5,288,5968,0.00,2.55,0.00,0.000,4,0.000,0.066,2554,592,3431
$GC,6014,-0.43,-146.6,463.7,-8.3,290,6019,0.00,2.55,0.00,0.000,6,0.000,0.051,2554,2031,3431
$GC,6330,-0.43,-146.6,485.6,-6.7,305,6334,0.00,2.47,0.00,0.000,4,0.000,0.065,2554,3410,3431
$GC,6408,-0.43,-146.6,491.3,-7.1,308,6414,0.00,2.45,0.00,0.000,6,0.000,0.054,2554,2039,3431
$GC,6723,-0.43,-146.6,512.4,-6.6,324,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2039,3431
$GC,7033,-0.43,-146.6,531.7,-6.4,339,7037,0.00,2.60,0.00,0.000,4,0.000,0.071,2554,597,3431
$GC,7054,-0.43,-146.6,533.1,-6.3,340,7059,0.00,2.58,0.00,0.000,6,0.000,0.054,2554,2042,3431
$STATE,7105,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7105,begin apogee
$GC,7112,-0.33,0.0,536.4,6.2,343,7236,0.10,0.00,120.78,1.175,6,0.094,0.000,2577,2209,2832
$STATE,7236,end apogee,CONTROL_FINISHED_OK
$STATE,7236,begin climb
$GC,7240,0.97,146.6,542.3,0.0,349,7367,1.33,2.60,120.03,1.145,4,0.073,0.071,2857,3595,2234
$GC,7387,1.12,187.1,538.2,4.9,356,7428,0.17,2.58,34.03,1.101,6,0.050,0.061,2904,2190,2068
$GC,7755,1.24,187.1,514.4,6.8,374,7760,0.00,2.55,0.00,0.000,4,0.000,0.073,2904,797,2068
$GC,7946,1.27,203.5,503.2,5.6,382,7966,0.00,2.45,14.62,1.055,6,0.000,0.057,2904,2149,2002
$GC,8284,1.37,231.0,487.2,5.2,399,8310,0.17,0.00,23.70,1.101,6,0.053,0.000,2957,2150,1890
$GC,8615,1.30,231.0,460.4,8.0,415,8617,0.12,0.00,0.00,0.000,6,0.090,0.000,2933,2149,1890
$GC,8925,1.30,231.0,437.5,6.8,430,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2149,1889
$GC,9233,1.30,231.0,415.5,6.9,445,9235,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2149,1888
$GC,9543,1.30,231.0,393.7,6.8,460,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2149,1889
$GC,9852,1.30,231.0,372.6,6.9,475,9856,0.00,2.47,0.00,0.000,4,0.000,0.067,2933,796,1889
$GC,9880,1.30,231.0,370.5,7.7,476,9884,0.00,2.40,0.00,0.000,6,0.000,0.052,2933,2141,1888
$GC,10201,1.30,231.0,349.5,6.4,492,10202,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2142,1889
$GC,10510,1.30,231.0,327.3,7.2,507,10514,0.00,2.47,0.00,0.000,4,0.000,0.067,2933,790,1889
$GC,10560,1.30,231.0,323.4,8.0,509,10564,0.00,2.40,0.00,0.000,6,0.000,0.053,2933,2137,1889
$GC,10876,1.30,231.0,301.1,7.1,524,10877,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2138,1889
$GC,11186,1.30,231.0,279.4,7.3,539,11190,0.00,2.45,0.00,0.000,4,0.000,0.065,2933,792,1889
$GC,11219,1.30,231.0,276.7,8.4,540,11223,0.00,2.38,0.00,0.000,6,0.000,0.051,2933,2129,1889
$GC,11535,1.30,233.1,255.9,5.9,555,11540,0.00,0.00,3.55,0.604,6,0.000,0.000,2933,2129,1881
$GC,11844,1.30,234.7,237.5,6.0,570,11846,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2127,1881
$GC,12153,1.30,234.7,219.0,7.6,585,12154,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2127,1882
$GC,12462,1.30,234.7,198.0,6.1,600,12463,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2127,1881
$GC,12772,1.30,234.7,173.6,8.6,615,12773,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2146,1882
$GC,13081,1.30,234.7,151.8,6.7,630,13085,0.00,2.42,0.00,0.000,4,0.000,0.064,2933,794,1882
$GC,13114,1.33,249.3,149.9,5.6,631,13134,0.00,2.35,14.55,0.854,6,0.000,0.050,2933,2124,1815
$GC,13457,1.33,249.3,127.5,6.5,648,13462,0.00,2.42,0.00,0.000,4,0.000,0.064,2933,791,1815
$GC,13498,1.33,249.3,125.2,6.0,650,13502,0.00,2.35,0.00,0.000,6,0.000,0.051,2933,2117,1814
$GC,13831,1.33,249.3,102.0,7.8,666,13832,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2132,1815
$GC,14140,1.33,249.3,82.2,6.9,681,14141,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2122,1815
$GC,14451,1.37,249.3,56.9,9.2,696,14455,0.00,2.42,0.00,0.000,4,0.000,0.064,2933,791,1815
$GC,14495,1.37,249.3,52.8,9.5,698,14499,0.00,2.35,0.00,0.000,6,0.000,0.050,2933,2118,1815
$GC,14817,1.37,249.3,30.0,7.8,714,14818,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2133,1816
$GC,15126,1.44,263.1,10.5,5.6,729,15145,0.15,0.00,12.27,0.760,6,0.049,0.000,2977,2134,1759
$STATE,15206,end climb,SURFACE_DEPTH_REACHED
$STATE,15206,begin surface coast
$FINISH,0.4,1.027312
$STATE,15247,end surface coast,CONTROL_FINISHED_OK
$STATE,15247,begin surface
$SM_CCo,15331,0.00,0.000,0,0,1757,263.70
$SM_GC,1.09,11.15,0.00,0.00,0.039,0.000,0.000,420,1978,1757,-10.16,-0.65,263.70
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1778
$TCM_TEMP,17.40
$XPDR_PINGS,517
$ALTIM_TOP_PING,18.5,999.0
$ALTIM_BOTTOM_PING,525.3,20.1
$24V_AH,23.9,31.342
$10V_AH,10.1,15.202
$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,24.500,100.025,343.525,0.000,0.000,37.762,26.669,185.942,134.000,0.000,0.000,14.849,1331.090,11857.243,481.940,1515.377,516.544,33.364,1240.762,0.000,1486.517,0.000,32.560,0.000
$DEVICE_MAMPS,133.458,75.933,1175.044,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,545.093,496.158,511.879,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38030,735
$CAP_FILE_SIZE,107322,0
$CFSIZE,254472192,241655808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,0,0
$GPS,121208,115501,6034.311,-343.592,36,2.0,41,-6.2