version: 66.04
glider: 5
mission: 5
dive: 148
start: 12 5 108 1 39 1
data:
$ID,5
$MISSION,5
$DIVE,148
$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,-90138.695
$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,30
$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
$GPS1,013308,6138.022,-439.161,40,1.0,40,-6.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-60.1
$GPS2,013809,6138.100,-439.170,15,1.2,15,-6.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_NW
$TGT_LATLONG,6140.000,-445.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.192,0.111
$KALMAN_X,81342.1,-98.9,-73.1,-11414.7,9937.3
$KALMAN_Y,25503.2,301.8,-190.4,-251876.0,-6311.0
$MHEAD_RNG_PITCHd_Wd,306.9,6216,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-79.18,0.000,2,0.000,0.000,424,1976,3392
$GC,102,-0.97,-146.6,4.9,-5.7,4,125,10.55,2.60,-0.85,0.000,4,0.133,0.072,2482,3413,3431
$GC,378,-0.78,-146.6,47.3,-14.2,16,383,0.22,2.53,0.00,0.000,6,0.087,0.049,2530,1992,3432
$GC,700,-0.70,-146.6,76.0,-8.7,32,704,0.00,2.53,0.00,0.000,4,0.000,0.066,2530,588,3431
$GC,778,-0.62,-146.6,83.4,-9.5,35,786,0.15,2.53,0.00,0.000,6,0.087,0.052,2563,2010,3432
$GC,1095,-0.62,-146.6,103.5,-6.4,51,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2011,3432
$GC,1404,-0.62,-146.6,124.8,-7.1,66,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2011,3432
$GC,1713,-0.62,-146.6,146.4,-6.8,81,1717,0.00,2.60,0.00,0.000,4,0.000,0.070,2563,595,3432
$GC,1753,-0.62,-146.6,149.1,-6.5,83,1757,0.00,2.50,0.00,0.000,6,0.000,0.054,2563,2001,3432
$GC,2085,-0.62,-146.6,171.4,-6.5,99,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2003,3432
$GC,2394,-0.62,-146.6,192.1,-6.7,114,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2003,3432
$GC,2704,-0.62,-146.6,212.8,-6.6,129,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2003,3433
$GC,3013,-0.62,-146.6,234.1,-7.0,144,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2004,3432
$GC,3322,-0.62,-146.6,256.2,-7.0,159,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2003,3433
$GC,3632,-0.62,-146.6,276.3,-6.4,174,3636,0.00,2.53,0.00,0.000,4,0.000,0.065,2563,3406,3432
$GC,3673,-0.67,-146.6,278.8,-6.1,176,3677,0.00,2.53,0.00,0.000,6,0.000,0.054,2563,1995,3432
$GC,4000,-0.67,-146.6,298.7,-6.1,192,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1995,3432
$GC,4309,-0.67,-146.6,316.4,-5.5,207,4313,0.00,2.58,0.00,0.000,4,0.000,0.065,2563,3405,3432
$GC,4349,-0.71,-146.6,319.0,-6.4,209,4353,0.00,2.53,0.00,0.000,6,0.000,0.055,2563,1994,3432
$GC,4676,-0.71,-146.6,338.2,-5.9,225,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1994,3432
$GC,4984,-0.71,-146.6,356.8,-6.3,240,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1994,3432
$GC,5294,-0.71,-146.6,375.4,-6.0,255,5298,0.00,2.60,0.00,0.000,4,0.000,0.068,2563,3408,3432
$GC,5351,-0.75,-146.6,379.0,-6.7,257,5358,0.12,2.55,0.00,0.000,6,0.061,0.059,2529,1995,3431
$GC,5667,-0.70,-146.6,402.6,-7.6,273,5672,0.00,2.55,0.00,0.000,4,0.000,0.074,2529,590,3432
$GC,5701,-0.64,-146.6,405.5,-8.6,274,5708,0.15,2.50,0.00,0.000,6,0.091,0.058,2561,1985,3431
$STATE,5808,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5808,begin apogee
$GC,5815,-0.33,0.0,412.6,6.2,280,5937,0.30,0.00,119.20,1.124,6,0.077,0.000,2625,2257,2832
$STATE,5938,end apogee,CONTROL_FINISHED_OK
$STATE,5938,begin climb
$GC,5941,0.97,146.6,417.1,0.0,286,6064,1.30,0.00,118.38,1.098,6,0.060,0.000,2911,2257,2234
$GC,6377,0.99,163.3,399.9,5.5,307,6399,0.00,2.67,14.80,1.013,4,0.000,0.070,2911,845,2166
$GC,6445,0.99,163.3,395.6,6.3,310,6449,0.00,2.55,0.00,0.000,6,0.000,0.059,2911,2235,2166
$GC,6772,1.03,187.9,377.7,5.3,326,6798,0.00,2.67,21.33,1.057,4,0.000,0.071,2911,843,2065
$GC,6849,1.03,187.9,373.2,6.0,329,6855,0.00,2.53,0.00,0.000,6,0.000,0.061,2911,2217,2065
$GC,7165,1.10,228.0,356.7,4.9,345,7205,0.12,0.00,33.60,1.082,6,0.059,0.000,2947,2217,1902
$GC,7514,1.03,228.0,332.3,7.2,362,7519,0.12,2.58,0.00,0.000,4,0.089,0.071,2923,842,1901
$GC,7577,1.03,228.0,327.9,7.4,365,7581,0.00,2.53,0.00,0.000,6,0.000,0.060,2922,2223,1901
$GC,7905,1.03,228.0,307.2,6.2,381,7909,0.00,2.58,0.00,0.000,4,0.000,0.071,2922,839,1901
$GC,7971,1.03,228.0,302.7,6.8,384,7975,0.00,2.47,0.00,0.000,6,0.000,0.058,2922,2198,1900
$GC,8292,1.03,228.0,283.1,6.0,400,8293,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2199,1900
$GC,8601,1.04,233.4,264.4,5.9,415,8612,0.00,2.55,5.88,0.844,4,0.000,0.069,2922,845,1879
$GC,8680,1.04,233.4,259.2,6.5,418,8686,0.00,2.45,0.00,0.000,6,0.000,0.057,2922,2195,1879
$GC,8996,1.04,233.4,238.5,6.7,434,9000,0.00,2.50,0.00,0.000,4,0.000,0.069,2922,842,1879
$GC,9028,1.04,233.4,236.3,7.0,435,9035,0.00,2.42,0.00,0.000,6,0.000,0.056,2922,2186,1878
$GC,9344,1.04,233.4,216.9,6.3,451,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2186,1879
$GC,9653,1.04,233.4,195.7,7.1,466,9657,0.00,2.47,0.00,0.000,4,0.000,0.067,2922,840,1879
$GC,9715,1.04,233.4,190.8,8.3,468,9721,0.00,2.42,0.00,0.000,6,0.000,0.054,2922,2190,1879
$GC,10031,1.06,245.1,171.6,5.7,484,10047,0.00,2.53,10.93,0.890,4,0.000,0.066,2922,846,1830
$GC,10081,1.06,245.1,168.5,6.5,485,10085,0.00,2.40,0.00,0.000,6,0.000,0.053,2922,2174,1830
$GC,10398,1.11,245.1,148.3,7.2,500,10402,0.00,2.45,0.00,0.000,4,0.000,0.066,2922,840,1830
$GC,10431,1.11,245.1,145.4,8.8,501,10437,0.00,2.38,0.00,0.000,6,0.000,0.054,2922,2163,1831
$GC,10748,1.17,245.1,118.2,8.4,517,10752,0.12,2.45,0.00,0.000,4,0.055,0.066,2961,838,1831
$GC,10788,1.09,245.1,114.5,10.2,519,10793,0.12,2.35,0.00,0.000,6,0.084,0.053,2936,2163,1831
$GC,11115,1.09,245.1,93.5,6.6,535,11119,0.00,2.70,0.00,0.000,4,0.000,0.064,2935,3659,1831
$GC,11142,1.09,245.1,91.3,8.5,536,11147,0.00,2.70,0.00,0.000,6,0.000,0.052,2935,2148,1831
$GC,11460,1.09,245.1,67.4,8.6,551,11461,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2148,1832
$GC,11768,1.09,245.1,42.1,7.1,566,11769,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2149,1832
$GC,12078,1.09,245.1,19.9,6.3,581,12082,0.00,2.35,0.00,0.000,4,0.000,0.066,2935,844,1832
$GC,12111,1.09,245.1,17.0,7.5,582,12118,0.00,2.35,0.00,0.000,6,0.000,0.052,2935,2160,1832
$STATE,12302,end climb,SURFACE_DEPTH_REACHED
$STATE,12302,begin surface coast
$FINISH,1.3,1.027434
$STATE,12344,end surface coast,CONTROL_FINISHED_OK
$STATE,12344,begin surface
$SM_CCo,12366,2.72,0.395,0,0,1811,250.21
$SM_GC,2.65,0.00,0.00,2.72,0.000,0.000,0.395,425,1972,1811,-10.47,-0.79,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1782
$TCM_TEMP,16.70
$XPDR_PINGS,337
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,350.4,71.7
$24V_AH,23.9,26.619
$10V_AH,10.1,12.539
$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,24.300,96.450,324.100,2.725,0.000,37.761,26.689,125.836,87.250,0.000,0.000,15.126,1099.418,9409.100,462.579,1290.437,414.391,33.370,1108.930,0.000,1267.420,0.000,21.556,0.000
$DEVICE_MAMPS,133.458,73.632,1124.422,395.005,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.925,399.444,450.073,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28620,594
$CAP_FILE_SIZE,90914,0
$CFSIZE,254472192,243646464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,051208,050631,6139.580,-442.232,41,1.0,41,-7.0