version: 66.04
glider: 5
mission: 5
dive: 154
start: 12 5 108 23 30 25
data:
$ID,5
$MISSION,5
$DIVE,154
$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,-90230.531
$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,38
$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
$GPS1,232038,6130.688,-442.313,37,1.1,37,-6.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.3
$GPS2,232933,6130.622,-442.377,14,1.1,14,-6.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.116,-0.189
$KALMAN_X,77992.9,-76.9,-488.8,-10296.9,1005.2
$KALMAN_Y,42400.6,-2231.3,467.0,-280693.4,17172.9
$MHEAD_RNG_PITCHd_Wd,218.5,143829,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-81.20,0.000,3,0.000,0.000,425,1972,3430
$GC,102,-0.97,-146.6,4.9,-6.0,4,118,10.60,2.60,0.00,0.000,4,0.135,0.060,2482,3409,3431
$GC,250,-0.77,-146.6,30.5,-11.2,9,258,0.22,2.50,0.00,0.000,6,0.087,0.048,2529,2004,3433
$GC,567,-0.69,-146.6,58.6,-8.6,25,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2003,3432
$GC,876,-0.59,-146.6,85.4,-8.7,40,878,0.20,0.00,0.00,0.000,6,0.088,0.000,2573,2003,3432
$GC,1187,-0.59,-146.6,106.4,-6.6,55,1191,0.00,2.55,0.00,0.000,4,0.000,0.060,2573,3410,3432
$GC,1227,-0.65,-146.6,109.3,-7.0,57,1231,0.00,2.50,0.00,0.000,6,0.000,0.049,2573,2000,3432
$GC,1554,-0.65,-146.6,131.2,-6.4,73,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2001,3433
$GC,1863,-0.65,-146.6,151.7,-6.7,88,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2001,3433
$GC,2172,-0.69,-146.6,172.5,-6.4,103,2177,0.10,2.58,0.00,0.000,4,0.061,0.060,2544,3410,3433
$GC,2223,-0.69,-146.6,176.4,-7.8,105,2227,0.00,2.50,0.00,0.000,6,0.000,0.050,2544,2001,3433
$GC,2539,-0.65,-146.6,200.8,-8.0,120,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2001,3433
$GC,2849,-0.61,-146.6,225.1,-7.9,135,2854,0.10,2.58,0.00,0.000,4,0.099,0.062,2565,3407,3433
$GC,2876,-0.61,-146.6,227.4,-8.2,136,2881,0.00,2.50,0.00,0.000,6,0.000,0.051,2565,2001,3433
$GC,3195,-0.61,-146.6,250.5,-7.5,151,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2001,3433
$GC,3502,-0.61,-146.6,273.3,-7.0,166,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2001,3433
$GC,3811,-0.61,-146.6,293.0,-6.4,181,3816,0.00,2.58,0.00,0.000,4,0.000,0.064,2565,3416,3433
$GC,3875,-0.65,-146.6,297.0,-6.1,184,3879,0.00,2.53,0.00,0.000,6,0.000,0.053,2565,1998,3433
$GC,4202,-0.65,-146.6,316.0,-5.8,200,4206,0.00,2.58,0.00,0.000,4,0.000,0.065,2565,3409,3432
$GC,4235,-0.71,-146.6,318.0,-6.5,201,4241,0.00,2.50,0.00,0.000,6,0.000,0.054,2565,2014,3432
$GC,4551,-0.71,-146.6,335.7,-5.4,217,4555,0.00,2.55,0.00,0.000,4,0.000,0.069,2565,595,3432
$GC,4592,-0.77,-146.6,338.2,-6.3,219,4597,0.15,2.53,0.00,0.000,6,0.054,0.054,2523,2015,3432
$GC,4921,-0.69,-146.6,363.4,-8.3,235,4926,0.12,2.53,0.00,0.000,4,0.091,0.070,2549,3409,3432
$GC,4961,-0.69,-146.6,366.8,-8.0,237,4965,0.00,2.53,0.00,0.000,6,0.000,0.059,2550,2010,3432
$GC,5288,-0.69,-146.6,388.5,-6.2,253,5292,0.00,2.58,0.00,0.000,4,0.000,0.070,2550,3406,3432
$GC,5321,-0.69,-146.6,390.7,-6.5,254,5327,0.00,2.50,0.00,0.000,6,0.000,0.060,2549,2024,3431
$GC,5637,-0.69,-146.6,409.3,-5.7,270,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2024,3431
$STATE,5902,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5902,begin apogee
$GC,5909,-0.33,0.0,426.2,6.7,283,6032,0.38,0.00,119.68,1.141,6,0.081,0.000,2629,2263,2832
$STATE,6033,end apogee,CONTROL_FINISHED_OK
$STATE,6033,begin climb
$GC,6036,0.97,146.6,430.3,0.0,289,6163,1.30,2.75,118.15,1.104,4,0.067,0.072,2910,846,2234
$GC,6184,1.01,176.9,427.0,5.2,296,6216,0.00,2.58,25.65,1.055,6,0.000,0.060,2910,2244,2110
$GC,6534,1.11,176.9,407.0,6.1,313,6539,0.12,2.65,0.00,0.000,4,0.061,0.073,2946,845,2109
$GC,6792,1.00,176.9,388.3,7.2,324,6798,0.15,2.45,0.00,0.000,6,0.091,0.063,2917,2178,2108
$GC,7108,1.05,210.3,371.4,5.1,340,7142,0.00,2.62,27.65,1.094,4,0.000,0.075,2917,842,1974
$GC,7167,1.09,231.1,368.4,5.4,342,7193,0.00,2.47,18.58,1.066,6,0.000,0.062,2916,2178,1888
$GC,7504,1.14,233.8,352.0,5.9,359,7510,0.12,0.00,3.83,0.717,6,0.061,0.000,2950,2178,1878
$GC,7813,1.07,233.8,325.0,9.1,374,7817,0.00,2.50,0.00,0.000,4,0.000,0.076,2950,840,1877
$GC,7859,0.98,233.8,320.9,9.1,376,7864,0.20,2.42,0.00,0.000,6,0.086,0.061,2909,2166,1877
$GC,8186,1.05,235.1,298.9,6.0,392,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2166,1876
$GC,8496,1.16,267.0,282.5,5.1,407,8531,0.17,2.58,27.42,1.058,4,0.054,0.071,2961,845,1743
$GC,8561,1.09,267.0,277.5,8.5,410,8566,0.12,2.42,0.00,0.000,6,0.090,0.059,2936,2167,1743
$GC,8888,1.09,267.0,255.1,7.1,426,8892,0.00,2.45,0.00,0.000,4,0.000,0.071,2936,848,1744
$GC,8928,1.09,267.0,252.0,7.9,428,8932,0.00,2.38,0.00,0.000,6,0.000,0.057,2936,2157,1744
$GC,9255,1.09,267.0,229.5,6.9,444,9259,0.00,2.40,0.00,0.000,4,0.000,0.070,2936,846,1744
$GC,9288,1.09,267.0,227.1,7.0,445,9292,0.00,2.35,0.00,0.000,6,0.000,0.055,2936,2147,1744
$GC,9604,1.09,267.0,204.6,7.4,460,9608,0.00,2.40,0.00,0.000,4,0.000,0.069,2936,840,1744
$GC,9644,1.09,267.0,201.4,8.0,461,9650,0.00,2.33,0.00,0.000,6,0.000,0.054,2936,2133,1745
$GC,9960,1.09,267.0,178.6,7.4,477,9961,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2133,1745
$GC,10269,1.09,267.0,157.1,6.9,492,10273,0.00,2.38,0.00,0.000,4,0.000,0.068,2936,845,1745
$GC,10308,1.09,267.0,154.1,8.0,494,10313,0.00,2.30,0.00,0.000,6,0.000,0.053,2936,2128,1745
$GC,10636,1.09,267.0,131.1,7.1,510,10637,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2129,1746
$GC,10946,1.09,267.0,110.2,7.0,525,10951,0.00,2.38,0.00,0.000,4,0.000,0.068,2936,839,1746
$GC,10990,1.09,267.0,106.6,8.6,527,10994,0.00,2.30,0.00,0.000,6,0.000,0.052,2936,2125,1746
$GC,11312,1.09,267.0,83.6,7.4,543,11313,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2125,1746
$GC,11621,1.09,267.0,60.6,7.7,558,11625,0.00,2.35,0.00,0.000,4,0.000,0.066,2936,844,1747
$GC,11655,1.09,267.0,57.7,8.8,559,11661,0.00,2.28,0.00,0.000,6,0.000,0.051,2936,2120,1747
$GC,11972,1.09,267.0,33.4,7.8,575,11973,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2120,1747
$GC,12281,1.13,267.0,11.9,6.8,590,12282,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2120,1748
$STATE,12401,end climb,SURFACE_DEPTH_REACHED
$STATE,12401,begin surface coast
$FINISH,0.2,1.003273
$STATE,12464,end surface coast,CONTROL_FINISHED_OK
$STATE,12464,begin surface
$SM_CCo,12546,0.00,0.000,0,0,1748,265.91
$SM_GC,1.37,10.93,0.00,0.00,0.038,0.000,0.000,417,1965,1748,-10.40,-0.99,265.91
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1793
$TCM_TEMP,17.20
$XPDR_PINGS,334
$ALTIM_TOP_PING,18.6,18.0
$ALTIM_BOTTOM_PING,375.0,61.0
$24V_AH,23.9,27.402
$10V_AH,10.1,12.918
$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,25.000,100.075,340.950,0.000,0.000,77.582,64.992,208.576,86.750,0.000,0.000,14.454,1122.291,9599.674,446.759,1318.515,595.676,33.382,1124.410,0.000,1294.750,0.000,23.102,0.000
$DEVICE_MAMPS,134.992,75.933,1141.296,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.361,404.112,463.893,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31719,599
$CAP_FILE_SIZE,98325,0
$CFSIZE,254472192,243343360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,0,0
$GPS,061208,030038,6127.923,-444.494,30,1.3,30,-6.9