version: 66.04
glider: 5
mission: 5
dive: 252
start: 12 30 108 8 32 15
data:
$ID,5
$MISSION,5
$DIVE,252
$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,2
$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,-92251.008
$T_RSLEEP,27
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,17
$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
$GPS1,082608,6052.685,-530.335,36,0.9,36,-7.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-63.1
$GPS2,083156,6052.707,-530.269,16,1.1,16,-7.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_NW
$TGT_LATLONG,6058.000,-547.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.132,-0.177
$KALMAN_X,220775.9,-921.1,-1644.0,-80717.6,25183.1
$KALMAN_Y,135954.9,-405.3,-1430.2,-453990.2,21805.5
$MHEAD_RNG_PITCHd_Wd,310.3,17952,-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,14,begin dive
$GC,17,-0.97,-146.6,0.0,0.0,0,100,0.00,0.00,-80.35,0.000,6,0.000,0.000,420,1969,3431
$GC,104,-0.97,-146.6,5.1,-5.7,4,120,10.75,2.50,0.00,0.000,4,0.136,0.060,2482,589,3432
$GC,373,-0.75,-146.6,45.6,-11.3,15,379,0.25,2.53,0.00,0.000,6,0.090,0.051,2535,2008,3433
$GC,696,-0.68,-146.6,73.3,-8.8,31,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2008,3433
$GC,1006,-0.61,-146.6,99.6,-8.6,46,1008,0.15,0.00,0.00,0.000,6,0.087,0.000,2567,2008,3433
$GC,1313,-0.61,-146.6,121.4,-7.2,61,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2008,3433
$GC,1623,-0.61,-146.6,142.5,-6.4,76,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2008,3433
$GC,1932,-0.61,-146.6,160.8,-5.9,91,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2008,3434
$GC,2241,-0.61,-146.6,181.0,-6.6,106,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2008,3434
$GC,2551,-0.61,-146.6,201.7,-7.0,121,2555,0.00,2.60,0.00,0.000,4,0.000,0.069,2567,591,3434
$GC,2578,-0.61,-146.6,203.9,-7.5,122,2582,0.00,2.53,0.00,0.000,6,0.000,0.054,2567,2008,3434
$GC,2894,-0.61,-146.6,225.4,-6.5,137,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2008,3433
$GC,3204,-0.61,-146.6,244.2,-5.8,152,3205,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2009,3434
$GC,3512,-0.61,-146.6,261.8,-6.1,167,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2008,3434
$GC,3822,-0.61,-146.6,282.9,-7.1,182,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2008,3433
$GC,4131,-0.61,-146.6,305.2,-7.0,197,4136,0.00,2.60,0.00,0.000,4,0.000,0.071,2567,596,3433
$GC,4165,-0.61,-146.6,307.5,-7.3,198,4171,0.00,2.50,0.00,0.000,6,0.000,0.054,2567,2000,3433
$GC,4480,-0.61,-146.6,330.4,-7.4,214,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2001,3433
$GC,4790,-0.61,-146.6,353.7,-8.5,229,4794,0.00,2.53,0.00,0.000,4,0.000,0.067,2567,3406,3433
$GC,4891,-0.69,-146.6,361.6,-6.9,233,4897,0.00,2.55,0.00,0.000,6,0.000,0.058,2567,1993,3433
$GC,5207,-0.73,-146.6,382.2,-6.3,249,5208,0.12,0.00,0.00,0.000,6,0.058,0.000,2532,1993,3433
$GC,5516,-0.73,-146.6,408.5,-9.0,264,5520,0.00,2.55,0.00,0.000,4,0.000,0.074,2532,588,3433
$GC,5567,-0.69,-146.6,412.9,-9.0,266,5571,0.00,2.53,0.00,0.000,6,0.000,0.057,2532,2001,3433
$GC,5883,-0.65,-146.6,443.5,-9.5,281,5888,0.12,2.58,0.00,0.000,4,0.096,0.072,2558,3412,3432
$GC,5974,-0.72,-146.6,450.5,-8.2,285,5978,0.00,2.58,0.00,0.000,6,0.000,0.063,2558,1998,3432
$STATE,6086,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6086,begin apogee
$GC,6093,-0.33,0.0,459.4,8.4,291,6222,0.32,0.00,125.88,1.157,6,0.080,0.000,2626,2199,2832
$STATE,6223,end apogee,CONTROL_FINISHED_OK
$STATE,6223,begin climb
$GC,6226,0.97,146.6,465.8,0.0,297,6359,1.30,2.75,124.65,1.124,4,0.067,0.078,2906,794,2234
$GC,6548,1.12,241.1,459.3,3.4,311,6637,0.15,2.58,79.85,1.110,6,0.053,0.061,2947,2200,1848
$GC,6947,1.09,255.6,435.6,5.6,331,6965,0.00,0.00,13.95,1.035,6,0.000,0.000,2947,2199,1790
$GC,7276,1.08,290.2,415.4,5.1,347,7312,0.00,2.75,30.73,1.100,4,0.000,0.078,2948,786,1646
$GC,7351,1.08,290.2,409.8,9.5,349,7357,0.00,2.60,0.00,0.000,6,0.000,0.064,2947,2189,1647
$GC,7667,1.08,290.2,385.7,7.6,365,7671,0.00,2.62,0.00,0.000,4,0.000,0.077,2947,791,1647
$GC,7730,1.04,290.2,380.8,8.2,368,7734,0.00,2.53,0.00,0.000,6,0.000,0.062,2947,2173,1647
$GC,8056,1.04,290.2,355.8,7.7,384,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2180,1646
$GC,8365,1.04,290.2,329.8,9.1,399,8366,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2180,1645
$GC,8675,1.04,290.2,304.4,7.9,414,8680,0.00,2.58,0.00,0.000,4,0.000,0.074,2947,791,1645
$GC,8725,1.04,290.2,300.1,8.2,416,8729,0.00,2.50,0.00,0.000,6,0.000,0.059,2947,2173,1645
$GC,9041,1.04,290.2,277.2,7.4,431,9045,0.00,2.58,0.00,0.000,4,0.000,0.071,2947,784,1645
$GC,9068,1.04,290.2,274.7,9.1,432,9073,0.00,2.47,0.00,0.000,6,0.000,0.057,2947,2156,1645
$GC,9384,1.04,290.2,250.8,7.4,447,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2156,1645
$GC,9693,1.04,290.2,229.6,6.9,462,9698,0.12,2.55,0.00,0.000,4,0.085,0.069,2921,787,1645
$GC,9744,1.12,290.2,226.1,6.7,464,9748,0.00,2.45,0.00,0.000,6,0.000,0.054,2921,2153,1645
$GC,10063,1.24,313.8,208.4,5.4,479,10089,0.17,2.60,20.35,0.958,4,0.051,0.068,2975,784,1552
$GC,10125,1.17,313.8,203.5,8.2,482,10129,0.00,2.45,0.00,0.000,6,0.000,0.054,2975,2140,1552
$GC,10451,1.11,313.8,176.3,8.8,498,10453,0.15,0.00,0.00,0.000,6,0.084,0.000,2943,2140,1552
$GC,10760,1.11,313.8,155.1,6.8,513,10765,0.00,2.50,0.00,0.000,4,0.000,0.069,2943,784,1552
$GC,10789,1.11,313.8,153.1,8.3,514,10793,0.00,2.42,0.00,0.000,6,0.000,0.054,2943,2138,1552
$GC,11105,1.11,313.8,132.1,6.7,529,11109,0.00,2.47,0.00,0.000,4,0.000,0.067,2943,792,1552
$GC,11132,1.11,313.8,130.1,7.2,530,11136,0.00,2.40,0.00,0.000,6,0.000,0.054,2943,2131,1552
$GC,11449,1.16,313.8,107.9,7.0,545,11450,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2133,1552
$GC,11759,1.20,313.8,86.4,7.0,560,11763,0.00,2.47,0.00,0.000,4,0.000,0.068,2943,787,1552
$GC,11792,1.25,313.8,83.7,7.5,561,11799,0.12,2.40,0.00,0.000,6,0.056,0.053,2979,2128,1552
$GC,12109,1.19,313.8,55.2,8.9,577,12110,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2129,1552
$GC,12419,1.12,313.8,28.5,8.8,592,12421,0.17,0.00,0.00,0.000,6,0.077,0.000,2943,2129,1553
$GC,12728,1.18,313.8,7.1,7.1,607,12732,0.00,2.47,0.00,0.000,4,0.000,0.068,2943,784,1553
$GC,12755,1.23,313.8,4.5,7.9,608,12759,0.00,2.25,0.00,0.000,3,0.000,0.052,2943,2042,1553
$STATE,12760,end climb,SURFACE_DEPTH_REACHED
$STATE,12760,begin surface coast
$FINISH,3.5,1.027432
$STATE,12766,end surface coast,CONTROL_FINISHED_OK
$STATE,12766,begin surface
$SM_CCo,12850,0.00,0.000,0,0,1552,314.23
$SM_GC,1.25,11.12,0.00,0.00,0.045,0.000,0.000,426,1965,1552,-10.38,-0.99,314.23
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1805
$TCM_TEMP,15.60
$XPDR_PINGS,332
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,375.6,93.7
$24V_AH,23.8,44.322
$10V_AH,10.1,21.869
$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,25.050,86.450,395.400,0.000,0.000,39.016,28.420,155.359,86.250,0.000,0.000,16.399,1129.505,9778.164,476.792,1351.870,461.030,0.000,1168.177,0.000,1324.080,0.000,23.205,0.000
$DEVICE_MAMPS,135.759,78.234,1157.403,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.188,409.088,451.733,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31674,609
$CAP_FILE_SIZE,93914,0
$CFSIZE,254472192,236781568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,301208,120758,6054.474,-530.480,37,2.5,56,-7.2