version: 66.04
glider: 5
mission: 5
dive: 152
start: 12 5 108 15 25 50
data:
$ID,5
$MISSION,5
$DIVE,152
$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,-90203.266
$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,37
$R_STBD_OVSHOOT,22
$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
$GPS1,151638,6136.139,-439.832,26,1.2,26,-6.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-64.9
$GPS2,152456,6136.204,-439.817,16,1.3,16,-6.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.037,-0.218
$KALMAN_X,79155.1,-411.8,-422.0,-9071.9,4719.9
$KALMAN_Y,41240.5,-292.0,591.7,-271302.2,19358.8
$MHEAD_RNG_PITCHd_Wd,177.2,153196,-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,-80.28,0.000,6,0.000,0.000,426,1962,3430
$GC,102,-0.97,-146.6,4.8,-5.4,4,118,10.65,2.47,0.00,0.000,4,0.138,0.059,2480,595,3431
$GC,372,-0.75,-146.6,46.6,-11.5,15,377,0.25,2.50,0.00,0.000,6,0.088,0.050,2533,2005,3432
$GC,694,-0.67,-146.6,76.5,-9.2,31,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2016,3432
$GC,1004,-0.60,-146.6,103.0,-8.0,46,1006,0.17,0.00,0.00,0.000,6,0.092,0.000,2571,2016,3432
$GC,1312,-0.60,-146.6,122.1,-5.9,61,1317,0.00,2.50,0.00,0.000,4,0.000,0.062,2571,3404,3433
$GC,1365,-0.64,-146.6,125.4,-6.1,63,1370,0.00,2.47,0.00,0.000,6,0.000,0.048,2571,2006,3432
$GC,1681,-0.64,-146.6,144.4,-6.2,78,1686,0.00,2.55,0.00,0.000,4,0.000,0.061,2571,3412,3433
$GC,1733,-0.68,-146.6,147.8,-6.8,80,1737,0.00,2.47,0.00,0.000,6,0.000,0.049,2571,2018,3433
$GC,2048,-0.68,-146.6,168.6,-6.5,95,2053,0.00,2.53,0.00,0.000,4,0.000,0.061,2571,3408,3433
$GC,2105,-0.68,-146.6,172.7,-7.5,97,2111,0.00,2.45,0.00,0.000,6,0.000,0.049,2571,2026,3433
$GC,2422,-0.68,-146.6,193.3,-6.2,113,2426,0.00,2.50,0.00,0.000,4,0.000,0.061,2571,3404,3433
$GC,2472,-0.73,-146.6,196.9,-7.2,115,2477,0.12,2.42,0.00,0.000,6,0.055,0.050,2535,2040,3433
$GC,2789,-0.65,-146.6,222.7,-8.4,130,2793,0.10,2.50,0.00,0.000,4,0.096,0.061,2556,3403,3433
$GC,2821,-0.65,-146.6,225.5,-7.9,131,2827,0.00,2.42,0.00,0.000,6,0.000,0.050,2556,2041,3433
$GC,3138,-0.65,-146.6,251.7,-8.6,147,3142,0.00,2.47,0.00,0.000,4,0.000,0.063,2556,3404,3433
$GC,3165,-0.65,-146.6,254.3,-8.6,148,3170,0.00,2.40,0.00,0.000,6,0.000,0.051,2556,2057,3433
$GC,3487,-0.65,-146.6,280.2,-7.5,164,3491,0.00,2.47,0.00,0.000,4,0.000,0.063,2555,3413,3433
$GC,3514,-0.65,-146.6,282.4,-7.8,165,3518,0.00,2.42,0.00,0.000,6,0.000,0.052,2556,2054,3433
$GC,3830,-0.65,-146.6,304.1,-6.5,180,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2053,3432
$GC,4139,-0.65,-146.6,324.2,-7.0,195,4143,0.00,2.45,0.00,0.000,4,0.000,0.063,2556,3403,3433
$GC,4189,-0.65,-146.6,327.5,-6.7,197,4193,0.00,2.40,0.00,0.000,6,0.000,0.053,2556,2060,3432
$GC,4506,-0.65,-146.6,350.0,-7.5,212,4510,0.00,2.45,0.00,0.000,4,0.000,0.064,2556,3403,3432
$GC,4545,-0.65,-146.6,353.5,-8.6,214,4550,0.00,2.35,0.00,0.000,6,0.000,0.054,2556,2089,3432
$GC,4872,-0.65,-146.6,374.8,-6.5,230,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2077,3432
$GC,5182,-0.65,-146.6,396.1,-6.9,245,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2077,3432
$GC,5491,-0.65,-146.6,415.5,-5.9,260,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2076,3432
$GC,5800,-0.65,-146.6,436.2,-6.9,275,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2077,3431
$GC,6110,-0.65,-146.6,455.7,-6.1,290,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2077,3431
$STATE,6375,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6375,begin apogee
$GC,6382,-0.33,0.0,472.5,6.3,303,6505,0.32,0.00,120.40,1.187,6,0.081,0.000,2624,2253,2832
$STATE,6506,end apogee,CONTROL_FINISHED_OK
$STATE,6506,begin climb
$GC,6509,0.97,146.6,477.4,0.0,309,6632,1.35,0.00,119.38,1.157,6,0.068,0.000,2910,2253,2234
$GC,6931,1.02,181.9,459.1,5.0,330,6966,0.00,2.72,29.60,1.118,4,0.000,0.075,2911,845,2089
$GC,7119,1.02,181.9,447.9,6.6,338,7123,0.00,2.60,0.00,0.000,6,0.000,0.064,2911,2246,2089
$GC,7434,1.02,181.9,430.8,6.0,353,7439,0.00,2.65,0.00,0.000,4,0.000,0.077,2911,848,2088
$GC,7490,1.02,181.9,426.9,7.0,355,7496,0.00,2.58,0.00,0.000,6,0.000,0.066,2911,2241,2088
$GC,7806,1.02,181.9,407.3,6.1,371,7811,0.00,2.62,0.00,0.000,4,0.000,0.077,2911,847,2087
$GC,7868,1.02,181.9,403.1,6.8,374,7873,0.00,2.53,0.00,0.000,6,0.000,0.066,2911,2215,2087
$GC,8195,1.02,181.9,382.7,6.1,390,8200,0.00,2.55,0.00,0.000,4,0.000,0.078,2911,849,2086
$GC,8223,1.02,181.9,380.9,6.7,391,8228,0.00,2.50,0.00,0.000,6,0.000,0.065,2911,2207,2085
$GC,8540,1.07,210.0,363.5,5.2,406,8569,0.00,2.65,23.15,1.134,4,0.000,0.075,2911,850,1975
$GC,8609,1.07,210.0,359.4,6.0,409,8613,0.00,2.50,0.00,0.000,6,0.000,0.064,2911,2198,1975
$GC,8931,1.13,220.4,340.0,5.7,425,8947,0.15,2.60,10.45,1.058,4,0.059,0.074,2951,845,1932
$GC,8971,1.03,220.4,337.3,7.1,426,8976,0.15,2.47,0.00,0.000,6,0.091,0.063,2922,2188,1932
$GC,9298,1.03,220.4,319.8,6.1,442,9303,0.00,2.50,0.00,0.000,4,0.000,0.074,2923,848,1931
$GC,9338,1.03,220.4,317.1,6.6,444,9342,0.00,2.42,0.00,0.000,6,0.000,0.061,2922,2176,1931
$GC,9665,1.03,220.4,296.3,6.6,460,9669,0.00,2.47,0.00,0.000,4,0.000,0.071,2922,844,1931
$GC,9728,1.03,220.4,291.9,6.9,463,9732,0.00,2.38,0.00,0.000,6,0.000,0.059,2922,2156,1931
$GC,10054,1.03,220.4,269.0,7.8,479,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2156,1931
$GC,10363,1.03,220.4,248.3,6.2,494,10367,0.00,2.40,0.00,0.000,4,0.000,0.069,2923,845,1931
$GC,10410,1.03,220.4,245.3,6.7,496,10414,0.00,2.35,0.00,0.000,6,0.000,0.055,2922,2150,1932
$GC,10737,1.03,220.4,225.4,6.2,512,10738,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2150,1931
$GC,11046,1.03,220.4,205.1,6.6,527,11050,0.00,2.38,0.00,0.000,4,0.000,0.067,2923,847,1932
$GC,11092,1.03,220.4,201.7,7.6,529,11096,0.00,2.33,0.00,0.000,6,0.000,0.054,2922,2145,1933
$GC,11424,1.03,220.4,179.8,6.7,545,11425,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2145,1933
$GC,11733,1.03,220.4,160.2,6.1,560,11734,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2145,1934
$GC,12043,1.03,220.4,140.7,6.0,575,12047,0.00,2.38,0.00,0.000,4,0.000,0.067,2922,847,1934
$GC,12076,1.03,220.4,138.6,6.5,576,12083,0.00,2.30,0.00,0.000,6,0.000,0.054,2922,2134,1934
$GC,12394,1.05,235.3,121.0,5.6,592,12416,0.00,2.80,13.65,0.873,4,0.000,0.063,2923,3650,1871
$GC,12445,1.11,235.3,117.6,6.8,594,12449,0.00,2.72,0.00,0.000,6,0.000,0.051,2922,2132,1871
$GC,12767,1.16,240.2,98.6,5.9,610,12778,0.12,2.33,5.70,0.726,4,0.056,0.064,2959,847,1852
$GC,12818,1.09,240.2,94.5,8.2,612,12822,0.12,2.33,0.00,0.000,6,0.084,0.051,2933,2141,1851
$GC,13134,1.09,241.5,74.7,6.0,627,13135,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2142,1851
$GC,13443,1.17,292.2,55.5,4.6,642,13490,0.00,2.45,41.65,0.864,4,0.000,0.064,2933,848,1639
$GC,13513,1.22,292.2,51.4,6.3,645,13518,0.15,2.33,0.00,0.000,6,0.051,0.050,2976,2136,1639
$GC,13831,1.16,292.2,24.4,8.5,660,13833,0.12,0.00,0.00,0.000,6,0.082,0.000,2949,2136,1641
$STATE,14115,end climb,SURFACE_DEPTH_REACHED
$STATE,14115,begin surface coast
$FINISH,0.3,1.027354
$STATE,14158,end surface coast,CONTROL_FINISHED_OK
$STATE,14158,begin surface
$SM_CCo,14241,0.00,0.000,0,0,1641,292.15
$SM_GC,1.10,11.05,0.00,0.00,0.040,0.000,0.000,424,1970,1641,-10.40,-0.57,292.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1794
$TCM_TEMP,17.10
$XPDR_PINGS,300
$ALTIM_TOP_PING,20.0,999.0
$ALTIM_BOTTOM_PING,400.3,81.0
$24V_AH,23.9,27.135
$10V_AH,10.1,12.787
$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,24.850,119.650,363.975,0.000,0.000,76.859,59.302,180.062,78.500,0.000,0.000,16.067,1263.658,10924.183,483.085,1495.451,577.999,33.366,1239.579,0.000,1465.322,0.000,24.764,0.000
$DEVICE_MAMPS,138.060,78.234,1186.549,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,500.907,455.909,492.837,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34807,676
$CAP_FILE_SIZE,108142,0
$CFSIZE,254472192,243437568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,0,0
$GPS,051208,192426,6134.044,-439.448,39,1.2,39,-6.9