version: 66.04
glider: 5
mission: 5
dive: 52
start: 11 14 108 6 0 39
data:
$ID,5
$MISSION,5
$DIVE,52
$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,-88252.586
$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
$GPS1,055108,6239.932,-357.402,31,0.9,31,-6.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-66.0
$GPS2,055945,6239.938,-357.367,14,1.1,14,-6.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.087,-0.249
$KALMAN_X,63661.7,-541.3,-743.1,41734.7,5009.1
$KALMAN_Y,-30825.1,-954.8,-556.6,-79404.5,3991.0
$MHEAD_RNG_PITCHd_Wd,167.7,51864,-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,15,-1.44,-146.6,0.0,0.0,0,98,0.00,0.00,-80.93,0.000,2,0.000,0.000,426,1971,3354
$GC,101,-1.44,-146.6,4.5,-5.1,4,124,10.18,2.67,-1.80,0.000,4,0.142,0.080,2376,3412,3432
$GC,283,-1.23,-146.6,45.6,-19.5,12,288,0.28,2.55,0.00,0.000,6,0.100,0.054,2428,1999,3433
$GC,610,-1.13,-146.6,94.7,-14.7,28,615,0.12,2.55,0.00,0.000,4,0.104,0.067,2452,589,3433
$GC,644,-1.08,-146.6,99.5,-14.1,29,650,0.00,2.55,0.00,0.000,6,0.000,0.055,2451,2006,3433
$GC,961,-1.03,-146.6,138.5,-12.2,45,966,0.12,2.62,0.00,0.000,4,0.100,0.067,2477,588,3434
$GC,1028,-1.08,-146.6,146.4,-11.3,48,1032,0.00,2.50,0.00,0.000,6,0.000,0.054,2476,1980,3434
$GC,1349,-1.08,-146.6,181.3,-10.6,64,1353,0.00,2.55,0.00,0.000,4,0.000,0.068,2476,593,3434
$GC,1411,-1.14,-146.6,188.3,-10.9,67,1416,0.12,2.45,0.00,0.000,6,0.057,0.054,2445,1961,3434
$GC,1740,-1.09,-146.6,229.0,-12.7,83,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1961,3434
$GC,2047,-1.04,-146.6,268.3,-12.7,98,2052,0.12,2.55,0.00,0.000,4,0.100,0.069,2468,589,3435
$GC,2080,-1.04,-146.6,272.7,-12.4,99,2086,0.00,2.45,0.00,0.000,6,0.000,0.055,2468,1957,3435
$GC,2396,-1.04,-146.6,309.6,-11.7,115,2400,0.00,2.50,0.00,0.000,4,0.000,0.070,2468,597,3435
$GC,2468,-1.04,-146.6,318.5,-11.6,118,2472,0.00,2.38,0.00,0.000,6,0.000,0.054,2468,1934,3435
$GC,2789,-1.04,-146.6,356.0,-11.3,134,2793,0.00,2.47,0.00,0.000,4,0.000,0.071,2468,593,3435
$GC,2851,-1.09,-146.6,363.3,-11.4,137,2855,0.00,2.35,0.00,0.000,6,0.000,0.054,2468,1909,3435
$GC,3178,-1.14,-146.6,398.4,-10.1,153,3182,0.00,2.42,0.00,0.000,4,0.000,0.071,2468,589,3435
$GC,3240,-1.20,-146.6,404.8,-10.3,155,3246,0.15,2.38,0.00,0.000,6,0.055,0.055,2430,1916,3435
$GC,3557,-1.15,-146.6,441.6,-11.2,171,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1917,3435
$GC,3866,-1.11,-146.6,475.2,-11.1,186,3871,0.15,2.47,0.00,0.000,4,0.097,0.073,2458,592,3435
$GC,3916,-1.11,-146.6,480.6,-10.2,188,3920,0.00,2.35,0.00,0.000,6,0.000,0.057,2458,1898,3435
$GC,4232,-1.16,-146.6,512.3,-10.4,203,4236,0.00,2.75,0.00,0.000,4,0.000,0.074,2458,3402,3433
$GC,4276,-1.23,-146.6,517.4,-11.1,205,4282,0.12,2.75,0.00,0.000,6,0.063,0.061,2426,1887,3433
$GC,4599,-1.18,-146.6,556.3,-12.3,221,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1887,3433
$GC,4908,-1.12,-146.6,592.4,-11.5,236,4913,0.15,2.85,0.00,0.000,4,0.099,0.077,2455,3409,3431
$GC,4935,-1.12,-146.6,595.6,-10.5,237,4940,0.00,2.75,0.00,0.000,6,0.000,0.064,2455,1905,3431
$GC,5254,-1.16,-146.6,626.4,-9.9,252,5258,0.00,2.42,0.00,0.000,4,0.000,0.080,2455,590,3431
$GC,5288,-1.16,-146.6,630.2,-10.1,253,5294,0.00,2.38,0.00,0.000,6,0.000,0.064,2455,1897,3430
$GC,5604,-1.21,-146.6,659.6,-9.1,269,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1898,3429
$GC,5913,-1.25,-146.6,687.6,-9.4,284,5915,0.12,0.00,0.00,0.000,6,0.067,0.000,2425,1898,3427
$GC,6222,-1.21,-146.6,723.0,-11.9,299,6227,0.00,2.47,0.00,0.000,4,0.000,0.087,2425,597,3426
$GC,6285,-1.16,-146.6,730.7,-13.0,302,6290,0.12,2.40,0.00,0.000,6,0.111,0.070,2447,1900,3426
$GC,6612,-1.16,-146.6,766.1,-10.7,318,6616,0.00,2.50,0.00,0.000,4,0.000,0.090,2447,595,3425
$GC,6629,-1.16,-146.6,768.1,-11.5,319,6633,0.00,2.40,0.00,0.000,6,0.000,0.071,2448,1895,3425
$GC,6961,-1.16,-146.6,802.9,-10.1,335,6965,0.00,2.47,0.00,0.000,4,0.000,0.092,2447,599,3424
$GC,7010,-1.16,-146.6,808.4,-11.1,337,7015,0.00,2.40,0.00,0.000,6,0.000,0.072,2447,1892,3424
$STATE,7042,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7042,begin apogee
$GC,7049,-0.33,0.0,811.7,10.7,339,7175,0.85,0.00,122.57,1.529,6,0.094,0.000,2623,2244,2832
$STATE,7176,end apogee,CONTROL_FINISHED_OK
$STATE,7176,begin climb
$GC,7179,1.44,146.6,816.9,0.0,345,7311,1.83,2.80,122.00,1.477,4,0.074,0.093,3011,3659,2233
$GC,7382,1.37,154.2,804.8,9.7,354,7396,0.00,2.67,7.97,1.211,6,0.000,0.075,3011,2252,2203
$GC,7725,1.38,157.4,772.4,9.9,371,7734,0.00,2.75,4.25,0.953,4,0.000,0.091,3011,3653,2190
$GC,7770,1.34,157.4,767.5,10.4,373,7774,0.00,2.65,0.00,0.000,6,0.000,0.074,3011,2250,2190
$GC,8097,1.34,157.4,734.7,10.1,389,8101,0.00,2.75,0.00,0.000,4,0.000,0.092,3011,3660,2190
$GC,8137,1.28,157.4,730.3,11.0,391,8142,0.17,2.62,0.00,0.000,6,0.107,0.074,2979,2261,2189
$GC,8464,1.38,182.4,701.2,8.9,407,8488,0.00,0.00,21.90,1.400,6,0.000,0.000,2979,2261,2088
$GC,8793,1.50,202.1,671.2,9.1,423,8819,0.20,2.80,17.90,1.371,4,0.064,0.086,3028,843,2008
$GC,8842,1.44,202.1,665.6,11.5,425,8846,0.00,2.72,0.00,0.000,6,0.000,0.073,3028,2275,2008
$GC,9163,1.44,202.1,626.7,12.2,441,9167,0.00,2.65,0.00,0.000,4,0.000,0.094,3028,3657,2007
$GC,9192,1.44,202.1,622.9,12.7,442,9196,0.00,2.60,0.00,0.000,6,0.000,0.074,3028,2274,2007
$GC,9507,1.44,202.1,584.0,12.0,457,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2266,2007
$GC,9817,1.44,202.1,548.4,11.6,472,9821,0.00,2.72,0.00,0.000,4,0.000,0.087,3028,835,2007
$GC,9838,1.44,202.1,545.7,12.6,473,9843,0.00,2.75,0.00,0.000,6,0.000,0.074,3028,2294,2007
$GC,10159,1.44,202.1,512.1,10.1,489,10163,0.00,2.78,0.00,0.000,4,0.000,0.085,3028,842,2006
$GC,10186,1.44,202.1,509.1,11.2,490,10190,0.00,2.72,0.00,0.000,6,0.000,0.075,3028,2287,2007
$GC,10502,1.44,202.1,476.3,10.6,505,10506,0.00,2.62,0.00,0.000,4,0.000,0.094,3028,3660,2006
$GC,10534,1.44,202.1,472.5,11.7,506,10540,0.00,2.58,0.00,0.000,6,0.000,0.073,3028,2282,2006
$GC,10850,1.44,202.1,437.9,11.1,522,10854,0.00,2.70,0.00,0.000,4,0.000,0.087,3028,840,2006
$GC,10928,1.44,202.1,428.8,11.1,525,10934,0.00,2.67,0.00,0.000,6,0.000,0.075,3028,2268,2006
$GC,11244,1.45,207.9,396.6,9.7,541,11257,0.00,2.75,6.28,1.045,4,0.000,0.081,3028,843,1983
$GC,11310,1.45,207.9,389.9,10.4,544,11315,0.00,2.65,0.00,0.000,6,0.000,0.073,3028,2250,1983
$GC,11638,1.48,225.7,360.4,9.2,560,11659,0.00,2.80,15.90,1.156,4,0.000,0.081,3028,840,1911
$GC,11676,1.53,253.6,356.8,8.7,561,11706,0.00,2.65,23.98,1.166,6,0.000,0.071,3028,2238,1797
$GC,12036,1.58,253.6,321.3,10.1,579,12041,0.00,2.65,0.00,0.000,4,0.000,0.080,3028,844,1798
$GC,12069,1.62,253.6,317.6,10.8,580,12076,0.12,2.60,0.00,0.000,6,0.067,0.071,3059,2232,1798
$GC,12385,1.62,253.6,278.3,12.6,596,12386,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2233,1798
$GC,12694,1.62,253.6,238.8,13.0,611,12699,0.00,2.60,0.00,0.000,4,0.000,0.076,3059,843,1798
$GC,12722,1.58,253.6,235.1,13.6,612,12726,0.00,2.58,0.00,0.000,6,0.000,0.067,3059,2233,1798
$GC,13038,1.58,253.6,194.3,13.0,627,13042,0.00,2.60,0.00,0.000,4,0.000,0.074,3059,837,1799
$GC,13071,1.53,253.6,189.7,13.8,628,13077,0.12,2.53,0.00,0.000,6,0.112,0.064,3036,2212,1799
$GC,13387,1.58,253.6,152.2,12.0,644,13388,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2211,1800
$GC,13697,1.62,253.6,116.5,11.5,659,13698,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2212,1801
$GC,14007,1.62,253.6,80.6,11.7,674,14011,0.00,2.55,0.00,0.000,4,0.000,0.071,3036,838,1802
$GC,14034,1.62,253.6,77.2,11.8,675,14038,0.00,2.50,0.00,0.000,6,0.000,0.059,3037,2211,1802
$GC,14350,1.62,253.6,39.4,12.3,690,14355,0.00,2.65,0.00,0.000,4,0.000,0.074,3036,3657,1803
$GC,14391,1.66,253.6,34.1,13.1,692,14396,0.12,2.60,0.00,0.000,6,0.066,0.057,3067,2211,1803
$STATE,14613,end climb,SURFACE_DEPTH_REACHED
$STATE,14613,begin surface coast
$FINISH,0.7,1.027328
$STATE,14637,end surface coast,CONTROL_FINISHED_OK
$STATE,14637,begin surface
$SM_CCo,14720,0.00,0.000,0,0,1803,252.41
$SM_GC,1.45,11.62,0.00,0.00,0.044,0.000,0.000,426,1962,1803,-10.38,-1.07,252.41
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1810
$TCM_TEMP,16.00
$XPDR_PINGS,267
$ALTIM_TOP_PING,17.5,999.0
$ALTIM_BOTTOM_PING,775.0,44.9
$24V_AH,23.6,10.669
$10V_AH,10.0,4.716
$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,26.825,161.600,342.750,0.000,0.000,75.516,59.980,201.443,74.250,0.000,0.000,14.913,1354.951,11215.231,492.884,1567.178,610.699,33.388,1319.203,0.000,1522.605,0.000,51.417,0.000
$DEVICE_MAMPS,141.895,94.341,1529.398,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,520.465,474.901,391.743,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34890,704
$CAP_FILE_SIZE,124798,0
$CFSIZE,254472192,249561088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,49,0,0
$GPS,141108,100708,6238.580,-354.964,33,2.0,33,-6.8