version: 66.04
glider: 5
mission: 5
dive: 53
start: 11 14 108 10 13 18
data:
$ID,5
$MISSION,5
$DIVE,53
$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,-88268.594
$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,53
$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
$GPS1,100708,6238.580,-354.964,33,2.0,33,-6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-67.7
$GPS2,101227,6238.598,-355.010,15,1.9,15,-6.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.104,-0.242
$KALMAN_X,63440.2,-652.3,-307.9,43589.4,3085.2
$KALMAN_Y,-29755.6,-567.8,401.7,-84289.4,2620.2
$MHEAD_RNG_PITCHd_Wd,210.1,48735,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.44,-146.6,0.0,0.0,0,100,0.00,0.00,-78.78,0.000,6,0.000,0.000,426,1969,3430
$GC,103,-1.44,-146.6,5.7,-6.9,4,117,10.18,0.00,0.00,0.000,6,0.141,0.000,2378,1974,3431
$GC,436,-1.19,-146.6,78.1,-18.8,20,441,0.28,2.47,0.00,0.000,4,0.100,0.067,2434,623,3432
$GC,458,-1.03,-146.6,82.1,-16.7,21,463,0.20,2.50,0.00,0.000,6,0.094,0.055,2475,2010,3432
$GC,781,-1.03,-146.6,123.3,-12.3,37,785,0.00,2.55,0.00,0.000,4,0.000,0.069,2475,626,3432
$GC,858,-1.03,-146.6,133.4,-12.7,40,865,0.00,2.47,0.00,0.000,6,0.000,0.054,2475,2004,3432
$GC,1175,-1.03,-146.6,170.8,-11.8,56,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2005,3433
$GC,1484,-1.03,-146.6,208.1,-12.2,71,1488,0.00,2.55,0.00,0.000,4,0.000,0.067,2475,616,3433
$GC,1528,-1.08,-146.6,213.9,-12.4,73,1532,0.00,2.45,0.00,0.000,6,0.000,0.054,2475,1983,3433
$GC,1850,-1.08,-146.6,252.1,-11.3,89,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1984,3433
$GC,2158,-1.08,-146.6,288.0,-12.0,104,2162,0.00,2.50,0.00,0.000,4,0.000,0.069,2475,624,3433
$GC,2198,-1.13,-146.6,292.9,-12.7,106,2203,0.00,2.42,0.00,0.000,6,0.000,0.054,2475,1980,3433
$GC,2526,-1.17,-146.6,330.6,-10.9,122,2527,0.15,0.00,0.00,0.000,6,0.054,0.000,2436,1981,3433
$GC,2835,-1.13,-146.6,367.8,-12.2,137,2840,0.00,2.50,0.00,0.000,4,0.000,0.069,2435,620,3433
$GC,2893,-1.13,-146.6,375.1,-12.4,139,2899,0.00,2.38,0.00,0.000,6,0.000,0.054,2435,1951,3433
$GC,3209,-1.13,-146.6,411.6,-11.9,155,3213,0.00,2.62,0.00,0.000,4,0.000,0.067,2436,3405,3433
$GC,3242,-1.13,-146.6,415.7,-12.1,156,3248,0.00,2.58,0.00,0.000,6,0.000,0.055,2435,1972,3433
$GC,3557,-1.13,-146.6,453.9,-12.2,172,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1972,3433
$GC,3867,-1.13,-146.6,492.4,-12.7,187,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1972,3433
$GC,4176,-1.13,-146.6,531.6,-11.9,202,4180,0.00,2.65,0.00,0.000,4,0.000,0.074,2435,3409,3433
$GC,4225,-1.13,-146.6,537.8,-12.5,204,4230,0.00,2.65,0.00,0.000,6,0.000,0.061,2436,1951,3432
$GC,4541,-1.13,-146.6,572.4,-10.7,219,4546,0.00,2.47,0.00,0.000,4,0.000,0.075,2435,596,3432
$GC,4582,-1.13,-146.6,577.0,-11.9,221,4586,0.00,2.42,0.00,0.000,6,0.000,0.061,2435,1936,3432
$GC,4914,-1.13,-146.6,612.8,-10.9,237,4918,0.00,2.53,0.00,0.000,4,0.000,0.080,2435,590,3431
$GC,4935,-1.13,-146.6,615.2,-10.7,238,4940,0.00,2.45,0.00,0.000,6,0.000,0.063,2436,1934,3431
$GC,5257,-1.13,-146.6,649.4,-11.0,254,5262,0.00,2.70,0.00,0.000,4,0.000,0.082,2436,3402,3429
$GC,5284,-1.13,-146.6,652.6,-11.1,255,5289,0.00,2.70,0.00,0.000,6,0.000,0.067,2435,1929,3429
$GC,5606,-1.13,-146.6,687.2,-11.0,271,5611,0.00,2.78,0.00,0.000,4,0.000,0.081,2435,3402,3427
$GC,5668,-1.13,-146.6,694.4,-11.9,274,5673,0.00,2.67,0.00,0.000,6,0.000,0.067,2435,1944,3427
$GC,5995,-1.13,-146.6,729.9,-10.8,290,5999,0.00,2.78,0.00,0.000,4,0.000,0.083,2436,3409,3426
$GC,6027,-1.13,-146.6,733.7,-11.6,291,6033,0.00,2.70,0.00,0.000,6,0.000,0.070,2435,1948,3426
$GC,6343,-1.13,-146.6,767.6,-10.7,307,6348,0.00,2.78,0.00,0.000,4,0.000,0.087,2435,3404,3425
$GC,6370,-1.13,-146.6,770.7,-10.8,308,6375,0.00,2.67,0.00,0.000,6,0.000,0.071,2435,1960,3424
$STATE,6497,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6498,begin apogee
$GC,6505,-0.33,0.0,784.9,11.1,314,6630,0.90,0.00,122.07,1.498,6,0.094,0.000,2623,2255,2832
$STATE,6631,end apogee,CONTROL_FINISHED_OK
$STATE,6631,begin climb
$GC,6634,1.44,146.6,789.9,0.0,320,6766,1.80,2.75,121.82,1.448,4,0.070,0.081,3009,843,2234
$GC,6804,1.35,153.2,783.4,9.7,328,6818,0.00,2.65,7.05,1.151,6,0.000,0.070,3010,2246,2207
$GC,7135,1.36,154.8,750.7,9.9,344,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2246,2206
$GC,7444,1.36,154.8,719.3,10.1,359,7445,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2246,2205
$GC,7754,1.36,154.8,688.1,10.2,374,7758,0.00,2.70,0.00,0.000,4,0.000,0.087,3010,842,2205
$GC,7781,1.31,154.8,685.2,10.8,375,7786,0.12,2.65,0.00,0.000,6,0.110,0.074,2988,2246,2205
$GC,8097,1.37,163.8,655.9,9.6,390,8109,0.00,0.00,9.82,1.280,6,0.000,0.000,2988,2247,2164
$GC,8407,1.47,190.9,627.4,8.8,405,8438,0.15,2.80,23.83,1.372,4,0.067,0.086,3023,848,2053
$GC,8466,1.41,190.9,620.8,11.2,407,8472,0.00,2.65,0.00,0.000,6,0.000,0.074,3023,2239,2053
$GC,8782,1.41,190.9,586.8,10.5,423,8783,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2239,2052
$GC,9091,1.44,210.0,557.2,9.1,438,9114,0.00,2.80,17.15,1.319,4,0.000,0.086,3023,845,1975
$GC,9176,1.44,210.0,548.5,10.5,441,9182,0.00,2.62,0.00,0.000,6,0.000,0.078,3023,2227,1974
$GC,9492,1.46,220.1,518.1,9.5,457,9507,0.00,2.72,9.80,1.222,4,0.000,0.087,3023,842,1934
$GC,9535,1.46,220.1,513.5,10.7,458,9539,0.00,2.62,0.00,0.000,6,0.000,0.074,3023,2222,1934
$GC,9855,1.46,220.1,479.8,10.7,474,9857,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2222,1933
$GC,10165,1.46,220.1,446.8,10.5,489,10166,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2223,1933
$GC,10474,1.49,237.2,416.2,9.2,504,10496,0.00,2.70,15.45,1.204,4,0.000,0.084,3023,845,1864
$GC,10530,1.49,239.1,410.7,9.9,506,10535,0.00,2.60,0.00,0.000,6,0.000,0.074,3023,2214,1864
$GC,10847,1.59,263.0,382.3,8.9,521,10876,0.00,2.75,22.17,1.190,4,0.000,0.084,3023,840,1759
$GC,10917,1.59,263.0,375.2,10.5,524,10921,0.00,2.55,0.00,0.000,6,0.000,0.073,3023,2189,1759
$GC,11239,1.66,267.9,342.4,9.8,540,11253,0.17,2.88,6.35,0.978,4,0.066,0.087,3063,3660,1738
$GC,11305,1.66,267.9,334.5,13.0,543,11310,0.00,2.72,0.00,0.000,6,0.000,0.070,3063,2202,1738
$GC,11631,1.66,267.9,292.3,13.8,559,11636,0.00,2.80,0.00,0.000,4,0.000,0.085,3063,3661,1739
$GC,11658,1.66,267.9,288.3,14.9,560,11663,0.00,2.70,0.00,0.000,6,0.000,0.067,3063,2204,1739
$GC,11974,1.66,267.9,245.5,13.5,575,11975,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2204,1739
$GC,12283,1.66,267.9,204.1,13.5,590,12285,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2204,1740
$GC,12593,1.66,267.9,163.9,12.8,605,12594,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2204,1741
$GC,12902,1.66,267.9,122.8,13.1,620,12903,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2204,1743
$GC,13212,1.66,267.9,80.7,13.7,635,13213,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2204,1743
$GC,13521,1.66,267.9,39.8,13.3,650,13522,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2204,1744
$STATE,13807,end climb,SURFACE_DEPTH_REACHED
$STATE,13807,begin surface coast
$FINISH,0.4,1.027258
$STATE,13830,end surface coast,CONTROL_FINISHED_OK
$STATE,13830,begin surface
$SM_CCo,13913,0.00,0.000,0,0,1744,266.89
$SM_GC,1.29,11.68,0.00,0.00,0.046,0.000,0.000,420,1970,1744,-10.40,-0.65,266.89
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1828
$TCM_TEMP,15.90
$XPDR_PINGS,247
$ALTIM_TOP_PING,17.8,17.2
$ALTIM_BOTTOM_PING,750.1,42.6
$24V_AH,23.7,10.829
$10V_AH,10.1,4.778
$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,25.625,116.550,355.525,0.000,0.000,37.761,32.058,132.870,68.750,0.000,0.000,15.382,1227.459,10716.031,476.675,1373.354,437.808,33.362,1194.807,0.000,1337.548,0.000,46.905,0.000
$DEVICE_MAMPS,141.128,86.671,1497.951,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,490.023,449.116,369.378,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34828,665
$CAP_FILE_SIZE,102286,0
$CFSIZE,254472192,249528320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,0,0
$GPS,141108,140626,6236.388,-355.784,39,1.5,39,-6.8