version: 66.04
glider: 5
mission: 5
dive: 54
start: 11 14 108 14 15 0
data:
$ID,5
$MISSION,5
$DIVE,54
$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,-88281.148
$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,27
$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
$GPS1,140626,6236.388,-355.784,39,1.5,39,-6.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-62.2
$GPS2,141408,6236.388,-355.769,11,1.2,11,-6.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.047,-0.259
$KALMAN_X,64232.7,-485.2,79.1,41599.9,2303.5
$KALMAN_Y,-29076.6,191.0,-421.3,-88994.9,2572.9
$MHEAD_RNG_PITCHd_Wd,197.1,45418,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.32,0.000,2,0.000,0.000,420,1973,3376
$GC,102,-1.44,-146.6,4.6,-5.4,4,119,10.30,2.70,-1.23,0.000,4,0.141,0.079,2376,3414,3431
$GC,126,0.23,-146.6,14.3,-18.6,5,135,1.80,2.55,0.00,0.000,6,0.097,0.054,2746,2004,3432
$GC,453,-0.66,-146.6,37.0,-8.2,21,456,0.88,0.00,0.00,0.000,6,0.056,0.000,2551,2004,3433
$GC,762,-1.03,-146.6,60.5,-7.5,36,767,0.30,2.60,0.00,0.000,4,0.047,0.064,2469,3419,3433
$GC,1015,-1.08,-146.6,89.2,-11.3,47,1019,0.00,2.47,0.00,0.000,6,0.000,0.052,2468,2042,3433
$GC,1333,-1.08,-146.6,126.2,-11.8,62,1338,0.00,2.62,0.00,0.000,4,0.000,0.067,2468,586,3433
$GC,1366,-1.08,-146.6,130.6,-11.9,63,1373,0.00,2.62,0.00,0.000,6,0.000,0.054,2468,2052,3433
$GC,1682,-1.08,-146.6,167.2,-11.6,79,1686,0.00,2.67,0.00,0.000,4,0.000,0.067,2468,591,3433
$GC,1715,-1.08,-146.6,171.2,-11.2,80,1721,0.00,2.60,0.00,0.000,6,0.000,0.054,2468,2047,3434
$GC,2031,-1.08,-146.6,206.5,-11.4,96,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2048,3434
$GC,2340,-1.08,-146.6,239.5,-10.1,111,2345,0.00,2.67,0.00,0.000,4,0.000,0.067,2468,584,3434
$GC,2380,-1.08,-146.6,243.7,-10.4,113,2384,0.00,2.60,0.00,0.000,6,0.000,0.054,2468,2042,3434
$GC,2706,-1.08,-146.6,277.6,-10.6,129,2710,0.00,2.65,0.00,0.000,4,0.000,0.067,2468,595,3434
$GC,2733,-1.08,-146.6,280.8,-11.5,130,2738,0.00,2.58,0.00,0.000,6,0.000,0.054,2468,2032,3434
$GC,3049,-1.08,-146.6,314.9,-11.0,145,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2032,3434
$GC,3359,-1.13,-146.6,348.9,-10.9,160,3363,0.00,2.65,0.00,0.000,4,0.000,0.070,2468,584,3435
$GC,3403,-1.18,-146.6,354.3,-11.8,162,3408,0.12,2.58,0.00,0.000,6,0.058,0.055,2434,2027,3434
$GC,3724,-1.18,-146.6,394.4,-12.7,178,3729,0.00,2.65,0.00,0.000,4,0.000,0.071,2433,587,3435
$GC,3758,-1.13,-146.6,398.8,-13.4,179,3764,0.00,2.60,0.00,0.000,6,0.000,0.057,2433,2035,3435
$GC,4074,-1.13,-146.6,437.9,-12.5,195,4079,0.00,2.67,0.00,0.000,4,0.000,0.074,2433,592,3435
$GC,4107,-1.07,-146.6,442.2,-12.4,196,4114,0.15,2.60,0.00,0.000,6,0.100,0.060,2463,2029,3435
$GC,4426,-1.13,-146.6,475.1,-9.9,212,4431,0.00,2.55,0.00,0.000,4,0.000,0.078,2463,3412,3435
$GC,4460,-1.18,-146.6,478.8,-10.4,213,4466,0.00,2.55,0.00,0.000,6,0.000,0.064,2463,2018,3435
$GC,4776,-1.24,-146.6,511.4,-10.7,229,4778,0.15,0.00,0.00,0.000,6,0.061,0.000,2426,2018,3434
$GC,5086,-1.20,-146.6,550.1,-12.5,244,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2018,3434
$GC,5394,-1.15,-146.6,589.1,-12.8,259,5396,0.12,0.00,0.00,0.000,6,0.110,0.000,2449,2018,3432
$GC,5704,-1.15,-146.6,626.4,-12.1,274,5708,0.00,2.65,0.00,0.000,4,0.000,0.087,2449,3408,3431
$GC,5748,-1.21,-146.6,632.0,-11.7,276,5753,0.00,2.58,0.00,0.000,6,0.000,0.072,2449,2023,3431
$GC,6070,-1.21,-146.6,667.5,-10.6,292,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2023,3430
$GC,6379,-1.21,-146.6,700.6,-10.6,307,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2023,3428
$GC,6689,-1.26,-146.6,733.7,-10.5,322,6694,0.10,2.70,0.00,0.000,4,0.077,0.092,2426,590,3426
$STATE,6704,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6704,begin apogee
$GC,6714,-0.33,0.0,735.5,10.5,323,6839,0.98,0.00,121.72,1.450,6,0.100,0.000,2624,2249,2832
$STATE,6840,end apogee,CONTROL_FINISHED_OK
$STATE,6840,begin climb
$GC,6843,1.44,146.6,739.8,0.0,329,6974,1.80,2.80,120.85,1.405,4,0.074,0.087,3008,839,2233
$GC,7061,1.37,147.3,726.8,10.0,339,7066,0.00,2.70,0.00,0.000,6,0.000,0.075,3008,2255,2232
$GC,7382,1.41,170.8,698.4,8.9,355,7409,0.00,2.80,21.10,1.328,4,0.000,0.087,3008,845,2135
$GC,7466,1.36,170.8,690.5,10.2,359,7471,0.00,2.65,0.00,0.000,6,0.000,0.077,3008,2240,2135
$GC,7793,1.39,188.5,659.8,9.2,375,7813,0.00,0.00,15.85,1.308,6,0.000,0.000,3008,2241,2063
$GC,8123,1.39,188.5,627.1,10.1,391,8127,0.00,2.70,0.00,0.000,4,0.000,0.089,3008,844,2062
$GC,8172,1.39,188.5,621.8,10.3,393,8176,0.00,2.65,0.00,0.000,6,0.000,0.077,3008,2237,2062
$GC,8488,1.44,221.3,592.7,8.5,408,8523,0.00,2.80,28.33,1.348,4,0.000,0.089,3008,846,1929
$GC,8671,1.44,221.3,573.7,11.3,416,8676,0.00,2.60,0.00,0.000,6,0.000,0.077,3008,2214,1928
$GC,8993,1.44,221.3,541.2,10.4,432,8997,0.00,2.62,0.00,0.000,4,0.000,0.088,3008,845,1927
$GC,9250,1.44,221.3,513.4,10.2,443,9256,0.00,2.47,0.00,0.000,6,0.000,0.077,3008,2161,1927
$GC,9566,1.45,226.9,481.2,9.7,459,9577,0.00,2.58,6.03,1.078,4,0.000,0.085,3008,841,1905
$GC,9832,1.46,228.7,454.9,9.9,471,9835,0.00,2.35,0.00,0.000,6,0.000,0.071,3008,2103,1905
$GC,10165,1.49,248.3,423.6,9.1,487,10189,0.00,3.05,18.67,1.228,4,0.000,0.086,3008,3655,1819
$GC,10291,1.55,248.3,410.6,10.3,492,10298,0.12,3.03,0.00,0.000,6,0.071,0.071,3037,2035,1819
$GC,10607,1.55,248.3,375.7,11.5,508,10611,0.00,2.22,0.00,0.000,4,0.000,0.081,3037,837,1819
$GC,10668,1.50,248.3,368.3,12.7,510,10675,0.00,2.12,0.00,0.000,6,0.000,0.064,3037,1984,1819
$GC,10984,1.50,248.3,333.6,10.7,526,10986,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2003,1819
$GC,11294,1.50,248.3,300.1,11.9,541,11298,0.00,2.15,0.00,0.000,4,0.000,0.075,3037,840,1820
$GC,11552,1.50,248.3,266.9,13.2,552,11556,0.00,1.95,0.00,0.000,6,0.000,0.057,3037,1913,1820
$GC,11873,1.50,248.3,229.8,10.7,568,11877,0.00,2.00,0.00,0.000,4,0.000,0.070,3037,842,1821
$GC,12131,1.50,248.3,199.1,11.3,579,12135,0.00,1.92,0.00,0.000,6,0.000,0.054,3037,1909,1822
$GC,12453,1.50,248.3,160.1,12.9,595,12457,0.00,2.00,0.00,0.000,4,0.000,0.067,3037,838,1823
$GC,12628,1.50,248.3,136.4,13.8,602,12635,0.00,1.95,0.00,0.000,6,0.000,0.051,3037,1907,1824
$GC,12945,1.50,248.3,96.3,12.7,618,12946,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1926,1824
$GC,13254,1.50,248.3,58.6,12.0,633,13257,0.00,2.00,0.00,0.000,4,0.000,0.066,3037,835,1825
$GC,13337,1.50,248.3,48.1,12.5,636,13344,0.00,1.95,0.00,0.000,6,0.000,0.052,3037,1905,1825
$GC,13653,1.50,248.3,11.0,11.5,652,13655,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1924,1827
$STATE,13712,end climb,SURFACE_DEPTH_REACHED
$STATE,13713,begin surface coast
$FINISH,0.7,1.027325
$STATE,13736,end surface coast,CONTROL_FINISHED_OK
$STATE,13736,begin surface
$SM_CCo,13759,2.42,0.339,0,0,1812,250.21
$SM_GC,2.22,0.00,0.00,2.42,0.000,0.000,0.339,422,2025,1812,-10.48,0.71,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1782
$TCM_TEMP,16.90
$XPDR_PINGS,310
$ALTIM_TOP_PING,17.8,17.1
$ALTIM_BOTTOM_PING,651.9,93.1
$24V_AH,23.7,10.985
$10V_AH,10.0,4.847
$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,28.300,121.500,332.550,2.425,0.000,75.521,82.013,133.547,83.500,0.000,0.000,11.933,1273.955,10297.291,469.964,1646.443,542.423,33.367,1297.555,0.000,1609.774,0.000,40.664,0.000
$DEVICE_MAMPS,141.128,92.040,1450.397,339.014,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,485.074,442.304,401.566,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34815,656
$CAP_FILE_SIZE,110532,0
$CFSIZE,254472192,249466880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,0,0
$GPS,141108,180538,6234.551,-357.152,37,1.0,37,-6.8