version: 66.04
glider: 5
mission: 5
dive: 57
start: 11 15 108 1 18 43
data:
$ID,5
$MISSION,5
$DIVE,57
$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,-88344.203
$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,56
$R_STBD_OVSHOOT,22
$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
$GPS1,011228,6231.834,-355.928,33,2.2,52,-6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-59.0
$GPS2,011753,6231.824,-355.880,14,2.6,33,-6.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.101,-0.243
$KALMAN_X,65096.7,-101.9,182.1,40152.9,1025.2
$KALMAN_Y,-21544.4,-352.1,-435.6,-104435.4,6256.5
$MHEAD_RNG_PITCHd_Wd,209.4,38326,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.44,-146.6,0.0,0.0,0,100,0.00,0.00,-79.62,0.000,6,0.000,0.000,418,1969,3431
$GC,104,-1.44,-146.6,5.7,-6.9,4,119,10.12,2.65,0.00,0.000,4,0.137,0.065,2378,3411,3432
$GC,198,-1.22,-146.6,31.4,-19.0,7,203,0.28,2.45,0.00,0.000,6,0.094,0.050,2432,2031,3432
$GC,514,-1.15,-146.6,78.5,-13.9,22,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2011,3433
$GC,824,-1.08,-146.6,121.2,-13.7,37,829,0.15,2.60,0.00,0.000,4,0.097,0.066,2462,587,3433
$GC,874,-1.08,-146.6,128.1,-12.7,39,878,0.00,2.53,0.00,0.000,6,0.000,0.052,2461,2003,3433
$GC,1189,-1.08,-146.6,165.1,-11.4,54,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2004,3434
$GC,1499,-1.08,-146.6,200.9,-11.6,69,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2003,3434
$GC,1808,-1.08,-146.6,236.4,-11.7,84,1812,0.00,2.60,0.00,0.000,4,0.000,0.068,2462,587,3434
$GC,1869,-1.08,-146.6,243.6,-11.7,87,1874,0.00,2.50,0.00,0.000,6,0.000,0.054,2462,1991,3434
$GC,2197,-1.08,-146.6,283.3,-13.0,103,2201,0.00,2.58,0.00,0.000,4,0.000,0.070,2462,3406,3434
$GC,2241,-1.13,-146.6,289.4,-13.3,105,2245,0.00,2.55,0.00,0.000,6,0.000,0.054,2462,1984,3434
$GC,2562,-1.13,-146.6,329.0,-12.5,121,2566,0.00,2.53,0.00,0.000,4,0.000,0.070,2462,584,3434
$GC,2641,-1.13,-146.6,338.9,-12.5,124,2647,0.00,2.50,0.00,0.000,6,0.000,0.055,2462,1982,3434
$GC,2957,-1.13,-146.6,373.1,-9.6,140,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1982,3434
$GC,3269,-1.13,-146.6,400.9,-8.9,155,3273,0.00,2.60,0.00,0.000,4,0.000,0.074,2462,3407,3434
$GC,3302,-1.13,-146.6,404.1,-8.5,156,3308,0.00,2.60,0.00,0.000,6,0.000,0.058,2462,1969,3434
$GC,3618,-1.13,-146.6,432.1,-9.5,172,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1968,3434
$GC,3927,-1.17,-146.6,463.0,-10.1,187,3932,0.00,2.67,0.00,0.000,4,0.000,0.076,2462,3405,3434
$GC,3961,-1.21,-146.6,466.2,-10.1,188,3968,0.12,2.58,0.00,0.000,6,0.066,0.063,2432,1994,3434
$GC,4277,-1.21,-146.6,502.0,-11.1,204,4282,0.00,2.58,0.00,0.000,4,0.000,0.080,2432,589,3433
$GC,4379,-1.17,-146.6,514.0,-11.8,208,4385,0.00,2.50,0.00,0.000,6,0.000,0.064,2432,1962,3433
$GC,4694,-1.17,-146.6,547.9,-10.7,224,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1962,3432
$GC,5004,-1.17,-146.6,580.7,-10.5,239,5008,0.00,2.70,0.00,0.000,4,0.000,0.088,2432,3402,3432
$GC,5098,-1.17,-146.6,591.7,-11.8,243,5103,0.00,2.65,0.00,0.000,6,0.000,0.071,2432,1973,3431
$GC,5414,-1.17,-146.6,627.2,-11.4,258,5418,0.00,2.75,0.00,0.000,4,0.000,0.089,2431,3407,3430
$GC,5436,-1.17,-146.6,629.9,-11.8,259,5440,0.00,2.65,0.00,0.000,6,0.000,0.072,2432,1980,3430
$STATE,5548,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5548,begin apogee
$GC,5555,-0.33,0.0,643.6,12.0,265,5680,0.93,0.00,121.45,1.362,6,0.095,0.000,2623,2251,2832
$STATE,5680,end apogee,CONTROL_FINISHED_OK
$STATE,5681,begin climb
$GC,5683,1.44,146.6,648.3,0.0,271,5812,1.80,2.78,119.47,1.319,4,0.068,0.093,3010,3661,2234
$GC,5846,1.38,150.2,638.7,9.8,278,5856,0.00,2.67,4.75,0.900,6,0.000,0.074,3010,2251,2219
$GC,6184,1.41,173.2,608.4,9.0,295,6206,0.00,0.00,20.27,1.239,6,0.000,0.000,3010,2249,2125
$GC,6514,1.41,173.2,576.4,10.1,311,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2249,2123
$GC,6823,1.41,173.2,544.4,10.5,326,6827,0.00,2.70,0.00,0.000,4,0.000,0.092,3010,3653,2123
$GC,6855,1.41,173.2,540.8,10.7,327,6862,0.00,2.62,0.00,0.000,6,0.000,0.074,3010,2253,2123
$GC,7171,1.42,178.7,509.9,9.7,343,7182,0.00,2.67,5.78,1.026,4,0.000,0.084,3010,845,2102
$GC,7221,1.42,178.7,504.4,11.6,345,7226,0.00,2.65,0.00,0.000,6,0.000,0.071,3010,2253,2102
$GC,7537,1.42,178.7,470.4,10.3,360,7541,0.00,2.67,0.00,0.000,4,0.000,0.081,3010,839,2101
$GC,7593,1.38,178.7,464.8,10.4,362,7599,0.00,2.65,0.00,0.000,6,0.000,0.071,3010,2258,2101
$GC,7909,1.44,212.1,435.6,8.5,378,7939,0.00,0.00,28.20,1.233,6,0.000,0.000,3010,2258,1967
$GC,8238,1.48,239.0,406.0,8.8,394,8268,0.00,2.78,23.10,1.203,4,0.000,0.077,3010,847,1857
$GC,8304,1.48,239.0,399.6,10.4,397,8308,0.00,2.62,0.00,0.000,6,0.000,0.069,3010,2243,1857
$GC,8630,1.48,239.0,366.1,10.9,413,8634,0.00,2.65,0.00,0.000,4,0.000,0.085,3010,3656,1857
$GC,8679,1.48,239.0,360.6,11.5,415,8684,0.00,2.62,0.00,0.000,6,0.000,0.066,3010,2234,1857
$GC,8996,1.53,239.0,328.6,10.6,430,8997,0.10,0.00,0.00,0.000,6,0.071,0.000,3035,2233,1857
$GC,9304,1.53,239.0,290.4,12.5,445,9308,0.00,2.55,0.00,0.000,4,0.000,0.074,3035,841,1857
$GC,9377,1.53,239.0,281.0,12.8,448,9381,0.00,2.53,0.00,0.000,6,0.000,0.061,3035,2225,1856
$GC,9692,1.53,239.0,243.7,11.7,463,9694,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2225,1857
$GC,10002,1.53,239.0,208.0,11.3,478,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2225,1858
$GC,10311,1.53,239.0,173.5,10.9,493,10312,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2225,1859
$GC,10621,1.53,239.0,140.2,11.4,508,10625,0.00,2.55,0.00,0.000,4,0.000,0.066,3035,838,1859
$GC,10648,1.53,239.0,136.9,12.2,509,10652,0.00,2.47,0.00,0.000,6,0.000,0.057,3035,2211,1859
$GC,10964,1.53,239.0,98.4,12.3,524,10968,0.00,2.62,0.00,0.000,4,0.000,0.069,3035,3656,1860
$GC,10991,1.53,239.0,94.8,12.4,525,10995,0.00,2.60,0.00,0.000,6,0.000,0.053,3036,2206,1860
$GC,11308,1.53,239.0,57.7,12.7,540,11313,0.00,2.67,0.00,0.000,4,0.000,0.067,3035,3659,1861
$GC,11341,1.53,239.0,52.9,14.2,541,11348,0.00,2.58,0.00,0.000,6,0.000,0.054,3036,2219,1861
$GC,11657,1.53,239.0,15.1,13.1,557,11662,0.00,2.62,0.00,0.000,4,0.000,0.066,3035,3656,1862
$GC,11721,1.46,239.0,9.6,13.6,560,11725,0.00,2.53,0.00,0.000,6,0.000,0.051,3035,2232,1862
$STATE,11756,end climb,SURFACE_DEPTH_REACHED
$STATE,11756,begin surface coast
$FINISH,0.9,1.027339
$STATE,11778,end surface coast,CONTROL_FINISHED_OK
$STATE,11778,begin surface
$SM_CCo,11801,6.60,0.728,0,0,1812,250.21
$SM_GC,2.24,0.00,0.00,6.60,0.000,0.000,0.728,424,1980,1812,-10.47,-0.54,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1789
$TCM_TEMP,16.70
$XPDR_PINGS,240
$ALTIM_TOP_PING,18.2,999.0
$ALTIM_BOTTOM_PING,601.6,50.8
$24V_AH,23.8,11.413
$10V_AH,10.1,5.020
$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,24.975,110.475,323.025,6.600,0.000,37.754,31.168,123.402,65.500,0.000,0.000,34.528,1061.675,8960.713,450.028,1254.527,411.476,33.357,1095.708,0.000,1203.617,0.000,37.403,0.000
$DEVICE_MAMPS,137.293,92.807,1362.192,727.883,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.839,379.057,340.290,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28637,563
$CAP_FILE_SIZE,92306,0
$CFSIZE,254472192,249335808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
$GPS,151108,043707,6228.851,-357.522,56,1.3,56,-6.8