version: 66.04
glider: 5
mission: 5
dive: 60
start: 11 15 108 10 52 18
data:
$ID,5
$MISSION,5
$DIVE,60
$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,-88393.023
$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,25
$R_STBD_OVSHOOT,18
$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
$GPS1,104632,6225.266,-356.340,40,1.3,40,-6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-59.9
$GPS2,105127,6225.221,-356.356,12,1.1,12,-6.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.029,-0.262
$KALMAN_X,63283.9,-587.4,113.4,42126.5,-545.5
$KALMAN_Y,-20696.3,-988.4,152.1,-117455.7,5164.5
$MHEAD_RNG_PITCHd_Wd,180.5,29578,-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,-61.05,0.000,2,0.000,0.000,424,1966,2980
$GC,82,-1.44,-146.6,3.2,-4.9,3,113,10.15,2.60,-14.68,0.000,4,0.137,0.077,2378,3412,3431
$GC,211,-1.24,-146.6,26.6,-16.2,8,218,0.25,2.53,0.00,0.000,6,0.102,0.051,2427,2000,3431
$GC,529,-1.12,-146.6,73.2,-15.7,24,534,0.15,2.55,0.00,0.000,4,0.095,0.067,2456,586,3432
$GC,652,-1.12,-146.6,90.2,-12.6,29,659,0.00,2.50,0.00,0.000,6,0.000,0.051,2457,1989,3432
$GC,970,-1.12,-146.6,124.7,-10.7,45,974,0.00,2.58,0.00,0.000,4,0.000,0.066,2457,592,3432
$GC,1041,-1.12,-146.6,133.9,-13.1,48,1046,0.00,2.42,0.00,0.000,6,0.000,0.053,2457,1951,3432
$GC,1365,-1.12,-146.6,175.7,-11.7,64,1369,0.00,2.62,0.00,0.000,4,0.000,0.065,2457,3408,3433
$GC,1399,-1.12,-146.6,179.9,-11.7,65,1405,0.00,2.60,0.00,0.000,6,0.000,0.052,2456,1952,3433
$GC,1715,-1.12,-146.6,217.5,-12.0,81,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1952,3433
$GC,2024,-1.12,-146.6,255.5,-11.8,96,2028,0.00,2.45,0.00,0.000,4,0.000,0.067,2456,590,3433
$GC,2052,-1.12,-146.6,259.0,-12.2,97,2056,0.00,2.47,0.00,0.000,6,0.000,0.054,2457,1978,3433
$GC,2368,-1.12,-146.6,295.1,-11.3,112,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1978,3433
$GC,2677,-1.12,-146.6,330.0,-11.2,127,2681,0.00,2.53,0.00,0.000,4,0.000,0.069,2457,597,3433
$GC,2794,-1.12,-146.6,343.5,-10.9,132,2798,0.00,2.45,0.00,0.000,6,0.000,0.054,2456,1968,3433
$GC,3110,-1.12,-146.6,377.3,-10.5,147,3114,0.00,2.62,0.00,0.000,4,0.000,0.072,2457,3409,3433
$GC,3165,-1.12,-146.6,383.4,-11.0,149,3171,0.00,2.58,0.00,0.000,6,0.000,0.058,2456,1986,3433
$GC,3480,-1.12,-146.6,416.6,-10.3,165,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1984,3434
$GC,3790,-1.12,-146.6,447.6,-10.0,180,3794,0.00,2.55,0.00,0.000,4,0.000,0.075,2457,586,3433
$GC,3823,-1.12,-146.6,451.2,-11.0,181,3829,0.00,2.53,0.00,0.000,6,0.000,0.061,2457,1982,3434
$GC,4138,-1.12,-146.6,483.2,-10.0,197,4143,0.00,2.65,0.00,0.000,4,0.000,0.081,2457,3413,3433
$GC,4206,-1.18,-146.6,490.6,-11.4,200,4210,0.00,2.62,0.00,0.000,6,0.000,0.067,2457,1983,3433
$GC,4527,-1.18,-146.6,524.8,-10.8,216,4537,0.00,2.58,0.00,0.000,4,0.000,0.080,2457,586,3431
$GC,4593,-1.18,-146.6,531.9,-10.1,218,4599,0.00,2.55,0.00,0.000,6,0.000,0.065,2457,1982,3431
$STATE,4699,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4700,begin apogee
$GC,4707,-0.33,0.0,543.2,10.5,224,4830,0.80,0.00,120.25,1.262,6,0.091,0.000,2624,2258,2832
$STATE,4831,end apogee,CONTROL_FINISHED_OK
$STATE,4831,begin climb
$GC,4834,1.44,146.6,548.4,0.0,230,4962,1.80,2.75,118.20,1.229,4,0.070,0.086,3010,3652,2234
$GC,5003,1.36,147.3,539.0,10.0,238,5008,0.00,2.65,0.00,0.000,6,0.000,0.071,3010,2245,2233
$GC,5330,1.38,162.1,508.1,9.3,254,5352,0.00,2.70,13.90,1.125,4,0.000,0.081,3010,838,2171
$GC,5420,1.34,162.1,499.2,10.8,258,5425,0.00,2.60,0.00,0.000,6,0.000,0.067,3010,2228,2170
$GC,5747,1.35,172.6,468.1,9.5,274,5759,0.00,0.00,10.12,1.095,6,0.000,0.000,3010,2228,2128
$GC,6056,1.35,172.6,437.0,10.6,289,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2228,2126
$GC,6365,1.35,172.6,405.4,10.3,304,6370,0.00,2.62,0.00,0.000,4,0.000,0.079,3010,841,2126
$GC,6398,1.35,172.6,401.7,11.4,305,6405,0.00,2.58,0.00,0.000,6,0.000,0.069,3010,2224,2126
$GC,6714,1.36,179.3,370.2,9.7,321,6723,0.00,0.00,6.57,0.996,6,0.000,0.000,3010,2224,2101
$GC,7024,1.40,202.6,341.2,8.9,336,7049,0.00,2.72,20.33,1.137,4,0.000,0.082,3010,3655,2004
$GC,7084,1.40,202.6,335.0,10.6,339,7089,0.00,2.67,0.00,0.000,6,0.000,0.066,3010,2217,2004
$GC,7411,1.41,209.0,303.5,9.7,355,7419,0.00,0.00,6.60,0.957,6,0.000,0.000,3010,2217,1980
$GC,7720,1.42,211.0,272.1,9.9,370,7726,0.00,0.00,3.50,0.685,6,0.000,0.000,3010,2217,1971
$GC,8029,1.42,212.6,241.1,9.9,385,8033,0.00,2.50,0.00,0.000,4,0.000,0.071,3010,842,1971
$GC,8074,1.42,212.6,236.5,10.6,387,8079,0.00,2.50,0.00,0.000,6,0.000,0.060,3010,2214,1971
$GC,8401,1.42,217.1,204.6,9.8,403,8414,0.00,2.65,6.68,0.879,4,0.000,0.072,3010,3656,1946
$GC,8432,1.42,217.1,201.2,10.5,404,8437,0.00,2.67,0.00,0.000,6,0.000,0.058,3010,2191,1946
$GC,8748,1.42,217.1,169.9,10.4,419,8753,0.00,2.45,0.00,0.000,4,0.000,0.070,3010,845,1946
$GC,8798,1.42,217.1,164.2,10.8,421,8802,0.00,2.42,0.00,0.000,6,0.000,0.056,3010,2189,1946
$GC,9120,1.42,217.1,129.3,11.1,437,9124,0.00,2.50,0.00,0.000,4,0.000,0.068,3010,838,1947
$GC,9141,1.42,217.1,126.6,11.6,438,9146,0.00,2.45,0.00,0.000,6,0.000,0.056,3010,2190,1947
$GC,9464,1.43,221.9,96.3,9.8,454,9472,0.00,0.00,6.03,0.772,6,0.000,0.000,3010,2191,1927
$GC,9775,1.48,223.7,65.3,9.9,469,9776,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2191,1927
$GC,10082,1.53,223.7,28.5,12.6,484,10084,0.10,0.00,0.00,0.000,6,0.061,0.000,3039,2192,1928
$STATE,10286,end climb,SURFACE_DEPTH_REACHED
$STATE,10287,begin surface coast
$FINISH,2.0,1.027358
$STATE,10307,end surface coast,CONTROL_FINISHED_OK
$STATE,10307,begin surface
$SM_CCo,10330,16.27,0.834,0,0,1812,250.21
$SM_GC,1.85,0.00,0.00,16.27,0.000,0.000,0.834,425,1955,1812,-10.47,-1.33,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1792
$TCM_TEMP,16.70
$XPDR_PINGS,270
$ALTIM_TOP_PING,17.6,999.0
$ALTIM_BOTTOM_PING,525.3,26.7
$24V_AH,23.8,11.825
$10V_AH,10.1,5.180
$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,24.700,93.300,312.175,16.275,0.000,37.755,38.858,116.583,72.250,0.000,0.000,12.714,948.970,7765.752,437.431,1112.827,385.668,33.359,1024.521,0.000,1088.594,0.000,32.595,0.000
$DEVICE_MAMPS,137.293,85.904,1261.715,834.496,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,366.369,333.348,338.549,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25427,495
$CAP_FILE_SIZE,81504,0
$CFSIZE,254472192,249212928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,151108,134607,6223.107,-354.681,42,1.5,42,-6.8