version: 66.04
glider: 5
mission: 5
dive: 155
start: 12 6 108 3 6 24
data:
$ID,5
$MISSION,5
$DIVE,155
$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,-90247.641
$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,43
$R_STBD_OVSHOOT,21
$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
$GPS1,030038,6127.923,-444.494,30,1.3,30,-6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.1
$GPS2,030532,6127.884,-444.491,11,1.3,16,-6.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.045,-0.217
$KALMAN_X,80569.0,-247.6,-653.9,-14275.2,6488.4
$KALMAN_Y,40836.8,-1075.8,-207.0,-284689.6,13877.4
$MHEAD_RNG_PITCHd_Wd,175.0,139532,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-81.05,0.000,6,0.000,0.000,417,1966,3431
$GC,102,-0.97,-146.6,5.1,-6.2,4,118,10.57,2.60,0.00,0.000,4,0.133,0.060,2483,3412,3432
$GC,225,-0.79,-146.6,28.1,-9.8,8,232,0.20,2.50,0.00,0.000,6,0.083,0.048,2526,2002,3433
$GC,543,-0.69,-146.6,56.0,-9.5,24,548,0.10,2.53,0.00,0.000,4,0.098,0.063,2547,594,3433
$GC,583,-0.69,-146.6,60.0,-10.3,26,587,0.00,2.50,0.00,0.000,6,0.000,0.051,2547,2005,3433
$GC,910,-0.69,-146.6,86.1,-7.3,42,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2005,3433
$GC,1219,-0.69,-146.6,110.1,-7.9,57,1223,0.00,2.58,0.00,0.000,4,0.000,0.065,2548,591,3433
$GC,1247,-0.65,-146.6,112.6,-8.3,58,1251,0.00,2.50,0.00,0.000,6,0.000,0.051,2547,1999,3433
$GC,1565,-0.65,-146.6,138.3,-8.2,73,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1999,3434
$GC,1871,-0.65,-146.6,162.4,-7.8,88,1876,0.00,2.55,0.00,0.000,4,0.000,0.065,2547,599,3433
$GC,1911,-0.65,-146.6,165.5,-8.1,90,1916,0.00,2.47,0.00,0.000,6,0.000,0.051,2547,1994,3434
$GC,2239,-0.65,-146.6,189.8,-7.2,106,2243,0.00,2.53,0.00,0.000,4,0.000,0.063,2547,3404,3433
$GC,2278,-0.65,-146.6,192.8,-7.7,108,2283,0.00,2.50,0.00,0.000,6,0.000,0.051,2548,1997,3433
$GC,2605,-0.65,-146.6,217.6,-7.4,124,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1997,3433
$GC,2915,-0.65,-146.6,236.6,-6.1,139,2919,0.00,2.58,0.00,0.000,4,0.000,0.063,2547,3412,3433
$GC,2972,-0.65,-146.6,240.8,-7.3,141,2978,0.00,2.53,0.00,0.000,6,0.000,0.051,2548,1994,3434
$GC,3287,-0.65,-146.6,264.7,-7.5,157,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1994,3434
$GC,3597,-0.65,-146.6,286.2,-6.3,172,3601,0.00,2.58,0.00,0.000,4,0.000,0.063,2548,3409,3433
$GC,3636,-0.65,-146.6,288.6,-6.4,174,3640,0.00,2.50,0.00,0.000,6,0.000,0.053,2548,1998,3433
$GC,3962,-0.65,-146.6,309.3,-6.8,190,3967,0.00,2.53,0.00,0.000,4,0.000,0.068,2547,592,3433
$GC,4003,-0.65,-146.6,312.2,-7.7,192,4007,0.00,2.53,0.00,0.000,6,0.000,0.054,2547,2012,3433
$GC,4329,-0.65,-146.6,335.0,-7.4,208,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2013,3433
$GC,4639,-0.65,-146.6,357.7,-7.3,223,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2013,3433
$GC,4948,-0.65,-146.6,378.6,-6.3,238,4952,0.00,2.60,0.00,0.000,4,0.000,0.074,2548,598,3432
$GC,4987,-0.65,-146.6,381.3,-7.1,240,4991,0.00,2.50,0.00,0.000,6,0.000,0.058,2548,1994,3432
$GC,5320,-0.65,-146.6,403.7,-6.9,256,5324,0.00,2.58,0.00,0.000,4,0.000,0.074,2547,3403,3432
$GC,5359,-0.65,-146.6,406.6,-7.5,258,5364,0.00,2.58,0.00,0.000,6,0.000,0.064,2547,1991,3432
$GC,5687,-0.65,-146.6,425.5,-5.8,274,5691,0.00,2.58,0.00,0.000,4,0.000,0.077,2547,585,3431
$GC,5731,-0.65,-146.6,428.9,-7.9,276,5735,0.00,2.55,0.00,0.000,6,0.000,0.062,2547,1998,3431
$GC,6052,-0.65,-146.6,451.4,-7.0,292,6056,0.00,2.60,0.00,0.000,4,0.000,0.078,2548,3412,3430
$GC,6107,-0.65,-146.6,455.3,-7.2,294,6113,0.00,2.60,0.00,0.000,6,0.000,0.067,2547,1994,3429
$STATE,6275,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6276,begin apogee
$GC,6283,-0.33,0.0,466.6,6.7,303,6406,0.38,0.00,119.93,1.197,6,0.083,0.000,2626,2253,2832
$STATE,6407,end apogee,CONTROL_FINISHED_OK
$STATE,6407,begin climb
$GC,6410,0.97,146.6,471.0,0.0,309,6538,1.30,2.72,118.78,1.155,4,0.070,0.081,2906,3651,2234
$GC,6561,0.98,154.7,465.8,5.8,316,6577,0.00,2.62,8.32,0.969,6,0.000,0.068,2906,2246,2201
$GC,6887,1.09,222.0,451.0,4.2,332,6950,0.12,2.67,55.08,1.147,4,0.064,0.080,2941,848,1927
$GC,7009,1.02,222.0,443.5,6.9,337,7014,0.00,2.60,0.00,0.000,6,0.000,0.064,2941,2245,1927
$GC,7326,0.97,222.0,420.5,7.5,352,7331,0.15,2.67,0.00,0.000,4,0.092,0.079,2910,848,1927
$GC,7403,0.97,222.0,414.5,7.4,355,7410,0.00,2.55,0.00,0.000,6,0.000,0.065,2910,2225,1926
$GC,7720,1.02,222.0,394.2,6.1,371,7725,0.00,2.60,0.00,0.000,4,0.000,0.080,2910,848,1926
$GC,7766,1.02,222.0,391.2,6.8,373,7771,0.00,2.50,0.00,0.000,6,0.000,0.065,2910,2202,1926
$GC,8088,1.07,222.0,372.1,6.3,389,8093,0.10,2.58,0.00,0.000,4,0.067,0.080,2938,845,1924
$GC,8133,1.02,222.0,368.4,8.7,391,8137,0.00,2.47,0.00,0.000,6,0.000,0.066,2938,2189,1924
$GC,8460,1.02,222.0,344.0,7.2,407,8464,0.00,2.53,0.00,0.000,4,0.000,0.080,2938,849,1924
$GC,8493,0.97,222.0,341.4,8.4,408,8499,0.12,2.42,0.00,0.000,6,0.099,0.064,2912,2170,1923
$GC,8809,1.05,245.6,323.2,5.4,424,8831,0.00,0.00,19.67,1.109,6,0.000,0.000,2912,2169,1830
$GC,9138,1.11,245.6,303.8,6.3,440,9143,0.12,2.47,0.00,0.000,4,0.062,0.074,2946,848,1830
$GC,9178,1.05,245.6,300.8,8.2,442,9183,0.00,2.40,0.00,0.000,6,0.000,0.061,2946,2160,1830
$GC,9505,1.05,245.6,277.3,6.9,458,9510,0.00,2.45,0.00,0.000,4,0.000,0.074,2946,848,1830
$GC,9539,1.01,245.6,274.7,7.5,459,9546,0.15,2.38,0.00,0.000,6,0.090,0.060,2916,2150,1830
$GC,9856,1.06,245.6,255.7,6.6,475,9857,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2150,1830
$GC,10165,1.13,249.1,236.9,5.9,490,10175,0.12,2.45,5.07,0.815,4,0.059,0.070,2950,848,1815
$GC,10228,1.07,249.1,231.9,8.9,493,10232,0.00,2.35,0.00,0.000,6,0.000,0.057,2951,2144,1816
$GC,10554,1.07,249.1,206.0,8.2,509,10556,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2144,1816
$GC,10863,1.07,249.1,181.6,7.7,524,10865,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2144,1815
$GC,11173,1.07,249.1,157.7,7.6,539,11177,0.00,2.40,0.00,0.000,4,0.000,0.070,2950,844,1817
$GC,11200,1.07,249.1,155.5,8.2,540,11204,0.00,2.33,0.00,0.000,6,0.000,0.054,2950,2140,1816
$GC,11521,1.07,249.1,131.7,7.3,556,11526,0.00,2.72,0.00,0.000,4,0.000,0.064,2951,3657,1817
$GC,11549,1.07,249.1,129.3,8.5,557,11554,0.00,2.72,0.00,0.000,6,0.000,0.053,2951,2134,1817
$GC,11867,1.07,249.1,104.9,7.8,572,11871,0.00,2.33,0.00,0.000,4,0.000,0.067,2951,845,1818
$GC,11894,1.07,249.1,102.4,8.2,573,11898,0.00,2.33,0.00,0.000,6,0.000,0.052,2951,2143,1817
$GC,12211,1.07,249.1,79.1,7.5,588,12212,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2143,1818
$GC,12520,1.07,249.1,56.8,7.4,603,12524,0.00,2.38,0.00,0.000,4,0.000,0.067,2950,847,1819
$GC,12565,1.03,249.1,53.5,8.0,605,12569,0.15,2.30,0.00,0.000,6,0.083,0.052,2919,2134,1819
$GC,12887,1.10,249.1,33.9,6.1,621,12888,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2134,1820
$GC,13196,1.17,249.1,13.5,6.7,636,13201,0.15,2.38,0.00,0.000,4,0.052,0.064,2964,845,1821
$GC,13240,1.10,249.1,9.4,8.8,638,13245,0.12,2.30,0.00,0.000,6,0.088,0.051,2939,2134,1821
$STATE,13311,end climb,SURFACE_DEPTH_REACHED
$STATE,13311,begin surface coast
$FINISH,1.1,1.027378
$STATE,13355,end surface coast,CONTROL_FINISHED_OK
$STATE,13355,begin surface
$SM_CCo,13378,2.17,0.245,0,0,1812,250.21
$SM_GC,2.52,0.00,0.00,2.17,0.000,0.000,0.245,421,1972,1812,-10.48,-0.82,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1803
$TCM_TEMP,16.90
$XPDR_PINGS,297
$ALTIM_TOP_PING,19.1,18.2
$ALTIM_BOTTOM_PING,400.9,75.6
$24V_AH,23.9,27.528
$10V_AH,10.1,12.983
$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,24.850,131.450,326.850,2.175,0.000,37.754,26.536,117.386,77.750,0.000,0.000,16.486,1217.937,10160.278,453.059,1419.048,430.835,33.369,1190.472,0.000,1388.901,0.000,24.727,0.000
$DEVICE_MAMPS,132.691,80.535,1196.520,245.440,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,475.944,434.193,468.989,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31761,644
$CAP_FILE_SIZE,105240,0
$CFSIZE,254472192,243294208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,0,0
$GPS,061208,065038,6124.482,-444.930,34,1.3,34,-6.9