version: 66.04
glider: 5
mission: 5
dive: 41
start: 11 12 108 1 41 6
data:
$ID,5
$MISSION,5
$DIVE,41
$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,-88049.273
$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,25
$R_STBD_OVSHOOT,16
$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
$GPS1,013508,6241.212,-502.032,38,1.9,38,-7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-60.7
$GPS2,014015,6241.205,-501.960,13,1.4,13,-7.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.243,0.103
$KALMAN_X,42990.8,252.0,-198.0,7997.8,205.0
$KALMAN_Y,-36051.8,1281.7,246.5,-74889.4,-5560.2
$MHEAD_RNG_PITCHd_Wd,74.5,41198,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,98,0.00,0.00,-78.38,0.000,6,0.000,0.000,422,1980,3431
$GC,101,-1.44,-146.6,5.7,-6.9,4,116,10.10,2.53,0.00,0.000,4,0.137,0.064,2376,596,3432
$GC,324,-1.21,-146.6,56.6,-18.2,13,330,0.30,2.53,0.00,0.000,6,0.094,0.053,2434,2016,3433
$GC,646,-1.16,-146.6,100.2,-12.9,29,651,0.00,2.53,0.00,0.000,4,0.000,0.067,2434,3410,3434
$GC,669,-1.11,-146.6,103.5,-13.7,30,674,0.12,2.53,0.00,0.000,6,0.096,0.051,2460,1998,3434
$GC,990,-1.11,-146.6,142.0,-11.8,46,995,0.00,2.53,0.00,0.000,4,0.000,0.067,2460,596,3434
$GC,1031,-1.11,-146.6,146.7,-11.8,48,1035,0.00,2.50,0.00,0.000,6,0.000,0.054,2460,1996,3434
$GC,1357,-1.11,-146.6,185.7,-12.2,64,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1997,3435
$GC,1666,-1.11,-146.6,222.5,-11.5,79,1671,0.00,2.58,0.00,0.000,4,0.000,0.067,2460,592,3435
$GC,1721,-1.11,-146.6,229.4,-12.5,81,1727,0.00,2.50,0.00,0.000,6,0.000,0.054,2460,1990,3435
$GC,2037,-1.11,-146.6,266.1,-11.1,97,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1990,3435
$GC,2347,-1.11,-146.6,300.6,-11.1,112,2351,0.00,2.58,0.00,0.000,4,0.000,0.071,2460,589,3435
$GC,2441,-1.11,-146.6,311.6,-11.5,116,2446,0.00,2.47,0.00,0.000,6,0.000,0.054,2460,1964,3435
$GC,2758,-1.11,-146.6,345.9,-11.0,131,2762,0.00,2.62,0.00,0.000,4,0.000,0.071,2460,3411,3435
$GC,2808,-1.18,-146.6,351.7,-10.8,133,2813,0.00,2.58,0.00,0.000,6,0.000,0.056,2461,1979,3435
$GC,3124,-1.18,-146.6,384.9,-10.3,148,3128,0.00,2.50,0.00,0.000,4,0.000,0.071,2460,596,3435
$GC,3269,-1.18,-146.6,401.1,-11.6,154,3275,0.00,2.45,0.00,0.000,6,0.000,0.054,2460,1967,3435
$GC,3585,-1.23,-146.6,436.1,-11.5,170,3590,0.12,2.55,0.00,0.000,4,0.060,0.075,2428,596,3435
$GC,3630,-1.18,-146.6,441.7,-13.0,172,3634,0.00,2.47,0.00,0.000,6,0.000,0.058,2428,1970,3436
$GC,3950,-1.18,-146.6,481.0,-12.3,188,3955,0.00,2.58,0.00,0.000,4,0.000,0.077,2428,587,3435
$GC,4018,-1.13,-146.6,489.6,-13.1,191,4023,0.12,2.50,0.00,0.000,6,0.106,0.061,2451,1974,3435
$GC,4339,-1.13,-146.6,524.7,-10.8,207,4347,0.00,2.67,0.00,0.000,4,0.000,0.083,2452,3412,3435
$GC,4455,-1.19,-146.6,537.9,-11.0,212,4460,0.00,2.58,0.00,0.000,6,0.000,0.067,2452,2013,3434
$GC,4782,-1.23,-146.6,573.9,-11.0,228,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2013,3433
$GC,5091,-1.27,-146.6,608.0,-10.8,243,5093,0.12,0.00,0.00,0.000,6,0.071,0.000,2421,2013,3432
$GC,5400,-1.23,-146.6,646.2,-12.4,258,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2013,3431
$GC,5709,-1.19,-146.6,684.3,-12.3,273,5714,0.00,2.67,0.00,0.000,4,0.000,0.091,2421,590,3429
$GC,5732,-1.12,-146.6,687.2,-12.0,274,5737,0.17,2.65,0.00,0.000,6,0.112,0.076,2454,2012,3429
$STATE,5866,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5866,begin apogee
$GC,5873,-0.33,0.0,702.1,10.7,281,5999,0.82,0.00,122.53,1.414,6,0.096,0.000,2624,2251,2832
$STATE,6000,end apogee,CONTROL_FINISHED_OK
$STATE,6000,begin climb
$GC,6002,1.44,146.6,707.7,0.0,287,6129,1.83,0.00,121.55,1.363,6,0.080,0.000,3009,2251,2234
$GC,6436,1.49,174.7,675.3,8.7,308,6462,0.00,0.00,24.70,1.295,6,0.000,0.000,3008,2251,2119
$GC,6764,1.52,199.4,646.2,8.9,324,6794,0.10,2.80,21.60,1.291,4,0.074,0.087,3033,845,2018
$GC,6829,1.44,199.4,639.7,10.7,327,6834,0.00,2.67,0.00,0.000,6,0.000,0.079,3033,2239,2018
$GC,7155,1.44,199.4,604.2,10.7,343,7160,0.00,2.75,0.00,0.000,4,0.000,0.100,3033,3656,2018
$GC,7183,1.38,199.4,601.0,12.3,344,7189,0.17,2.70,0.00,0.000,6,0.114,0.079,3003,2235,2018
$GC,7500,1.40,211.6,571.3,9.4,359,7520,0.00,2.72,11.32,1.235,4,0.000,0.091,3003,838,1969
$GC,7548,1.40,211.6,566.4,10.5,361,7553,0.00,2.67,0.00,0.000,6,0.000,0.077,3003,2238,1969
$GC,7870,1.46,220.3,536.0,9.6,377,7881,0.00,0.00,8.73,1.183,6,0.000,0.000,3002,2239,1933
$GC,8179,1.52,221.6,506.0,9.9,392,8184,0.12,2.70,0.00,0.000,4,0.074,0.088,3031,841,1932
$GC,8213,1.47,221.6,501.9,12.1,393,8219,0.00,2.62,0.00,0.000,6,0.000,0.077,3031,2227,1931
$GC,8529,1.47,221.6,465.6,11.6,409,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2227,1931
$GC,8838,1.47,221.6,430.8,11.1,424,8842,0.00,2.65,0.00,0.000,4,0.000,0.084,3031,837,1930
$GC,8877,1.47,221.6,426.3,11.6,426,8882,0.00,2.58,0.00,0.000,6,0.000,0.074,3031,2209,1930
$GC,9204,1.47,221.6,391.4,10.9,442,9209,0.00,2.60,0.00,0.000,4,0.000,0.080,3031,835,1930
$GC,9267,1.47,221.6,384.1,12.5,445,9271,0.00,2.50,0.00,0.000,6,0.000,0.071,3031,2176,1930
$GC,9594,1.47,221.6,347.2,11.7,461,9598,0.00,2.53,0.00,0.000,4,0.000,0.076,3031,835,1930
$GC,9621,1.47,221.6,343.8,12.5,462,9625,0.00,2.47,0.00,0.000,6,0.000,0.067,3031,2176,1930
$GC,9936,1.47,221.6,307.8,11.7,477,9941,0.00,2.75,0.00,0.000,4,0.000,0.079,3031,3658,1930
$GC,9992,1.47,221.6,300.8,11.9,479,9998,0.00,2.70,0.00,0.000,6,0.000,0.063,3031,2176,1930
$GC,10307,1.47,221.6,263.1,12.0,495,10308,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2176,1931
$GC,10616,1.47,221.6,227.9,11.3,510,10621,0.00,2.78,0.00,0.000,4,0.000,0.074,3031,3666,1932
$GC,10649,1.47,221.6,223.9,12.2,511,10655,0.00,2.67,0.00,0.000,6,0.000,0.055,3031,2180,1932
$GC,10965,1.47,221.6,189.2,11.2,527,10969,0.00,2.75,0.00,0.000,4,0.000,0.071,3031,3667,1933
$GC,11004,1.47,221.6,184.3,12.6,529,11009,0.00,2.65,0.00,0.000,6,0.000,0.054,3031,2186,1933
$GC,11330,1.47,221.6,147.7,11.8,545,11335,0.00,2.72,0.00,0.000,4,0.000,0.071,3031,3659,1934
$GC,11352,1.47,221.6,145.0,12.3,546,11356,0.00,2.62,0.00,0.000,6,0.000,0.054,3031,2196,1934
$GC,11673,1.47,221.6,110.0,10.7,562,11675,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2195,1935
$GC,11982,1.47,221.6,77.9,10.5,577,11988,0.00,0.00,3.58,0.582,6,0.000,0.000,3031,2195,1928
$GC,12293,1.47,221.6,44.4,11.8,592,12298,0.00,2.70,0.00,0.000,4,0.000,0.068,3031,3660,1929
$GC,12326,1.47,221.6,40.5,11.2,593,12332,0.00,2.60,0.00,0.000,6,0.000,0.052,3031,2201,1928
$GC,12643,1.47,221.6,5.7,12.3,609,12644,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2200,1929
$STATE,12659,end climb,SURFACE_DEPTH_REACHED
$STATE,12659,begin surface coast
$FINISH,0.9,1.027310
$STATE,12681,end surface coast,CONTROL_FINISHED_OK
$STATE,12681,begin surface
$SM_CCo,12705,15.80,0.810,0,0,1811,250.21
$SM_GC,1.19,0.00,0.00,15.80,0.000,0.000,0.810,422,1981,1811,-10.48,-0.59,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1806
$TCM_TEMP,17.10
$XPDR_PINGS,296
$ALTIM_TOP_PING,18.2,999.0
$ALTIM_BOTTOM_PING,676.7,34.9
$24V_AH,23.7,8.800
$10V_AH,10.0,3.884
$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,25.550,120.775,314.000,15.800,0.000,37.759,40.551,124.441,80.250,0.000,0.000,13.590,1156.315,9628.308,473.025,1352.183,425.046,33.361,1166.837,0.000,1319.913,0.000,42.138,0.000
$DEVICE_MAMPS,137.293,99.710,1414.348,809.952,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.122,412.525,369.405,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31698,611
$CAP_FILE_SIZE,99947,0
$CFSIZE,254472192,250269696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
$GPS,121108,051428,6242.867,-456.496,39,1.3,41,-7.4