version: 66.04
glider: 5
mission: 5
dive: 149
start: 12 5 108 5 12 19
data:
$ID,5
$MISSION,5
$DIVE,149
$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,-90156.07
$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,19
$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
$GPS1,050631,6139.580,-442.232,41,1.0,41,-7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-61.4
$GPS2,051127,6139.567,-442.321,16,1.2,16,-7.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.026,-0.220
$KALMAN_X,85465.1,-828.3,-451.9,-16987.4,17992.5
$KALMAN_Y,25245.3,233.4,-164.9,-248877.2,-6032.6
$MHEAD_RNG_PITCHd_Wd,180.3,159799,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.97,-146.6,0.0,0.0,0,98,0.00,0.00,-80.43,0.000,6,0.000,0.000,425,1968,3430
$GC,101,-0.97,-146.6,5.3,-6.5,4,118,10.55,2.50,0.00,0.000,4,0.134,0.058,2479,591,3432
$GC,203,-0.79,-146.6,28.3,-15.9,7,210,0.22,2.53,0.00,0.000,6,0.090,0.053,2527,2006,3433
$GC,519,-0.69,-146.6,54.8,-8.8,23,524,0.10,2.58,0.00,0.000,4,0.094,0.066,2548,600,3433
$GC,547,-0.65,-146.6,57.1,-7.8,24,551,0.00,2.50,0.00,0.000,6,0.000,0.052,2548,2001,3433
$GC,865,-0.65,-146.6,81.5,-7.4,39,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2001,3433
$GC,1172,-0.65,-146.6,102.7,-6.7,54,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2001,3433
$GC,1481,-0.65,-146.6,122.7,-6.3,69,1486,0.00,2.58,0.00,0.000,4,0.000,0.067,2548,596,3433
$GC,1523,-0.65,-146.6,125.5,-7.9,71,1528,0.00,2.47,0.00,0.000,6,0.000,0.053,2548,1986,3433
$GC,1850,-0.65,-146.6,151.9,-7.2,87,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1987,3433
$GC,2162,-0.65,-146.6,175.7,-7.8,102,2166,0.00,2.55,0.00,0.000,4,0.000,0.065,2548,3405,3433
$GC,2189,-0.65,-146.6,178.0,-7.0,103,2193,0.00,2.53,0.00,0.000,6,0.000,0.052,2548,1983,3433
$GC,2510,-0.65,-146.6,202.4,-7.1,119,2514,0.00,2.60,0.00,0.000,4,0.000,0.062,2548,3413,3433
$GC,2537,-0.65,-146.6,204.5,-7.1,120,2541,0.00,2.55,0.00,0.000,6,0.000,0.052,2548,1983,3433
$GC,2854,-0.65,-146.6,226.3,-7.1,135,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1981,3433
$GC,3164,-0.65,-146.6,250.5,-8.4,150,3168,0.00,2.60,0.00,0.000,4,0.000,0.063,2548,3413,3433
$GC,3191,-0.65,-146.6,253.1,-8.3,151,3196,0.00,2.55,0.00,0.000,6,0.000,0.052,2548,1984,3433
$GC,3508,-0.65,-146.6,279.5,-8.3,166,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1983,3433
$GC,3817,-0.65,-146.6,304.5,-7.6,181,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1984,3433
$GC,4126,-0.65,-146.6,326.0,-6.7,196,4130,0.00,2.50,0.00,0.000,4,0.000,0.068,2548,595,3433
$GC,4221,-0.65,-146.6,333.3,-7.9,200,4225,0.00,2.45,0.00,0.000,6,0.000,0.054,2548,1972,3433
$GC,4537,-0.65,-146.6,355.8,-7.2,215,4541,0.00,2.55,0.00,0.000,4,0.000,0.071,2548,588,3433
$GC,4580,-0.65,-146.6,359.6,-8.4,217,4584,0.00,2.42,0.00,0.000,6,0.000,0.056,2548,1948,3433
$STATE,4761,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4761,begin apogee
$GC,4768,-0.33,0.0,373.5,7.6,226,4891,0.38,0.00,119.28,1.086,6,0.074,0.000,2628,2251,2832
$STATE,4891,end apogee,CONTROL_FINISHED_OK
$STATE,4892,begin climb
$GC,4894,0.97,146.6,378.8,0.0,232,5016,1.30,0.00,118.15,1.058,6,0.062,0.000,2909,2251,2234
$GC,5315,1.05,158.8,359.7,5.7,253,5336,0.00,2.67,11.45,0.946,4,0.000,0.071,2910,3653,2183
$GC,5454,1.05,158.8,351.5,6.1,259,5458,0.00,2.67,0.00,0.000,6,0.000,0.060,2910,2190,2183
$GC,5775,1.11,196.9,335.5,5.0,275,5813,0.12,2.50,31.70,1.032,4,0.058,0.071,2946,849,2028
$GC,5884,1.01,196.9,328.7,7.0,279,5889,0.12,2.42,0.00,0.000,6,0.090,0.056,2920,2181,2028
$GC,6211,1.04,209.9,309.8,5.6,295,6232,0.00,2.58,11.62,0.963,4,0.000,0.069,2920,846,1975
$GC,6289,1.05,218.5,305.3,5.8,298,6303,0.00,2.40,8.68,0.917,6,0.000,0.057,2920,2166,1941
$GC,6631,1.05,218.5,285.3,6.3,315,6636,0.00,2.45,0.00,0.000,4,0.000,0.071,2921,848,1940
$GC,6665,1.05,218.5,282.9,6.7,316,6671,0.00,2.35,0.00,0.000,6,0.000,0.057,2921,2144,1940
$GC,6981,1.05,218.5,262.1,6.6,332,6982,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2144,1940
$GC,7290,1.07,232.5,244.0,5.6,347,7312,0.00,2.50,12.43,0.945,4,0.000,0.068,2920,845,1884
$GC,7346,1.07,232.5,240.5,6.4,349,7350,0.00,2.35,0.00,0.000,6,0.000,0.055,2920,2140,1884
$GC,7662,1.11,232.5,221.5,6.1,364,7663,0.10,0.00,0.00,0.000,6,0.061,0.000,2950,2141,1884
$GC,7971,1.07,232.5,198.3,7.4,379,7975,0.00,2.38,0.00,0.000,4,0.000,0.068,2951,843,1884
$GC,7995,1.01,232.5,196.5,8.0,380,7999,0.15,2.33,0.00,0.000,6,0.087,0.054,2920,2137,1884
$GC,8322,1.06,235.7,177.4,5.9,396,8328,0.00,0.00,4.40,0.689,6,0.000,0.000,2920,2137,1871
$GC,8631,1.11,235.7,157.7,6.6,411,8636,0.10,2.40,0.00,0.000,4,0.060,0.065,2950,842,1871
$GC,8665,1.05,235.7,155.2,7.4,412,8669,0.12,2.33,0.00,0.000,6,0.084,0.053,2926,2138,1871
$GC,8981,1.05,235.7,133.8,7.3,427,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2138,1871
$GC,9290,1.05,235.7,112.1,6.7,442,9291,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2138,1871
$GC,9599,1.05,235.7,92.2,6.9,457,9603,0.00,2.38,0.00,0.000,4,0.000,0.067,2926,845,1871
$GC,9620,1.05,235.7,90.4,7.6,458,9625,0.00,2.30,0.00,0.000,6,0.000,0.053,2926,2129,1871
$GC,9942,1.05,235.7,72.5,6.3,474,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2129,1871
$GC,10252,1.09,235.7,51.4,7.4,489,10253,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2130,1871
$GC,10561,1.13,235.7,29.0,7.4,504,10565,0.00,2.35,0.00,0.000,4,0.000,0.067,2926,848,1871
$GC,10594,1.13,235.7,26.3,7.7,505,10600,0.00,2.28,0.00,0.000,6,0.000,0.053,2925,2120,1871
$GC,10910,1.13,235.7,4.7,7.6,521,10915,0.00,2.35,0.00,0.000,4,0.000,0.067,2926,839,1871
$STATE,10918,end climb,SURFACE_DEPTH_REACHED
$STATE,10918,begin surface coast
$FINISH,2.4,1.027443
$STATE,10936,end surface coast,CONTROL_FINISHED_OK
$STATE,10936,begin surface
$SM_CCo,10961,8.98,0.758,0,0,1812,250.21
$SM_GC,2.25,0.00,0.00,8.98,0.000,0.000,0.758,425,2029,1812,-10.47,0.88,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1785
$TCM_TEMP,18.50
$XPDR_PINGS,338
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,301.4,82.0
$24V_AH,23.9,26.735
$10V_AH,10.1,12.595
$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,24.325,89.100,317.700,8.975,0.000,37.754,28.000,119.001,87.000,0.000,0.000,16.748,979.347,8312.999,454.457,1133.436,393.154,33.375,1023.624,0.000,1112.673,0.000,18.403,0.000
$DEVICE_MAMPS,134.225,71.331,1086.072,757.796,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,384.510,351.134,443.107,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25316,522
$CAP_FILE_SIZE,82117,0
$CFSIZE,254472192,243609600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,051208,081637,6137.869,-443.082,43,1.2,48,-7.0