version: 66.04
glider: 5
mission: 5
dive: 253
start: 12 30 108 12 13 22
data:
$ID,5
$MISSION,5
$DIVE,253
$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,-92269.797
$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,34
$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
$GPS1,120758,6054.474,-530.480,37,2.5,56,-7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-62.1
$GPS2,121303,6054.493,-530.470,18,1.4,18,-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,300.8,16215,-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,15,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-81.60,0.000,2,0.000,0.000,425,1973,3183
$GC,102,-0.97,-146.6,3.5,-3.8,4,126,10.57,2.55,-6.75,0.000,4,0.132,0.076,2481,596,3431
$GC,378,-0.75,-146.6,39.9,-11.9,16,384,0.25,2.53,0.00,0.000,6,0.089,0.051,2534,2013,3431
$GC,702,-0.68,-146.6,69.5,-9.0,32,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2014,3431
$GC,1010,-0.61,-146.6,99.3,-9.9,47,1015,0.15,2.62,0.00,0.000,4,0.087,0.068,2566,594,3431
$GC,1060,-0.61,-146.6,104.1,-9.1,49,1065,0.00,2.50,0.00,0.000,6,0.000,0.053,2566,2001,3431
$GC,1376,-0.61,-146.6,130.8,-8.0,64,1380,0.00,2.53,0.00,0.000,4,0.000,0.064,2566,3405,3431
$GC,1410,-0.61,-146.6,133.8,-8.8,65,1416,0.00,2.50,0.00,0.000,6,0.000,0.050,2566,2002,3431
$GC,1726,-0.61,-146.6,157.5,-6.9,81,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2003,3431
$GC,2035,-0.61,-146.6,178.1,-6.4,96,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2003,3431
$GC,2345,-0.61,-146.6,199.1,-6.7,111,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2003,3431
$GC,2654,-0.61,-146.6,219.2,-6.4,126,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2000,3432
$GC,2963,-0.61,-146.6,240.0,-6.9,141,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2001,3431
$GC,3273,-0.61,-146.6,261.0,-6.7,156,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2001,3431
$GC,3581,-0.61,-146.6,281.9,-6.6,171,3586,0.00,2.58,0.00,0.000,4,0.000,0.064,2566,3412,3431
$GC,3622,-0.65,-146.6,284.7,-7.3,173,3626,0.00,2.53,0.00,0.000,6,0.000,0.053,2566,2000,3431
$GC,3948,-0.65,-146.6,306.5,-6.6,189,3953,0.00,2.53,0.00,0.000,4,0.000,0.069,2566,596,3431
$GC,3989,-0.65,-146.6,309.2,-7.1,191,3993,0.00,2.53,0.00,0.000,6,0.000,0.054,2566,2015,3431
$GC,4316,-0.70,-146.6,330.8,-6.7,207,4321,0.00,2.53,0.00,0.000,4,0.000,0.067,2566,3414,3431
$GC,4357,-0.75,-146.6,333.5,-6.6,209,4362,0.15,2.53,0.00,0.000,6,0.054,0.054,2525,2003,3432
$GC,4686,-0.68,-146.6,362.7,-8.9,225,4691,0.12,2.55,0.00,0.000,4,0.094,0.070,2551,588,3432
$GC,4821,-0.68,-146.6,375.3,-10.5,231,4825,0.00,2.50,0.00,0.000,6,0.000,0.054,2551,1988,3432
$STATE,5015,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5016,begin apogee
$GC,5023,-0.33,0.0,393.1,8.7,241,5150,0.35,0.00,124.35,1.086,6,0.073,0.000,2626,2210,2832
$STATE,5151,end apogee,CONTROL_FINISHED_OK
$STATE,5151,begin climb
$GC,5154,0.97,146.6,396.6,0.0,247,5287,1.27,2.72,123.53,1.052,4,0.054,0.067,2909,791,2234
$GC,5317,1.22,306.0,394.3,1.6,254,5460,0.25,2.55,133.38,1.029,6,0.045,0.055,2976,2191,1584
$GC,5777,1.12,306.0,364.2,7.7,277,5778,0.15,0.00,0.00,0.000,6,0.085,0.000,2946,2192,1586
$GC,6085,1.12,306.0,346.1,6.1,292,6090,0.00,2.60,0.00,0.000,4,0.000,0.071,2945,793,1586
$GC,6136,1.12,306.0,342.5,6.7,294,6140,0.00,2.55,0.00,0.000,6,0.000,0.057,2946,2200,1586
$GC,6452,1.12,306.0,320.8,7.1,309,6456,0.00,2.62,0.00,0.000,4,0.000,0.071,2946,787,1586
$GC,6501,1.12,306.0,317.2,7.4,311,6506,0.00,2.53,0.00,0.000,6,0.000,0.057,2945,2180,1586
$GC,6818,1.12,306.0,291.9,8.3,326,6823,0.00,2.58,0.00,0.000,4,0.000,0.071,2946,791,1586
$GC,6863,1.12,306.0,287.8,8.7,328,6867,0.00,2.47,0.00,0.000,6,0.000,0.055,2945,2169,1587
$GC,7183,1.12,306.0,263.6,7.5,344,7188,0.00,2.55,0.00,0.000,4,0.000,0.070,2945,790,1587
$GC,7212,1.12,306.0,261.3,8.4,345,7216,0.00,2.47,0.00,0.000,6,0.000,0.055,2945,2163,1586
$GC,7527,1.12,306.0,236.6,7.9,360,7532,0.00,2.53,0.00,0.000,4,0.000,0.069,2946,785,1587
$GC,7555,1.12,306.0,234.2,8.8,361,7559,0.00,2.45,0.00,0.000,6,0.000,0.054,2946,2147,1586
$GC,7872,1.12,306.0,210.0,7.5,376,7876,0.00,2.50,0.00,0.000,4,0.000,0.069,2945,791,1587
$GC,7899,1.12,306.0,207.6,8.6,377,7904,0.00,2.42,0.00,0.000,6,0.000,0.054,2945,2142,1587
$GC,8221,1.12,306.0,183.4,7.4,393,8225,0.00,2.50,0.00,0.000,4,0.000,0.069,2945,788,1587
$GC,8248,1.12,306.0,181.1,8.4,394,8252,0.00,2.40,0.00,0.000,6,0.000,0.054,2946,2129,1587
$GC,8569,1.12,306.0,157.1,7.2,410,8573,0.00,2.45,0.00,0.000,4,0.000,0.067,2946,793,1587
$GC,8596,1.12,306.0,154.7,8.4,411,8600,0.00,2.40,0.00,0.000,6,0.000,0.054,2946,2132,1587
$GC,8912,1.12,306.0,130.2,7.7,426,8917,0.00,2.47,0.00,0.000,4,0.000,0.069,2946,788,1587
$GC,8935,1.12,306.0,128.2,8.2,427,8939,0.00,2.38,0.00,0.000,6,0.000,0.054,2945,2118,1587
$GC,9257,1.12,306.0,103.2,7.7,443,9258,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2119,1587
$GC,9568,1.12,306.0,80.6,7.4,458,9572,0.00,2.45,0.00,0.000,4,0.000,0.068,2946,784,1587
$GC,9612,1.12,306.0,76.9,8.5,460,9616,0.00,2.38,0.00,0.000,6,0.000,0.053,2945,2113,1587
$GC,9933,1.12,306.0,53.2,7.5,476,9934,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2114,1587
$GC,10242,1.12,306.0,29.6,7.3,491,10244,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2114,1587
$GC,10552,1.12,306.0,5.4,7.3,506,10556,0.00,2.45,0.00,0.000,4,0.000,0.067,2946,787,1588
$STATE,10567,end climb,SURFACE_DEPTH_REACHED
$STATE,10568,begin surface coast
$FINISH,1.4,1.027435
$STATE,10595,end surface coast,CONTROL_FINISHED_OK
$STATE,10596,begin surface
$SM_CCo,10680,0.00,0.000,0,0,1586,305.64
$SM_GC,1.28,10.98,0.00,0.00,0.037,0.000,0.000,423,2034,1586,-10.38,0.96,305.64
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1798
$TCM_TEMP,18.70
$XPDR_PINGS,341
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,351.7,50.6
$24V_AH,23.9,44.456
$10V_AH,10.1,21.925
$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,24.250,95.500,381.250,0.000,0.000,37.761,27.280,121.596,88.250,0.000,0.000,18.168,956.173,7995.087,457.105,1179.212,399.944,0.000,1076.461,0.000,1148.657,0.000,21.501,0.000
$DEVICE_MAMPS,131.924,75.933,1086.072,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,371.138,340.567,406.920,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25372,508
$CAP_FILE_SIZE,81493,0
$CFSIZE,254472192,236748800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,0,0
$GPS,301208,151237,6054.516,-535.749,38,1.0,38,-7.2