version: 66.04
glider: 5
mission: 5
dive: 147
start: 12 4 108 21 48 42
data:
$ID,5
$MISSION,5
$DIVE,147
$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,-90122.945
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,17
$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
$GPS1,214226,6135.461,-438.646,40,1.3,40,-6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-55.8
$GPS2,214750,6135.512,-438.695,12,1.0,17,-6.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_NW
$TGT_LATLONG,6140.000,-445.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.122,0.185
$KALMAN_X,75862.5,866.7,510.0,-7099.9,580.9
$KALMAN_Y,28117.7,-95.1,-1000.7,-258047.2,-581.2
$MHEAD_RNG_PITCHd_Wd,333.5,9990,-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,-146.6,0.0,0.0,0,120,0.00,0.00,-97.07,0.000,6,0.000,0.000,424,1966,3430
$GC,123,-0.97,-146.6,6.2,-6.0,5,139,10.52,2.60,0.00,0.000,4,0.132,0.058,2484,3415,3431
$GC,336,-0.78,-146.6,43.1,-11.3,13,343,0.20,2.53,0.00,0.000,6,0.090,0.049,2526,1998,3432
$GC,654,-0.68,-146.6,69.6,-8.3,29,656,0.10,0.00,0.00,0.000,6,0.095,0.000,2548,1998,3431
$GC,962,-0.68,-146.6,91.9,-7.4,44,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1998,3432
$GC,1271,-0.64,-146.6,114.9,-7.5,59,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1998,3432
$GC,1580,-0.59,-146.6,138.4,-7.7,74,1582,0.10,0.00,0.00,0.000,6,0.094,0.000,2569,1998,3433
$GC,1889,-0.59,-146.6,158.2,-6.0,89,1893,0.00,2.53,0.00,0.000,4,0.000,0.066,2569,594,3433
$GC,1938,-0.59,-146.6,161.7,-6.8,91,1943,0.00,2.53,0.00,0.000,6,0.000,0.052,2569,2013,3432
$GC,2255,-0.59,-146.6,182.0,-6.4,106,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2014,3432
$GC,2564,-0.59,-146.6,201.9,-6.7,121,2568,0.00,2.60,0.00,0.000,4,0.000,0.068,2569,595,3432
$GC,2597,-0.59,-146.6,204.4,-7.2,122,2603,0.00,2.50,0.00,0.000,6,0.000,0.053,2569,2001,3432
$GC,2913,-0.59,-146.6,225.4,-6.7,138,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2002,3432
$GC,3222,-0.59,-146.6,246.8,-6.9,153,3226,0.00,2.58,0.00,0.000,4,0.000,0.067,2569,597,3432
$GC,3261,-0.59,-146.6,249.6,-7.6,155,3266,0.00,2.50,0.00,0.000,6,0.000,0.053,2569,2003,3432
$GC,3594,-0.59,-146.6,272.3,-6.8,171,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2003,3432
$GC,3904,-0.59,-146.6,292.4,-6.3,186,3908,0.00,2.58,0.00,0.000,4,0.000,0.067,2569,595,3432
$GC,3966,-0.59,-146.6,296.5,-6.5,189,3970,0.00,2.50,0.00,0.000,6,0.000,0.052,2569,2004,3432
$GC,4293,-0.63,-146.6,316.4,-6.3,205,4297,0.00,2.58,0.00,0.000,4,0.000,0.069,2569,597,3432
$GC,4343,-0.68,-146.6,319.8,-6.8,207,4347,0.00,2.47,0.00,0.000,6,0.000,0.054,2569,1987,3432
$GC,4665,-0.73,-146.6,339.2,-6.0,223,4666,0.12,0.00,0.00,0.000,6,0.058,0.000,2534,1988,3432
$GC,4974,-0.67,-146.6,362.0,-7.1,238,4978,0.00,2.58,0.00,0.000,4,0.000,0.068,2534,3410,3432
$GC,5007,-0.63,-146.6,364.6,-7.5,239,5014,0.12,2.60,0.00,0.000,6,0.092,0.059,2561,1971,3432
$GC,5323,-0.63,-146.6,384.6,-5.9,255,5324,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1972,3431
$GC,5632,-0.63,-146.6,403.7,-6.2,270,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1972,3431
$GC,5942,-0.63,-146.6,422.7,-5.9,285,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1972,3431
$GC,6251,-0.67,-146.6,442.2,-6.9,300,6256,0.00,2.65,0.00,0.000,4,0.000,0.074,2561,3402,3430
$GC,6324,-0.74,-146.6,447.4,-7.0,303,6328,0.00,2.58,0.00,0.000,6,0.000,0.064,2561,1988,3430
$STATE,6451,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6451,begin apogee
$GC,6458,-0.33,0.0,456.3,6.7,309,6581,0.30,0.00,119.85,1.177,6,0.078,0.000,2626,2250,2832
$STATE,6582,end apogee,CONTROL_FINISHED_OK
$STATE,6582,begin climb
$GC,6585,0.97,146.6,461.3,0.0,315,6716,1.35,2.75,119.18,1.134,4,0.068,0.071,2911,842,2234
$GC,6750,0.97,148.3,456.4,6.0,323,6754,0.00,2.60,0.00,0.000,6,0.000,0.061,2911,2247,2234
$GC,7066,1.07,209.3,441.2,4.3,338,7120,0.00,0.00,51.67,1.130,6,0.000,0.000,2911,2248,1978
$GC,7415,1.12,244.6,423.2,5.0,355,7451,0.15,2.72,29.35,1.115,4,0.060,0.076,2952,840,1835
$GC,7503,1.04,244.6,417.0,7.3,359,7508,0.15,2.58,0.00,0.000,6,0.090,0.063,2924,2243,1834
$GC,7830,1.04,244.6,394.0,7.2,375,7834,0.00,2.62,0.00,0.000,4,0.000,0.076,2923,848,1834
$GC,7896,1.04,244.6,388.7,8.1,378,7901,0.00,2.53,0.00,0.000,6,0.000,0.063,2924,2219,1834
$GC,8218,1.04,244.6,364.7,7.7,394,8222,0.00,2.58,0.00,0.000,4,0.000,0.076,2924,848,1834
$GC,8268,1.04,244.6,360.7,7.8,396,8272,0.00,2.45,0.00,0.000,6,0.000,0.061,2923,2198,1833
$GC,8589,1.04,244.6,337.1,7.4,412,8593,0.00,2.53,0.00,0.000,4,0.000,0.074,2923,846,1833
$GC,8633,1.04,244.6,333.5,8.1,414,8637,0.00,2.45,0.00,0.000,6,0.000,0.061,2923,2190,1833
$GC,8954,1.04,244.6,311.2,6.7,430,8958,0.00,2.50,0.00,0.000,4,0.000,0.074,2924,846,1833
$GC,9021,1.04,244.6,306.3,7.4,433,9026,0.00,2.42,0.00,0.000,6,0.000,0.059,2923,2180,1832
$GC,9349,1.04,244.6,284.7,6.8,449,9353,0.00,2.47,0.00,0.000,4,0.000,0.071,2923,848,1832
$GC,9393,1.04,244.6,281.3,7.7,451,9397,0.00,2.40,0.00,0.000,6,0.000,0.058,2923,2173,1832
$GC,9714,1.04,244.6,259.6,6.8,467,9718,0.00,2.45,0.00,0.000,4,0.000,0.071,2923,842,1832
$GC,9753,1.04,244.6,256.8,7.5,468,9759,0.00,2.38,0.00,0.000,6,0.000,0.060,2923,2164,1832
$GC,10069,1.04,244.6,236.2,6.4,484,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2164,1832
$GC,10377,1.04,244.6,215.2,7.0,499,10382,0.00,2.42,0.00,0.000,4,0.000,0.068,2924,846,1833
$GC,10427,1.04,244.6,211.5,7.3,501,10431,0.00,2.35,0.00,0.000,6,0.000,0.054,2923,2160,1832
$GC,10750,1.09,244.6,189.3,6.8,517,10754,0.00,2.42,0.00,0.000,4,0.000,0.068,2923,842,1833
$GC,10782,1.09,244.6,186.9,7.4,518,10788,0.00,2.35,0.00,0.000,6,0.000,0.054,2924,2149,1833
$GC,11099,1.13,244.6,166.1,6.4,534,11103,0.00,2.40,0.00,0.000,4,0.000,0.067,2924,845,1833
$GC,11126,1.17,244.6,164.0,7.8,535,11131,0.12,2.33,0.00,0.000,6,0.054,0.054,2960,2143,1833
$GC,11443,1.12,244.6,137.7,8.8,550,11444,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2143,1834
$GC,11752,1.06,244.6,112.2,8.3,565,11754,0.15,0.00,0.00,0.000,6,0.082,0.000,2929,2143,1835
$GC,12062,1.06,244.6,89.2,7.5,580,12066,0.00,2.40,0.00,0.000,4,0.000,0.067,2929,838,1835
$GC,12103,1.06,244.6,85.8,8.1,582,12107,0.00,2.33,0.00,0.000,6,0.000,0.053,2929,2138,1835
$GC,12430,1.06,244.6,61.9,7.5,598,12431,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2139,1836
$GC,12739,1.11,244.6,39.3,6.8,613,12744,0.00,2.38,0.00,0.000,4,0.000,0.066,2929,842,1836
$GC,12780,1.11,244.6,36.2,7.8,615,12784,0.00,2.30,0.00,0.000,6,0.000,0.053,2929,2129,1836
$GC,13113,1.11,244.6,18.4,6.0,631,13114,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2129,1837
$STATE,13316,end climb,SURFACE_DEPTH_REACHED
$STATE,13316,begin surface coast
$FINISH,0.6,1.027397
$STATE,13360,end surface coast,CONTROL_FINISHED_OK
$STATE,13360,begin surface
$SM_CCo,13382,4.00,0.581,0,0,1812,250.21
$SM_GC,2.27,0.00,0.00,4.00,0.000,0.000,0.581,425,1987,1812,-10.47,-0.37,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1792
$TCM_TEMP,16.80
$XPDR_PINGS,308
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,401.1,64.7
$24V_AH,23.9,26.498
$10V_AH,10.1,12.478
$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,24.300,105.700,320.050,4.000,0.000,37.760,27.475,137.991,80.500,0.000,0.000,17.368,1193.298,10222.374,477.839,1375.865,443.728,33.370,1162.844,0.000,1349.432,0.000,24.733,0.000
$DEVICE_MAMPS,131.924,75.933,1177.345,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,473.340,433.036,470.721,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31681,643
$CAP_FILE_SIZE,98106,0
$CFSIZE,254472192,243683328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,0,0
$GPS,051208,013308,6138.022,-439.161,40,1.0,40,-6.9