version: 66.04
glider: 5
mission: 5
dive: 55
start: 11 14 108 18 11 57
data:
$ID,5
$MISSION,5
$DIVE,55
$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,-88294.172
$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,20
$R_STBD_OVSHOOT,30
$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
$GPS1,180538,6234.551,-357.152,37,1.0,37,-6.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-65.4
$GPS2,181103,6234.528,-357.137,12,1.3,12,-6.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.053,-0.258
$KALMAN_X,64241.1,-215.1,-532.3,40814.1,2492.9
$KALMAN_Y,-27786.5,409.4,-299.4,-94076.0,2756.4
$MHEAD_RNG_PITCHd_Wd,198.3,43077,-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,-146.6,0.0,0.0,0,97,0.00,0.00,-80.68,0.000,6,0.000,0.000,422,2026,3430
$GC,101,-1.44,-146.6,5.1,-5.4,4,116,10.05,2.50,0.00,0.000,4,0.134,0.064,2379,3401,3431
$GC,218,-1.25,-146.6,33.9,-16.8,8,223,0.22,2.53,0.00,0.000,6,0.096,0.051,2423,1991,3431
$GC,534,-1.16,-146.6,79.8,-14.6,23,539,0.12,2.53,0.00,0.000,4,0.099,0.064,2449,585,3432
$GC,568,-1.12,-146.6,84.8,-14.0,24,574,0.00,2.53,0.00,0.000,6,0.000,0.053,2449,1996,3433
$GC,886,-1.12,-146.6,126.7,-13.7,40,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1997,3433
$GC,1192,-1.12,-146.6,167.1,-13.0,55,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1997,3433
$GC,1502,-1.12,-146.6,206.3,-12.7,70,1506,0.00,2.58,0.00,0.000,4,0.000,0.065,2449,586,3434
$GC,1557,-1.12,-146.6,213.6,-13.3,72,1563,0.00,2.53,0.00,0.000,6,0.000,0.053,2449,2001,3434
$GC,1873,-1.12,-146.6,251.9,-12.0,88,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2001,3434
$GC,2182,-1.07,-146.6,288.1,-11.8,103,2187,0.00,2.58,0.00,0.000,4,0.000,0.067,2449,593,3434
$GC,2222,-1.07,-146.6,293.0,-12.6,105,2227,0.00,2.50,0.00,0.000,6,0.000,0.054,2449,1994,3434
$GC,2550,-1.07,-146.6,330.8,-11.8,121,2554,0.00,2.58,0.00,0.000,4,0.000,0.068,2449,587,3434
$GC,2622,-1.07,-146.6,340.0,-12.0,124,2626,0.00,2.45,0.00,0.000,6,0.000,0.054,2449,1959,3434
$GC,2938,-1.07,-146.6,376.0,-11.5,139,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1959,3434
$GC,3247,-1.07,-146.6,411.7,-11.0,154,3251,0.00,2.65,0.00,0.000,4,0.000,0.072,2449,3410,3434
$GC,3287,-1.07,-146.6,416.2,-11.5,156,3291,0.00,2.65,0.00,0.000,6,0.000,0.059,2449,1946,3434
$GC,3613,-1.07,-146.6,449.3,-10.6,172,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1945,3434
$GC,3923,-1.07,-146.6,483.3,-11.2,187,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1945,3434
$GC,4232,-1.07,-146.6,520.1,-12.1,202,4236,0.00,2.72,0.00,0.000,4,0.000,0.079,2449,3409,3434
$GC,4253,-1.07,-146.6,522.9,-12.6,203,4258,0.00,2.67,0.00,0.000,6,0.000,0.066,2449,1951,3434
$GC,4574,-1.07,-146.6,563.3,-12.3,219,4578,0.00,2.75,0.00,0.000,4,0.000,0.083,2449,3402,3432
$GC,4646,-1.12,-146.6,572.6,-13.2,222,4651,0.00,2.65,0.00,0.000,6,0.000,0.067,2449,1965,3432
$GC,4962,-1.12,-146.6,610.2,-11.8,237,4966,0.00,2.72,0.00,0.000,4,0.000,0.085,2449,3401,3431
$GC,4995,-1.16,-146.6,614.3,-12.1,238,5002,0.00,2.65,0.00,0.000,6,0.000,0.071,2449,1970,3431
$GC,5311,-1.16,-146.6,649.9,-11.1,254,5315,0.00,2.58,0.00,0.000,4,0.000,0.088,2449,595,3430
$GC,5355,-1.16,-146.6,655.2,-11.5,256,5359,0.00,2.53,0.00,0.000,6,0.000,0.071,2449,1960,3430
$GC,5676,-1.16,-146.6,690.6,-11.1,272,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1961,3428
$STATE,5817,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5817,begin apogee
$GC,5824,-0.33,0.0,706.1,10.5,279,5950,0.85,0.00,122.05,1.416,6,0.094,0.000,2625,2259,2832
$STATE,5951,end apogee,CONTROL_FINISHED_OK
$STATE,5951,begin climb
$GC,5954,1.44,146.6,711.2,0.0,285,6079,1.80,0.00,121.03,1.368,6,0.076,0.000,3007,2258,2234
$GC,6390,1.49,178.0,679.7,8.6,306,6419,0.00,0.00,27.02,1.309,6,0.000,0.000,3007,2258,2106
$GC,6721,1.51,191.7,648.5,9.4,322,6743,0.10,2.83,12.80,1.252,4,0.077,0.088,3031,846,2050
$GC,6767,1.43,191.7,643.8,11.2,324,6772,0.00,2.67,0.00,0.000,6,0.000,0.077,3031,2247,2050
$GC,7094,1.39,191.7,609.5,10.1,340,7099,0.15,2.72,0.00,0.000,4,0.113,0.088,3005,839,2049
$GC,7144,1.43,220.0,604.6,8.7,342,7176,0.00,2.65,24.38,1.315,6,0.000,0.075,3004,2238,1935
$GC,7488,1.49,232.9,573.4,9.4,359,7505,0.00,0.00,12.18,1.246,6,0.000,0.000,3004,2239,1881
$GC,7815,1.56,232.9,540.4,10.3,375,7817,0.17,0.00,0.00,0.000,6,0.069,0.000,3043,2239,1880
$GC,8124,1.52,232.9,501.1,13.0,390,8126,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2239,1880
$GC,8433,1.47,232.9,458.3,14.1,405,8439,0.12,2.67,0.00,0.000,4,0.116,0.083,3021,838,1879
$GC,8473,1.47,232.9,452.6,13.9,407,8478,0.00,2.65,0.00,0.000,6,0.000,0.072,3021,2249,1879
$GC,8800,1.47,232.9,412.1,12.3,423,8804,0.00,2.67,0.00,0.000,4,0.000,0.080,3021,845,1879
$GC,8855,1.47,232.9,404.9,13.6,425,8862,0.00,2.60,0.00,0.000,6,0.000,0.071,3021,2238,1879
$GC,9171,1.47,232.9,370.4,10.4,441,9176,0.00,2.62,0.00,0.000,4,0.000,0.077,3021,843,1879
$GC,9204,1.47,232.9,366.8,10.4,442,9211,0.00,2.58,0.00,0.000,6,0.000,0.071,3021,2230,1878
$GC,9520,1.47,232.9,335.0,10.1,458,9524,0.00,2.65,0.00,0.000,4,0.000,0.081,3021,3661,1879
$GC,9570,1.48,236.8,329.8,9.8,460,9582,0.00,2.62,4.22,0.828,6,0.000,0.062,3021,2228,1866
$GC,9892,1.48,236.8,294.8,11.9,476,9895,0.00,2.53,0.00,0.000,4,0.000,0.072,3021,839,1866
$GC,9930,1.48,236.8,289.6,12.4,477,9936,0.00,2.53,0.00,0.000,6,0.000,0.060,3021,2222,1866
$GC,10246,1.48,236.8,250.7,12.5,493,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2223,1866
$GC,10555,1.48,236.8,213.7,11.4,508,10556,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2223,1867
$GC,10864,1.48,236.8,177.3,12.0,523,10869,0.00,2.55,0.00,0.000,4,0.000,0.067,3021,838,1868
$GC,10886,1.48,236.8,174.5,12.4,524,10891,0.00,2.50,0.00,0.000,6,0.000,0.056,3022,2221,1868
$GC,11208,1.48,236.8,138.2,11.0,540,11209,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2221,1869
$GC,11517,1.48,236.8,105.2,10.6,555,11522,0.00,2.55,0.00,0.000,4,0.000,0.066,3021,833,1870
$GC,11567,1.48,236.8,99.5,11.2,557,11572,0.00,2.47,0.00,0.000,6,0.000,0.054,3021,2209,1870
$GC,11884,1.52,236.8,66.8,10.5,572,11885,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2209,1871
$GC,12192,1.52,236.8,32.0,10.4,587,12194,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2209,1871
$STATE,12458,end climb,SURFACE_DEPTH_REACHED
$STATE,12458,begin surface coast
$FINISH,0.4,1.027328
$STATE,12480,end surface coast,CONTROL_FINISHED_OK
$STATE,12480,begin surface
$SM_CCo,12503,8.12,0.755,0,0,1811,250.21
$SM_GC,2.48,0.00,0.00,8.12,0.000,0.000,0.755,421,1954,1811,-10.48,-1.33,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1803
$TCM_TEMP,16.90
$XPDR_PINGS,242
$ALTIM_TOP_PING,18.8,999.0
$ALTIM_BOTTOM_PING,626.9,87.2
$24V_AH,23.7,11.131
$10V_AH,10.1,4.906
$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,24.950,99.875,323.675,8.125,0.000,37.754,37.130,139.722,66.250,0.000,0.000,12.397,1110.257,9596.902,468.727,1232.536,435.300,33.368,1101.660,0.000,1206.907,0.000,39.084,0.000
$DEVICE_MAMPS,134.225,88.205,1415.882,754.728,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.435,404.918,364.146,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31713,601
$CAP_FILE_SIZE,92348,0
$CFSIZE,254472192,249430016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,0,0
$GPS,141108,214137,6233.303,-357.190,29,1.0,29,-6.8