version: 66.04
glider: 5
mission: 5
dive: 153
start: 12 5 108 19 30 43
data:
$ID,5
$MISSION,5
$DIVE,153
$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,-90215.453
$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,35
$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
$GPS1,192426,6134.044,-439.448,39,1.2,39,-6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-65.2
$GPS2,192951,6134.006,-439.528,11,1.2,11,-6.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.093,-0.201
$KALMAN_X,77080.6,296.8,-755.6,-7135.7,17.3
$KALMAN_Y,43528.1,-1787.3,965.7,-276512.9,19897.8
$MHEAD_RNG_PITCHd_Wd,211.8,149186,-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,-146.6,0.0,0.0,0,101,0.00,0.00,-80.95,0.000,2,0.000,0.000,424,1979,3254
$GC,104,-0.97,-146.6,3.6,-3.9,4,127,10.65,2.60,-4.43,0.000,4,0.138,0.073,2481,3416,3429
$GC,380,-0.76,-146.6,43.8,-11.6,16,385,0.25,2.50,0.00,0.000,6,0.083,0.049,2534,2008,3429
$GC,702,-0.69,-146.6,70.7,-7.7,32,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2007,3429
$GC,1012,-0.62,-146.6,95.1,-8.3,47,1014,0.15,0.00,0.00,0.000,6,0.087,0.000,2567,2007,3430
$GC,1320,-0.62,-146.6,117.6,-7.0,62,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2007,3430
$GC,1629,-0.62,-146.6,139.0,-6.9,77,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2007,3430
$GC,1938,-0.62,-146.6,161.2,-7.4,92,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2007,3430
$GC,2247,-0.62,-146.6,184.3,-7.5,107,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2006,3430
$GC,2557,-0.62,-146.6,207.7,-7.5,122,2561,0.00,2.55,0.00,0.000,4,0.000,0.061,2568,3413,3430
$GC,2584,-0.62,-146.6,209.9,-7.5,123,2588,0.00,2.53,0.00,0.000,6,0.000,0.051,2567,1993,3430
$GC,2900,-0.62,-146.6,232.5,-7.2,138,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1993,3430
$GC,3209,-0.62,-146.6,252.8,-6.1,153,3213,0.00,2.58,0.00,0.000,4,0.000,0.062,2567,3411,3430
$GC,3242,-0.67,-146.6,255.0,-6.3,154,3248,0.00,2.53,0.00,0.000,6,0.000,0.051,2567,1992,3430
$GC,3559,-0.67,-146.6,275.7,-6.8,170,3563,0.00,2.58,0.00,0.000,4,0.000,0.064,2567,3410,3430
$GC,3581,-0.71,-146.6,277.3,-6.8,171,3586,0.10,2.50,0.00,0.000,6,0.059,0.052,2538,2003,3430
$GC,3903,-0.66,-146.6,302.1,-7.7,187,3907,0.00,2.53,0.00,0.000,4,0.000,0.067,2538,596,3430
$GC,3931,-0.62,-146.6,304.5,-8.3,188,3936,0.12,2.53,0.00,0.000,6,0.090,0.053,2565,2018,3430
$GC,4247,-0.62,-146.6,323.2,-5.7,203,4252,0.00,2.60,0.00,0.000,4,0.000,0.069,2564,597,3430
$GC,4297,-0.62,-146.6,326.8,-7.0,205,4302,0.00,2.53,0.00,0.000,6,0.000,0.054,2565,2014,3430
$GC,4613,-0.66,-146.6,347.4,-6.7,220,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2016,3430
$GC,4923,-0.71,-146.6,367.8,-7.0,235,4927,0.00,2.60,0.00,0.000,4,0.000,0.071,2565,596,3430
$GC,4980,-0.77,-146.6,372.1,-7.2,237,4987,0.15,2.50,0.00,0.000,6,0.057,0.055,2522,1999,3430
$GC,5297,-0.70,-146.6,396.5,-7.8,253,5298,0.12,0.00,0.00,0.000,6,0.090,0.000,2549,2000,3429
$GC,5605,-0.70,-146.6,418.3,-7.7,268,5609,0.00,2.60,0.00,0.000,4,0.000,0.075,2549,595,3429
$GC,5644,-0.70,-146.6,421.4,-8.4,270,5649,0.00,2.50,0.00,0.000,6,0.000,0.060,2549,1986,3429
$GC,5972,-0.70,-146.6,444.4,-6.8,286,5976,0.00,2.58,0.00,0.000,4,0.000,0.077,2549,3402,3429
$GC,6016,-0.70,-146.6,447.6,-7.5,288,6020,0.00,2.60,0.00,0.000,6,0.000,0.066,2549,1978,3429
$GC,6337,-0.70,-146.6,469.0,-6.8,304,6341,0.00,2.65,0.00,0.000,4,0.000,0.075,2549,3410,3427
$GC,6370,-0.70,-146.6,471.3,-7.5,305,6376,0.00,2.60,0.00,0.000,6,0.000,0.067,2549,1982,3427
$STATE,6394,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6394,begin apogee
$GC,6401,-0.33,0.0,473.1,7.2,307,6524,0.38,0.00,119.95,1.195,6,0.079,0.000,2628,2256,2832
$STATE,6525,end apogee,CONTROL_FINISHED_OK
$STATE,6525,begin climb
$GC,6528,0.97,146.6,477.9,0.0,313,6656,1.27,2.70,118.88,1.153,4,0.064,0.079,2905,3649,2234
$GC,6684,1.00,169.4,475.6,5.4,320,6709,0.00,2.60,19.90,1.078,6,0.000,0.066,2906,2229,2140
$GC,7029,1.10,169.4,455.2,6.1,337,7034,0.15,2.70,0.00,0.000,4,0.062,0.081,2946,3654,2140
$GC,7147,0.96,169.4,446.9,7.1,342,7153,0.17,2.70,0.00,0.000,6,0.094,0.069,2912,2202,2139
$GC,7463,0.97,175.7,429.2,5.8,357,7476,0.00,2.62,6.45,0.953,4,0.000,0.078,2912,837,2115
$GC,7507,0.97,175.7,426.4,6.3,359,7511,0.00,2.50,0.00,0.000,6,0.000,0.064,2912,2190,2115
$GC,7834,1.03,208.6,409.2,5.1,375,7868,0.00,2.62,27.70,1.150,4,0.000,0.077,2912,842,1981
$GC,7899,1.05,226.3,405.6,5.5,378,7921,0.00,2.47,16.17,1.102,6,0.000,0.064,2912,2173,1909
$GC,8231,1.10,226.3,385.8,6.6,394,8236,0.12,2.55,0.00,0.000,4,0.066,0.079,2945,836,1908
$GC,8272,1.02,226.3,382.6,8.8,396,8276,0.12,2.45,0.00,0.000,6,0.097,0.064,2921,2164,1908
$GC,8598,1.02,226.3,361.3,6.2,412,8603,0.00,2.78,0.00,0.000,4,0.000,0.079,2921,3657,1907
$GC,8626,1.02,226.3,359.3,7.3,413,8631,0.00,2.78,0.00,0.000,6,0.000,0.067,2921,2156,1907
$GC,8942,1.02,226.3,338.7,7.1,428,8946,0.00,2.42,0.00,0.000,4,0.000,0.077,2921,842,1907
$GC,9005,1.02,226.3,334.0,8.3,431,9009,0.00,2.40,0.00,0.000,6,0.000,0.061,2921,2157,1906
$GC,9332,1.02,226.3,312.4,6.1,447,9336,0.00,2.47,0.00,0.000,4,0.000,0.075,2921,837,1906
$GC,9376,1.02,226.3,309.4,7.0,449,9380,0.00,2.38,0.00,0.000,6,0.000,0.060,2921,2142,1906
$GC,9697,1.04,241.2,291.1,5.6,465,9719,0.00,2.50,12.75,1.036,4,0.000,0.073,2921,845,1848
$GC,9736,1.04,241.2,288.8,6.5,466,9742,0.00,2.38,0.00,0.000,6,0.000,0.061,2921,2139,1848
$GC,10052,1.04,241.2,269.9,6.3,482,10053,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2139,1848
$GC,10362,1.04,241.2,250.7,6.3,497,10366,0.00,2.40,0.00,0.000,4,0.000,0.071,2921,842,1849
$GC,10401,1.04,241.2,248.0,6.3,499,10406,0.00,2.33,0.00,0.000,6,0.000,0.056,2922,2133,1849
$GC,10729,1.12,265.1,228.8,5.3,515,10753,0.10,0.00,20.98,1.000,6,0.062,0.000,2951,2133,1750
$GC,11058,1.12,265.1,204.1,7.6,531,11062,0.00,2.40,0.00,0.000,4,0.000,0.070,2950,836,1751
$GC,11086,1.12,265.1,201.6,9.4,532,11090,0.00,2.33,0.00,0.000,6,0.000,0.054,2951,2127,1751
$GC,11407,1.12,265.1,177.7,7.3,548,11408,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2128,1752
$GC,11716,1.12,265.1,154.3,7.9,563,11720,0.00,2.38,0.00,0.000,4,0.000,0.067,2951,839,1752
$GC,11739,1.12,265.1,152.5,7.9,564,11743,0.00,2.30,0.00,0.000,6,0.000,0.052,2951,2123,1752
$GC,12060,1.12,265.1,126.2,8.3,580,12061,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2123,1753
$GC,12370,1.12,265.1,100.7,8.1,595,12371,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2123,1753
$GC,12680,1.12,265.1,75.4,8.0,610,12684,0.00,2.35,0.00,0.000,4,0.000,0.067,2951,842,1754
$GC,12707,1.12,265.1,72.9,8.7,611,12712,0.00,2.28,0.00,0.000,6,0.000,0.051,2951,2115,1754
$GC,13024,1.12,265.1,48.3,7.3,626,13028,0.00,2.78,0.00,0.000,4,0.000,0.063,2951,3660,1754
$GC,13057,1.12,265.1,45.5,7.9,627,13063,0.00,2.78,0.00,0.000,6,0.000,0.051,2951,2101,1755
$GC,13374,1.12,265.1,20.2,7.7,643,13375,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2101,1755
$STATE,13597,end climb,SURFACE_DEPTH_REACHED
$STATE,13597,begin surface coast
$FINISH,0.3,1.013238
$STATE,13639,end surface coast,CONTROL_FINISHED_OK
$STATE,13639,begin surface
$SM_CCo,13722,0.00,0.000,0,0,1755,264.19
$SM_GC,1.14,11.00,0.00,0.00,0.040,0.000,0.000,424,1961,1755,-10.38,-1.10,264.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1812
$TCM_TEMP,17.00
$XPDR_PINGS,288
$ALTIM_TOP_PING,18.5,999.0
$ALTIM_BOTTOM_PING,400.5,81.0
$24V_AH,23.9,27.267
$10V_AH,10.1,12.853
$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,24.875,122.150,342.775,0.000,0.000,37.761,33.688,140.005,75.500,0.000,0.000,11.563,1224.510,10468.885,463.081,1426.953,465.081,33.374,1205.625,0.000,1402.037,0.000,24.763,0.000
$DEVICE_MAMPS,138.060,80.535,1194.986,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,484.477,442.413,467.323,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31843,656
$CAP_FILE_SIZE,104202,0
$CFSIZE,254472192,243396608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,0,0
$GPS,051208,232038,6130.688,-442.313,37,1.1,37,-6.9