version: 66.04
glider: 5
mission: 5
dive: 181
start: 12 13 108 5 56 25
data:
$ID,5
$MISSION,5
$DIVE,181
$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,-90827.125
$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,26
$R_STBD_OVSHOOT,28
$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
$GPS1,053837,6038.868,-332.248,35,1.7,35,-6.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-57.2
$GPS2,055533,6039.278,-331.923,14,1.6,14,-6.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.123,-0.184
$KALMAN_X,158466.5,-2396.1,-2158.3,-28804.1,32966.1
$KALMAN_Y,88725.8,-2989.1,-2253.3,-418574.3,39568.3
$MHEAD_RNG_PITCHd_Wd,219.8,49770,-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,-146.6,0.0,0.0,0,126,0.00,0.00,-107.53,0.000,6,0.000,0.000,420,2037,3431
$GC,130,-0.97,-146.6,2.7,-2.4,5,146,10.35,2.58,0.00,0.000,4,0.133,0.051,2432,589,3431
$GC,193,-0.63,-146.6,23.0,-16.4,7,199,0.38,2.53,0.00,0.000,6,0.088,0.051,2511,2006,3432
$GC,523,-0.49,-146.6,57.6,-10.9,23,525,0.15,0.00,0.00,0.000,6,0.084,0.000,2543,2012,3432
$GC,831,-0.43,-146.6,86.7,-10.6,38,835,0.00,2.58,0.00,0.000,4,0.000,0.064,2544,591,3432
$GC,864,-0.37,-146.6,90.4,-10.0,39,871,0.12,2.50,0.00,0.000,6,0.084,0.051,2571,1995,3432
$GC,1182,-0.37,-146.6,117.5,-9.4,55,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2012,3432
$GC,1490,-0.37,-146.6,136.3,-5.1,70,1494,0.00,2.58,0.00,0.000,4,0.000,0.064,2571,592,3432
$GC,1522,-0.37,-146.6,138.4,-6.8,71,1529,0.00,2.53,0.00,0.000,6,0.000,0.051,2572,2014,3432
$GC,1839,-0.42,-146.6,156.9,-5.2,87,1844,0.00,2.60,0.00,0.000,4,0.000,0.066,2571,590,3432
$GC,1884,-0.42,-146.6,160.1,-6.7,89,1888,0.00,2.50,0.00,0.000,6,0.000,0.051,2571,2000,3431
$GC,2207,-0.42,-146.6,175.8,-4.8,105,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2001,3432
$GC,2515,-0.42,-146.6,192.3,-5.3,120,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2000,3432
$GC,2823,-0.42,-146.6,211.5,-6.3,135,2827,0.00,2.50,0.00,0.000,4,0.000,0.062,2571,3406,3432
$GC,2850,-0.46,-146.6,213.3,-6.3,136,2855,0.00,2.53,0.00,0.000,6,0.000,0.051,2571,1985,3432
$GC,3167,-0.46,-146.6,233.6,-6.3,151,3172,0.00,2.58,0.00,0.000,4,0.000,0.061,2571,3406,3432
$GC,3195,-0.51,-146.6,235.6,-6.9,152,3200,0.15,2.50,0.00,0.000,6,0.052,0.051,2529,1996,3432
$GC,3512,-0.43,-146.6,261.1,-8.4,167,3513,0.12,0.00,0.00,0.000,6,0.090,0.000,2556,1995,3432
$GC,3821,-0.43,-146.6,283.2,-7.2,182,3825,0.00,2.58,0.00,0.000,4,0.000,0.063,2556,3412,3432
$GC,3860,-0.43,-146.6,286.2,-7.3,184,3865,0.00,2.50,0.00,0.000,6,0.000,0.052,2556,2007,3432
$GC,4187,-0.43,-146.6,308.6,-6.4,200,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2006,3432
$GC,4497,-0.43,-146.6,328.8,-7.0,215,4501,0.00,2.55,0.00,0.000,4,0.000,0.064,2556,3408,3431
$GC,4524,-0.43,-146.6,330.7,-7.0,216,4529,0.00,2.50,0.00,0.000,6,0.000,0.053,2556,2003,3431
$GC,4840,-0.43,-146.6,352.9,-6.7,231,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2003,3431
$GC,5150,-0.43,-146.6,373.1,-6.6,246,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2003,3431
$GC,5459,-0.43,-146.6,394.9,-6.8,261,5463,0.00,2.55,0.00,0.000,4,0.000,0.064,2556,3404,3431
$GC,5491,-0.43,-146.6,397.2,-6.6,262,5497,0.00,2.47,0.00,0.000,6,0.000,0.054,2556,2016,3431
$GC,5808,-0.43,-146.6,415.5,-5.7,278,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2016,3431
$GC,6116,-0.43,-146.6,433.3,-6.4,293,6121,0.00,2.55,0.00,0.000,4,0.000,0.067,2556,593,3431
$GC,6150,-0.43,-146.6,435.8,-7.5,294,6156,0.00,2.53,0.00,0.000,6,0.000,0.054,2556,2014,3431
$GC,6466,-0.43,-146.6,459.3,-7.2,310,6470,0.00,2.50,0.00,0.000,4,0.000,0.067,2556,3408,3431
$GC,6532,-0.43,-146.6,464.5,-7.7,313,6537,0.00,2.47,0.00,0.000,6,0.000,0.057,2556,2027,3431
$GC,6854,-0.43,-146.6,485.7,-6.0,329,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2027,3430
$GC,7163,-0.43,-146.6,507.3,-7.2,344,7168,0.00,2.53,0.00,0.000,4,0.000,0.067,2556,3405,3430
$GC,7230,-0.43,-146.6,512.3,-7.2,347,7235,0.00,2.47,0.00,0.000,6,0.000,0.058,2556,2022,3430
$GC,7552,-0.43,-146.6,534.1,-6.7,363,7556,0.00,2.55,0.00,0.000,4,0.000,0.071,2556,3404,3430
$GC,7592,-0.47,-146.6,536.6,-6.5,365,7596,0.00,2.50,0.00,0.000,6,0.000,0.062,2556,2026,3430
$GC,7920,-0.84,-146.6,549.1,-0.1,381,7925,0.38,2.58,0.00,0.000,4,0.058,0.070,2463,3409,3429
$GC,7999,-1.15,-146.6,549.1,0.2,384,8006,0.30,2.50,0.00,0.000,6,0.053,0.060,2390,2026,3429
$STATE,8168,end dive,NO_VERTICAL_VELOCITY
$STATE,8168,begin apogee
$GC,8175,-0.33,0.0,549.2,0.0,393,8300,0.85,0.00,121.85,1.216,6,0.061,0.000,2580,2211,2832
$STATE,8301,end apogee,CONTROL_FINISHED_OK
$STATE,8301,begin climb
$GC,8304,0.97,146.6,549.0,0.0,399,8435,1.27,2.72,120.25,1.180,4,0.060,0.074,2860,790,2234
$GC,8468,1.16,185.0,543.1,4.9,407,8509,0.20,2.60,32.62,1.135,6,0.053,0.061,2912,2201,2077
$GC,8835,1.19,204.9,522.7,5.5,425,8858,0.00,2.72,17.80,1.111,4,0.000,0.078,2912,3602,1995
$GC,8881,1.20,211.9,519.7,5.8,427,8896,0.00,2.60,7.50,0.969,6,0.000,0.067,2912,2208,1967
$GC,9213,1.21,218.7,500.8,5.8,443,9228,0.00,2.72,7.25,0.986,4,0.000,0.077,2912,783,1939
$GC,9258,1.21,218.7,498.0,6.8,445,9262,0.00,2.62,0.00,0.000,6,0.000,0.063,2912,2206,1939
$GC,9585,1.24,231.6,479.2,5.6,461,9603,0.00,0.00,12.02,1.094,6,0.000,0.000,2912,2206,1887
$GC,9914,1.28,231.6,458.6,6.5,477,9918,0.00,2.65,0.00,0.000,4,0.000,0.074,2912,790,1887
$GC,9959,1.28,231.6,455.6,6.6,479,9964,0.00,2.55,0.00,0.000,6,0.000,0.061,2912,2192,1887
$GC,10280,1.33,231.6,433.9,6.9,495,10285,0.12,2.60,0.00,0.000,4,0.060,0.073,2948,3604,1886
$GC,10326,1.28,231.6,429.7,9.5,497,10330,0.00,2.58,0.00,0.000,6,0.000,0.062,2948,2192,1886
$GC,10647,1.23,231.6,402.0,8.8,513,10652,0.17,2.55,0.00,0.000,4,0.084,0.070,2908,790,1886
$GC,10675,1.27,231.6,399.6,7.9,514,10679,0.00,2.53,0.00,0.000,6,0.000,0.057,2909,2195,1886
$GC,10991,1.34,231.6,378.6,6.3,529,10993,0.12,0.00,0.00,0.000,6,0.058,0.000,2945,2196,1886
$GC,11300,1.34,231.6,357.6,6.5,544,11304,0.00,2.60,0.00,0.000,4,0.000,0.069,2945,783,1886
$GC,11340,1.28,231.6,354.8,7.4,546,11345,0.00,2.53,0.00,0.000,6,0.000,0.056,2945,2189,1886
$GC,11667,1.28,231.6,333.4,6.4,562,11672,0.00,2.58,0.00,0.000,4,0.000,0.069,2945,788,1886
$GC,11695,1.24,231.6,331.3,8.0,563,11700,0.12,2.50,0.00,0.000,6,0.087,0.054,2919,2184,1886
$GC,12012,1.33,258.3,314.1,5.3,578,12042,0.00,2.65,22.67,1.027,4,0.000,0.067,2919,794,1779
$GC,12066,1.39,265.1,311.0,5.8,580,12079,0.15,2.50,7.32,0.888,6,0.051,0.053,2963,2176,1751
$GC,12390,1.33,265.1,288.8,6.9,596,12392,0.12,0.00,0.00,0.000,6,0.083,0.000,2937,2177,1751
$GC,12697,1.35,277.8,271.2,5.7,611,12718,0.00,2.65,12.07,0.942,4,0.000,0.066,2937,786,1698
$GC,12752,1.36,285.7,267.9,5.8,613,12767,0.00,2.47,7.97,0.875,6,0.000,0.052,2937,2163,1666
$GC,13095,1.44,335.3,251.9,4.6,630,13142,0.12,2.60,40.58,0.990,4,0.053,0.067,2975,788,1464
$GC,13181,1.40,335.3,245.6,8.0,634,13186,0.00,2.47,0.00,0.000,6,0.000,0.053,2974,2155,1463
$GC,13504,1.36,335.3,219.8,8.3,650,13505,0.15,0.00,0.00,0.000,6,0.082,0.000,2943,2156,1465
$GC,13812,1.41,335.3,198.1,7.1,665,13816,0.00,2.50,0.00,0.000,4,0.000,0.067,2943,788,1466
$GC,13879,1.45,335.3,192.9,8.2,668,13884,0.10,2.42,0.00,0.000,6,0.058,0.052,2974,2142,1465
$GC,14200,1.45,335.3,163.1,9.8,684,14202,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2143,1466
$GC,14510,1.45,335.3,134.6,8.7,699,14514,0.00,2.50,0.00,0.000,4,0.000,0.067,2974,784,1466
$GC,14577,1.41,335.3,128.6,8.5,702,14581,0.00,2.42,0.00,0.000,6,0.000,0.052,2974,2139,1466
$GC,14899,1.41,335.3,102.5,7.8,718,14900,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2140,1466
$GC,15209,1.36,335.3,77.0,8.1,733,15213,0.15,2.50,0.00,0.000,4,0.077,0.065,2942,788,1466
$GC,15231,1.36,335.3,75.2,8.5,734,15235,0.00,2.40,0.00,0.000,6,0.000,0.052,2942,2132,1466
$GC,15553,1.53,399.0,57.0,4.3,750,15607,0.17,0.00,50.95,0.857,6,0.048,0.000,2995,2141,1204
$GC,15906,1.47,399.0,21.9,10.4,767,15911,0.12,2.50,0.00,0.000,4,0.083,0.066,2969,787,1205
$GC,15951,1.52,399.0,17.2,7.8,769,15955,0.00,2.40,0.00,0.000,6,0.000,0.051,2969,2127,1204
$STATE,16104,end climb,SURFACE_DEPTH_REACHED
$STATE,16104,begin surface coast
$FINISH,0.2,1.003174
$STATE,16148,end surface coast,CONTROL_FINISHED_OK
$STATE,16148,begin surface
$SM_CCo,16231,0.00,0.000,0,0,1204,399.35
$SM_GC,0.88,11.10,0.00,0.00,0.038,0.000,0.000,422,1967,1204,-10.16,-0.65,399.35
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1797
$TCM_TEMP,17.10
$XPDR_PINGS,446
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,23.9,32.136
$10V_AH,10.1,15.574
$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,27.025,148.100,460.875,0.000,0.000,188.805,221.010,225.940,116.000,0.000,0.000,14.623,1446.125,12591.796,601.070,1659.124,946.797,33.368,1478.290,0.000,1624.426,0.000,29.666,0.000
$DEVICE_MAMPS,132.691,78.234,1215.695,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,573.983,523.767,499.891,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41000,779
$CAP_FILE_SIZE,131998,0
$CFSIZE,254472192,241348608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,46,0,0
$GPS,131208,102808,6041.175,-325.564,36,0.9,36,-6.0