version: 66.04
glider: 5
mission: 5
dive: 151
start: 12 5 108 11 43 19
data:
$ID,5
$MISSION,5
$DIVE,151
$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,-90186.57
$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,27
$R_STBD_OVSHOOT,23
$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
$GPS1,113438,6136.745,-442.108,36,1.4,36,-7.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-64.2
$GPS2,114227,6136.840,-442.100,14,1.7,14,-7.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.038,-0.218
$KALMAN_X,80020.5,-1363.3,-37.6,-11235.3,7541.5
$KALMAN_Y,35514.3,667.5,135.2,-264919.8,12138.5
$MHEAD_RNG_PITCHd_Wd,177.2,154861,-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,15,begin dive
$GC,18,-0.97,-146.6,0.0,0.0,0,120,0.00,0.00,-100.40,0.000,6,0.000,0.000,420,1994,3431
$GC,124,-0.97,-146.6,4.7,-4.1,5,139,10.80,0.00,0.00,0.000,6,0.138,0.000,2482,1994,3432
$GC,452,-0.73,-146.6,66.4,-12.9,21,457,0.25,2.55,0.00,0.000,4,0.088,0.065,2540,592,3432
$GC,502,-0.68,-146.6,72.6,-10.8,23,506,0.00,2.53,0.00,0.000,6,0.000,0.053,2539,2007,3432
$GC,820,-0.63,-146.6,103.3,-10.5,38,822,0.10,0.00,0.00,0.000,6,0.100,0.000,2560,2008,3432
$GC,1128,-0.63,-146.6,124.4,-6.7,53,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2008,3432
$GC,1437,-0.63,-146.6,146.1,-7.2,68,1441,0.00,2.50,0.00,0.000,4,0.000,0.064,2560,3407,3432
$GC,1464,-0.63,-146.6,148.3,-7.8,69,1468,0.00,2.50,0.00,0.000,6,0.000,0.051,2560,2006,3431
$GC,1780,-0.63,-146.6,169.9,-6.9,84,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2005,3431
$GC,2088,-0.63,-146.6,190.6,-6.7,99,2093,0.00,2.55,0.00,0.000,4,0.000,0.063,2560,3406,3431
$GC,2129,-0.63,-146.6,193.4,-7.0,101,2133,0.00,2.50,0.00,0.000,6,0.000,0.051,2560,2001,3431
$GC,2455,-0.63,-146.6,214.3,-6.2,117,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2001,3431
$GC,2764,-0.63,-146.6,234.1,-6.3,132,2769,0.00,2.55,0.00,0.000,4,0.000,0.062,2560,3405,3431
$GC,2809,-0.63,-146.6,237.1,-6.5,134,2813,0.00,2.47,0.00,0.000,6,0.000,0.051,2560,2016,3431
$GC,3130,-0.63,-146.6,257.3,-6.1,150,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2016,3431
$GC,3439,-0.63,-146.6,277.5,-7.2,165,3443,0.00,2.53,0.00,0.000,4,0.000,0.063,2560,3405,3431
$GC,3466,-0.63,-146.6,279.7,-7.7,166,3470,0.00,2.47,0.00,0.000,6,0.000,0.053,2560,2019,3431
$GC,3784,-0.63,-146.6,300.2,-6.0,181,3789,0.00,2.53,0.00,0.000,4,0.000,0.064,2560,3407,3431
$GC,3840,-0.63,-146.6,304.3,-6.9,183,3846,0.00,2.45,0.00,0.000,6,0.000,0.053,2560,2035,3431
$GC,4156,-0.63,-146.6,322.6,-6.7,199,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2035,3431
$GC,4466,-0.63,-146.6,340.1,-4.9,214,4470,0.00,2.50,0.00,0.000,4,0.000,0.064,2560,3405,3431
$GC,4506,-0.67,-146.6,341.8,-4.5,216,4511,0.00,2.45,0.00,0.000,6,0.000,0.054,2560,2036,3431
$GC,4834,-0.67,-146.6,358.5,-5.9,232,4838,0.00,2.50,0.00,0.000,4,0.000,0.067,2560,3405,3431
$GC,4878,-0.71,-146.6,361.7,-7.1,234,4883,0.00,2.42,0.00,0.000,6,0.000,0.054,2560,2051,3431
$GC,5200,-0.71,-146.6,380.8,-5.8,250,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2051,3431
$GC,5510,-0.71,-146.6,398.9,-5.8,265,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2051,3431
$GC,5818,-0.71,-146.6,418.6,-7.2,280,5822,0.00,2.47,0.00,0.000,4,0.000,0.071,2560,3403,3430
$GC,5835,-0.75,-146.6,419.5,-6.3,280,5842,0.12,2.45,0.00,0.000,6,0.060,0.059,2526,2043,3430
$STATE,5921,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5921,begin apogee
$GC,5929,-0.33,0.0,425.6,6.9,285,6052,0.47,0.00,119.75,1.135,6,0.080,0.000,2627,2254,2832
$STATE,6052,end apogee,CONTROL_FINISHED_OK
$STATE,6052,begin climb
$GC,6055,0.97,146.6,430.7,0.0,291,6181,1.30,2.67,117.93,1.101,4,0.065,0.071,2908,3646,2234
$GC,6204,0.92,146.6,425.5,6.1,298,6209,0.00,2.58,0.00,0.000,6,0.000,0.061,2908,2249,2234
$GC,6532,0.94,158.2,407.7,5.7,314,6548,0.00,2.60,10.98,0.983,4,0.000,0.068,2908,848,2186
$GC,6661,0.94,158.2,399.9,6.4,319,6666,0.00,2.53,0.00,0.000,6,0.000,0.058,2908,2236,2186
$GC,6988,0.99,184.8,382.8,5.3,335,7013,0.00,0.00,22.85,1.064,6,0.000,0.000,2908,2236,2078
$GC,7317,1.03,215.2,364.9,5.2,351,7348,0.00,2.65,25.65,1.068,4,0.000,0.070,2908,845,1954
$GC,7401,1.10,227.3,360.4,5.7,355,7423,0.12,2.53,11.48,0.995,6,0.058,0.059,2945,2224,1905
$GC,7734,1.05,227.3,335.7,7.8,371,7738,0.00,2.65,0.00,0.000,4,0.000,0.074,2945,3659,1904
$GC,7767,1.00,227.3,332.8,8.0,372,7774,0.15,2.62,0.00,0.000,6,0.091,0.062,2915,2226,1904
$GC,8084,1.04,227.3,312.2,6.5,388,8088,0.00,2.53,0.00,0.000,4,0.000,0.071,2915,835,1903
$GC,8133,1.04,227.3,308.5,7.5,390,8138,0.00,2.53,0.00,0.000,6,0.000,0.057,2915,2227,1903
$GC,8450,1.09,227.3,286.6,7.4,405,8455,0.10,2.58,0.00,0.000,4,0.064,0.067,2945,840,1903
$GC,8490,1.03,227.3,283.2,8.6,407,8494,0.00,2.47,0.00,0.000,6,0.000,0.056,2945,2211,1903
$GC,8816,1.03,227.3,259.1,6.7,423,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2211,1903
$GC,9126,1.03,227.3,238.7,7.3,438,9130,0.00,2.53,0.00,0.000,4,0.000,0.067,2945,839,1903
$GC,9181,0.97,227.3,234.2,8.1,440,9188,0.17,2.47,0.00,0.000,6,0.084,0.054,2908,2215,1903
$GC,9498,1.04,227.3,216.4,6.1,456,9502,0.00,2.53,0.00,0.000,4,0.000,0.066,2908,840,1903
$GC,9549,1.11,227.3,213.2,6.0,458,9554,0.15,2.42,0.00,0.000,6,0.053,0.053,2951,2193,1903
$GC,9870,1.05,227.3,191.9,6.6,474,9875,0.00,2.47,0.00,0.000,4,0.000,0.067,2951,842,1903
$GC,9912,0.99,227.3,189.0,7.6,476,9917,0.17,2.40,0.00,0.000,6,0.082,0.053,2915,2181,1903
$GC,10239,1.05,227.3,170.7,6.0,492,10243,0.00,2.45,0.00,0.000,4,0.000,0.065,2915,840,1903
$GC,10278,1.10,227.3,168.2,6.8,494,10283,0.10,2.38,0.00,0.000,6,0.061,0.052,2946,2171,1903
$GC,10606,1.10,227.3,144.5,7.1,510,10607,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2170,1903
$GC,10914,1.10,227.3,122.3,7.4,525,10919,0.00,2.45,0.00,0.000,4,0.000,0.067,2946,835,1904
$GC,10948,1.10,227.3,119.5,7.7,526,10954,0.00,2.38,0.00,0.000,6,0.000,0.053,2946,2163,1904
$GC,11266,1.10,227.3,98.1,7.0,542,11270,0.00,2.67,0.00,0.000,4,0.000,0.064,2946,3654,1904
$GC,11288,1.10,227.3,96.3,7.4,543,11293,0.00,2.70,0.00,0.000,6,0.000,0.051,2946,2140,1904
$GC,11610,1.10,227.3,74.3,7.4,559,11611,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2140,1904
$GC,11921,1.10,227.3,52.3,6.7,574,11922,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2140,1905
$GC,12228,1.13,243.0,33.8,5.6,589,12250,0.00,2.83,13.68,0.806,4,0.000,0.062,2946,3647,1840
$GC,12274,1.13,243.0,31.1,6.1,591,12279,0.00,2.67,0.00,0.000,6,0.000,0.051,2946,2156,1840
$GC,12602,1.13,243.0,7.5,8.3,607,12606,0.00,2.38,0.00,0.000,4,0.000,0.064,2946,836,1840
$GC,12642,1.13,243.0,4.2,7.7,609,12646,0.00,2.35,0.00,0.000,6,0.000,0.050,2946,2164,1840
$STATE,12650,end climb,SURFACE_DEPTH_REACHED
$STATE,12650,begin surface coast
$FINISH,0.3,1.024006
$STATE,12705,end surface coast,CONTROL_FINISHED_OK
$STATE,12705,begin surface
$SM_CCo,12728,4.18,0.589,0,0,1811,250.21
$SM_GC,2.28,0.00,0.00,4.18,0.000,0.000,0.589,426,1963,1811,-10.46,-1.10,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1804
$TCM_TEMP,16.90
$XPDR_PINGS,354
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,350.2,84.3
$24V_AH,23.9,26.995
$10V_AH,10.1,12.717
$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,24.975,116.675,322.300,4.175,0.000,75.522,108.199,117.804,91.500,0.000,0.000,14.207,1149.310,9733.630,467.572,1316.482,542.518,33.374,1153.057,0.000,1290.612,0.000,21.589,0.000
$DEVICE_MAMPS,138.060,74.399,1135.160,589.056,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.225,411.916,451.724,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31648,612
$CAP_FILE_SIZE,99432,0
$CFSIZE,254472192,243503104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,0,0
$GPS,051208,151638,6136.139,-439.832,26,1.2,26,-6.9