version: 66.04
glider: 5
mission: 5
dive: 56
start: 11 14 108 21 47 18
data:
$ID,5
$MISSION,5
$DIVE,56
$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,-88309.047
$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,45
$R_STBD_OVSHOOT,24
$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
$GPS1,214137,6233.303,-357.190,29,1.0,29,-6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-58.4
$GPS2,214627,6233.302,-357.158,14,1.6,14,-6.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.010,-0.263
$KALMAN_X,64508.7,-37.6,-68.6,39881.0,1782.2
$KALMAN_Y,-25391.1,-5.5,563.3,-99196.7,2219.1
$MHEAD_RNG_PITCHd_Wd,184.7,41198,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.10,0.000,2,0.000,0.000,421,1965,3013
$GC,82,-1.44,-146.6,3.5,-5.0,3,112,10.10,2.65,-11.95,0.000,4,0.137,0.075,2378,3410,3430
$GC,203,-1.22,-146.6,25.6,-16.0,8,208,0.28,2.50,0.00,0.000,6,0.096,0.051,2432,2014,3429
$GC,519,-1.15,-146.6,74.8,-14.3,23,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2001,3430
$GC,830,-1.07,-146.6,120.9,-15.1,38,835,0.17,2.55,0.00,0.000,4,0.094,0.064,2470,592,3430
$GC,925,-1.11,-146.6,134.5,-13.1,42,929,0.00,2.47,0.00,0.000,6,0.000,0.051,2470,1988,3431
$GC,1241,-1.11,-146.6,173.7,-12.1,57,1245,0.00,2.55,0.00,0.000,4,0.000,0.067,2471,596,3431
$GC,1285,-1.15,-146.6,179.2,-12.6,59,1289,0.00,2.47,0.00,0.000,6,0.000,0.053,2471,1981,3431
$GC,1606,-1.15,-146.6,217.9,-12.1,75,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1981,3431
$GC,1915,-1.15,-146.6,252.5,-10.9,90,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1981,3432
$GC,2224,-1.15,-146.6,286.3,-10.8,105,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1981,3432
$GC,2533,-1.15,-146.6,322.1,-12.2,120,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1982,3432
$GC,2843,-1.20,-146.6,360.5,-12.3,135,2848,0.15,2.58,0.00,0.000,4,0.058,0.069,2432,3405,3432
$GC,2870,-1.20,-146.6,364.5,-14.6,136,2875,0.00,2.55,0.00,0.000,6,0.000,0.055,2432,1979,3432
$GC,3187,-1.16,-146.6,407.6,-12.9,151,3191,0.00,2.50,0.00,0.000,4,0.000,0.070,2432,592,3433
$GC,3276,-1.10,-146.6,419.5,-13.1,155,3281,0.12,2.40,0.00,0.000,6,0.101,0.054,2456,1935,3432
$GC,3598,-1.10,-146.6,452.9,-10.1,171,3602,0.00,2.70,0.00,0.000,4,0.000,0.074,2457,3408,3433
$GC,3625,-1.10,-146.6,455.8,-10.9,172,3629,0.00,2.67,0.00,0.000,6,0.000,0.061,2457,1933,3432
$GC,3941,-1.10,-146.6,486.9,-10.0,187,3945,0.00,2.72,0.00,0.000,4,0.000,0.075,2457,3407,3433
$GC,3986,-1.10,-146.6,491.6,-11.3,189,3991,0.00,2.65,0.00,0.000,6,0.000,0.061,2457,1950,3433
$GC,4309,-1.10,-146.6,526.2,-11.1,205,4313,0.00,2.72,0.00,0.000,4,0.000,0.080,2457,3402,3432
$GC,4371,-1.16,-146.6,533.6,-11.8,208,4375,0.00,2.65,0.00,0.000,6,0.000,0.065,2456,1954,3431
$GC,4698,-1.20,-146.6,569.7,-11.1,224,4702,0.00,2.53,0.00,0.000,4,0.000,0.081,2457,585,3430
$GC,4748,-1.20,-146.6,575.6,-11.1,226,4752,0.00,2.47,0.00,0.000,6,0.000,0.066,2457,1940,3430
$GC,5069,-1.20,-146.6,611.2,-11.0,242,5074,0.00,2.75,0.00,0.000,4,0.000,0.087,2457,3405,3429
$GC,5096,-1.20,-146.6,614.4,-11.8,243,5101,0.00,2.70,0.00,0.000,6,0.000,0.071,2457,1946,3428
$GC,5413,-1.24,-146.6,648.5,-10.5,258,5418,0.12,2.78,0.00,0.000,4,0.071,0.086,2427,3403,3428
$GC,5446,-1.19,-146.6,652.7,-12.5,259,5452,0.00,2.70,0.00,0.000,6,0.000,0.071,2426,1948,3427
$STATE,5739,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5739,begin apogee
$GC,5746,-0.33,0.0,687.8,12.2,274,5871,0.95,0.00,121.18,1.396,6,0.097,0.000,2621,2247,2832
$STATE,5872,end apogee,CONTROL_FINISHED_OK
$STATE,5872,begin climb
$GC,5875,1.44,146.6,693.0,0.0,280,6003,1.80,2.78,120.05,1.354,4,0.071,0.085,3007,845,2234
$GC,6054,1.40,167.8,682.9,9.0,288,6079,0.00,2.65,18.95,1.262,6,0.000,0.073,3007,2248,2147
$GC,6396,1.43,184.3,651.5,9.3,305,6418,0.00,2.78,14.85,1.241,4,0.000,0.094,3007,3657,2080
$GC,6441,1.43,184.3,647.0,10.3,307,6446,0.00,2.67,0.00,0.000,6,0.000,0.075,3007,2251,2079
$GC,6768,1.44,192.0,615.4,9.6,323,6782,0.00,2.75,7.90,1.148,4,0.000,0.088,3007,846,2049
$GC,6806,1.44,192.0,611.2,11.3,324,6812,0.00,2.67,0.00,0.000,6,0.000,0.074,3007,2256,2049
$GC,7121,1.44,192.0,578.5,10.5,340,7126,0.00,2.70,0.00,0.000,4,0.000,0.085,3007,844,2048
$GC,7149,1.44,192.0,575.5,11.2,341,7153,0.00,2.62,0.00,0.000,6,0.000,0.074,3007,2239,2047
$GC,7465,1.44,192.0,542.3,10.4,356,7469,0.00,2.65,0.00,0.000,4,0.000,0.086,3007,844,2047
$GC,7544,1.44,192.0,533.9,11.1,359,7550,0.00,2.60,0.00,0.000,6,0.000,0.074,3007,2227,2047
$GC,7860,1.47,207.1,504.1,9.3,375,7882,0.00,2.72,13.25,1.236,4,0.000,0.083,3007,849,1987
$GC,7910,1.47,207.1,499.1,10.4,377,7914,0.00,2.58,0.00,0.000,6,0.000,0.071,3007,2213,1987
$GC,8231,1.50,228.3,469.7,9.0,393,8255,0.00,2.83,18.70,1.247,4,0.000,0.088,3007,3650,1901
$GC,8291,1.51,234.8,464.0,9.7,395,8305,0.00,2.70,7.15,1.085,6,0.000,0.070,3007,2214,1874
$GC,8628,1.58,244.0,432.0,9.6,412,8640,0.17,0.00,9.12,1.127,6,0.064,0.000,3048,2214,1837
$GC,8937,1.53,244.0,392.1,13.6,427,8941,0.00,2.53,0.00,0.000,4,0.000,0.078,3048,843,1837
$GC,8960,1.46,244.0,389.0,12.5,428,8965,0.15,2.58,0.00,0.000,6,0.109,0.068,3021,2228,1837
$GC,9287,1.46,244.0,351.0,11.3,444,9291,0.00,2.60,0.00,0.000,4,0.000,0.075,3020,843,1837
$GC,9315,1.46,244.0,347.7,12.6,445,9320,0.00,2.58,0.00,0.000,6,0.000,0.066,3021,2237,1837
$GC,9631,1.46,244.0,308.4,12.3,460,9632,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2238,1837
$GC,9940,1.46,244.0,271.0,11.9,475,9944,0.00,2.60,0.00,0.000,4,0.000,0.071,3021,839,1837
$GC,9961,1.46,244.0,268.1,12.7,476,9966,0.00,2.55,0.00,0.000,6,0.000,0.061,3021,2236,1837
$GC,10282,1.46,244.0,230.0,11.8,492,10283,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2237,1837
$GC,10592,1.50,244.0,194.0,11.7,507,10596,0.00,2.55,0.00,0.000,4,0.000,0.067,3021,841,1839
$GC,10619,1.50,244.0,190.7,12.5,508,10623,0.00,2.53,0.00,0.000,6,0.000,0.058,3021,2235,1839
$GC,10935,1.55,244.0,155.3,11.1,523,10936,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2235,1839
$GC,11245,1.60,244.0,120.0,11.5,538,11246,0.12,0.00,0.00,0.000,6,0.060,0.000,3053,2235,1840
$GC,11554,1.60,244.0,79.6,12.8,553,11558,0.00,2.58,0.00,0.000,4,0.000,0.065,3053,833,1841
$GC,11587,1.55,244.0,75.4,12.3,554,11593,0.00,2.50,0.00,0.000,6,0.000,0.054,3053,2221,1841
$GC,11904,1.55,244.0,37.3,13.0,570,11906,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2221,1842
$STATE,12168,end climb,SURFACE_DEPTH_REACHED
$STATE,12168,begin surface coast
$FINISH,0.4,1.006074
$STATE,12190,end surface coast,CONTROL_FINISHED_OK
$STATE,12190,begin surface
$SM_CCo,12214,3.90,0.584,0,0,1811,250.21
$SM_GC,1.92,0.00,0.00,3.90,0.000,0.000,0.584,418,1956,1811,-10.50,-1.24,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1791
$TCM_TEMP,15.70
$XPDR_PINGS,245
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,626.3,70.4
$24V_AH,23.7,11.274
$10V_AH,10.1,4.963
$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,25.650,121.550,331.150,3.900,0.000,37.754,26.581,119.194,67.000,0.000,0.000,14.246,1113.739,9284.274,439.472,1275.286,402.242,33.358,1119.633,0.000,1240.021,0.000,39.041,0.000
$DEVICE_MAMPS,137.293,93.574,1395.940,583.687,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.577,393.536,347.095,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28636,584
$CAP_FILE_SIZE,97170,0
$CFSIZE,254472192,249384960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,0,0
$GPS,151108,011228,6231.834,-355.928,33,2.2,52,-6.8