version: 66.04
glider: 5
mission: 5
dive: 39
start: 11 11 108 19 0 41
data:
$ID,5
$MISSION,5
$DIVE,39
$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,330
$T_MISSION,360
$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,-88017.047
$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,39
$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
$GPS1,185208,6240.101,-514.938,32,1.1,32,-7.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-59.2
$GPS2,185950,6240.097,-514.835,14,1.1,14,-7.6
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.246,0.096
$KALMAN_X,40001.2,328.8,699.5,-583.9,-6035.5
$KALMAN_Y,-35970.3,748.7,638.9,-76901.7,-8718.8
$MHEAD_RNG_PITCHd_Wd,76.3,52269,-18.1,-10.000
$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,18,-1.44,-146.6,0.0,0.0,0,99,0.00,0.00,-79.18,0.000,2,0.000,0.000,421,1960,3403
$GC,102,-1.44,-146.6,4.3,-4.7,4,119,10.05,2.42,-0.62,0.000,4,0.136,0.070,2376,608,3431
$GC,295,-1.21,-146.6,48.2,-19.7,11,302,0.30,2.50,0.00,0.000,6,0.097,0.052,2433,2007,3431
$GC,611,-1.15,-146.6,94.2,-14.1,27,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2010,3431
$GC,921,-1.08,-146.6,136.9,-13.5,42,926,0.15,2.58,0.00,0.000,4,0.095,0.067,2463,612,3432
$GC,971,-1.08,-146.6,143.8,-13.2,44,975,0.00,2.47,0.00,0.000,6,0.000,0.053,2464,1996,3432
$GC,1286,-1.08,-146.6,180.2,-11.2,59,1291,0.00,2.55,0.00,0.000,4,0.000,0.067,2464,602,3432
$GC,1330,-1.08,-146.6,185.6,-11.6,61,1334,0.00,2.45,0.00,0.000,6,0.000,0.054,2464,1980,3432
$GC,1657,-1.08,-146.6,221.1,-10.6,77,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1980,3433
$GC,1966,-1.08,-146.6,253.9,-11.0,92,1971,0.00,2.53,0.00,0.000,4,0.000,0.070,2463,606,3433
$GC,2000,-1.08,-146.6,258.0,-11.6,93,2006,0.00,2.45,0.00,0.000,6,0.000,0.054,2464,1980,3433
$GC,2316,-1.08,-146.6,295.9,-12.2,109,2320,0.00,2.53,0.00,0.000,4,0.000,0.070,2464,606,3433
$GC,2361,-1.08,-146.6,301.6,-12.8,111,2365,0.00,2.42,0.00,0.000,6,0.000,0.054,2464,1965,3433
$GC,2682,-1.08,-146.6,340.3,-12.1,127,2686,0.00,2.50,0.00,0.000,4,0.000,0.072,2464,609,3433
$GC,2709,-1.08,-146.6,343.8,-12.6,128,2713,0.00,2.40,0.00,0.000,6,0.000,0.055,2464,1949,3432
$GC,3025,-1.08,-146.6,379.4,-10.4,143,3029,0.00,2.47,0.00,0.000,4,0.000,0.070,2464,604,3433
$GC,3046,-1.08,-146.6,381.9,-11.4,144,3050,0.00,2.38,0.00,0.000,6,0.000,0.054,2464,1938,3433
$GC,3373,-1.13,-146.6,416.8,-10.9,160,3377,0.00,2.67,0.00,0.000,4,0.000,0.073,2464,3404,3433
$GC,3521,-1.21,-146.6,431.7,-10.0,166,3528,0.12,2.55,0.00,0.000,6,0.062,0.058,2432,1991,3433
$GC,3837,-1.17,-146.6,465.9,-11.3,182,3841,0.00,2.55,0.00,0.000,4,0.000,0.074,2432,590,3433
$GC,3905,-1.11,-146.6,473.6,-10.8,185,3910,0.12,2.50,0.00,0.000,6,0.102,0.059,2456,1976,3433
$GC,4227,-1.11,-146.6,506.4,-10.6,201,4231,0.00,2.65,0.00,0.000,4,0.000,0.080,2456,3409,3433
$GC,4282,-1.17,-146.6,512.4,-10.5,203,4289,0.00,2.65,0.00,0.000,6,0.000,0.066,2456,1964,3432
$GC,4598,-1.17,-146.6,545.3,-10.6,219,4602,0.00,2.55,0.00,0.000,4,0.000,0.084,2456,587,3432
$GC,4654,-1.22,-146.6,551.7,-11.4,221,4661,0.00,2.55,0.00,0.000,6,0.000,0.067,2456,1977,3432
$GC,4970,-1.27,-146.6,585.2,-10.4,237,4972,0.15,0.00,0.00,0.000,6,0.068,0.000,2420,1977,3431
$STATE,5215,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5215,begin apogee
$GC,5222,-0.33,0.0,615.1,12.2,249,5347,1.00,0.00,121.15,1.321,6,0.097,0.000,2626,2252,2832
$STATE,5348,end apogee,CONTROL_FINISHED_OK
$STATE,5348,begin climb
$GC,5350,1.44,146.6,620.4,0.0,255,5479,1.80,2.78,119.88,1.279,4,0.074,0.094,3010,3653,2234
$GC,5502,1.39,155.0,613.4,9.6,262,5518,0.00,2.67,8.60,1.069,6,0.000,0.075,3010,2251,2199
$GC,5828,1.40,165.0,582.7,9.5,278,5843,0.00,2.75,9.55,1.116,4,0.000,0.091,3010,841,2159
$GC,5877,1.35,165.0,577.6,11.0,279,5881,0.00,2.67,0.00,0.000,6,0.000,0.074,3010,2247,2159
$GC,6193,1.37,176.4,546.8,9.5,294,6213,0.00,2.78,11.05,1.160,4,0.000,0.088,3010,838,2111
$GC,6230,1.37,176.4,543.0,10.1,295,6236,0.00,2.67,0.00,0.000,6,0.000,0.076,3010,2242,2111
$GC,6546,1.38,185.9,512.7,9.6,311,6561,0.00,2.75,8.85,1.125,4,0.000,0.088,3010,844,2074
$GC,6595,1.38,185.9,507.6,10.2,313,6600,0.00,2.62,0.00,0.000,6,0.000,0.077,3010,2222,2074
$GC,6916,1.43,215.0,478.5,8.7,329,6947,0.00,2.72,25.15,1.244,4,0.000,0.087,3010,844,1955
$GC,6992,1.43,215.0,471.2,10.2,332,6998,0.00,2.60,0.00,0.000,6,0.000,0.076,3010,2211,1954
$GC,7308,1.43,215.8,440.8,10.0,348,7312,0.00,2.62,0.00,0.000,4,0.000,0.085,3010,841,1953
$GC,7329,1.43,215.8,438.4,10.5,349,7334,0.00,2.58,0.00,0.000,6,0.000,0.074,3010,2209,1953
$GC,7651,1.46,233.5,409.9,9.2,365,7673,0.00,2.80,16.12,1.180,4,0.000,0.087,3010,3656,1880
$GC,7707,1.46,233.5,404.0,10.5,367,7712,0.00,2.75,0.00,0.000,6,0.000,0.069,3010,2187,1879
$GC,8023,1.51,233.5,369.6,11.2,382,8028,0.00,2.80,0.00,0.000,4,0.000,0.083,3010,3661,1879
$GC,8069,1.51,233.5,364.3,11.8,384,8073,0.00,2.67,0.00,0.000,6,0.000,0.065,3010,2210,1879
$GC,8390,1.56,233.5,330.5,10.5,400,8395,0.15,2.53,0.00,0.000,4,0.063,0.073,3046,838,1879
$GC,8447,1.49,233.5,323.4,12.8,402,8454,0.12,2.53,0.00,0.000,6,0.111,0.062,3026,2216,1878
$GC,8763,1.49,233.5,286.9,11.7,418,8767,0.00,2.67,0.00,0.000,4,0.000,0.077,3026,3662,1879
$GC,8812,1.49,233.5,280.7,11.9,420,8817,0.00,2.65,0.00,0.000,6,0.000,0.058,3026,2204,1879
$GC,9128,1.49,233.5,244.2,11.7,435,9132,0.00,2.47,0.00,0.000,4,0.000,0.071,3025,839,1880
$GC,9151,1.49,233.5,241.5,12.4,436,9155,0.00,2.50,0.00,0.000,6,0.000,0.058,3025,2216,1880
$GC,9478,1.49,233.5,204.1,11.0,452,9482,0.00,2.55,0.00,0.000,4,0.000,0.067,3025,836,1881
$GC,9504,1.49,233.5,200.7,12.2,453,9508,0.00,2.45,0.00,0.000,6,0.000,0.057,3025,2199,1881
$GC,9826,1.49,233.5,165.3,11.1,469,9830,0.00,2.67,0.00,0.000,4,0.000,0.071,3025,3663,1882
$GC,9858,1.49,233.5,161.4,11.4,470,9865,0.00,2.62,0.00,0.000,6,0.000,0.054,3025,2199,1882
$GC,10174,1.49,233.5,125.9,11.7,486,10176,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2199,1882
$GC,10484,1.49,233.5,91.2,11.1,501,10488,0.00,2.70,0.00,0.000,4,0.000,0.068,3025,3662,1883
$GC,10516,1.49,233.5,87.3,11.4,502,10523,0.00,2.60,0.00,0.000,6,0.000,0.053,3025,2207,1884
$GC,10834,1.49,233.5,51.5,11.8,518,10838,0.00,2.67,0.00,0.000,4,0.000,0.068,3025,3659,1884
$GC,10889,1.49,233.5,43.8,14.1,520,10896,0.00,2.53,0.00,0.000,6,0.000,0.051,3025,2233,1884
$GC,11205,1.49,233.5,7.3,12.0,536,11209,0.00,2.53,0.00,0.000,4,0.000,0.067,3025,838,1885
$GC,11226,1.49,233.5,4.9,10.7,537,11231,0.00,2.53,0.00,0.000,6,0.000,0.054,3025,2243,1885
$STATE,11236,end climb,SURFACE_DEPTH_REACHED
$STATE,11236,begin surface coast
$FINISH,1.1,1.027294
$STATE,11258,end surface coast,CONTROL_FINISHED_OK
$STATE,11258,begin surface
$SM_CCo,11281,10.07,0.775,0,0,1811,250.21
$SM_GC,2.62,0.00,0.00,10.07,0.000,0.000,0.775,426,1970,1811,-10.46,-0.65,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1801
$TCM_TEMP,17.00
$XPDR_PINGS,301
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,600.1,23.8
$24V_AH,23.8,8.516
$10V_AH,10.0,3.765
$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,25.325,140.750,320.350,10.075,0.000,75.519,122.457,105.507,80.750,0.000,0.000,14.024,1052.226,8466.564,464.039,1259.706,520.809,33.342,1146.787,0.000,1227.622,0.000,37.329,0.000
$DEVICE_MAMPS,135.759,93.574,1320.774,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.141,362.419,336.794,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28545,539
$CAP_FILE_SIZE,96862,0
$CFSIZE,254472192,250372096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,0,0
$GPS,111108,221015,6240.663,-508.068,35,1.8,43,-7.5