version: 66.04
glider: 5
mission: 5
dive: 72
start: 11 16 108 18 38 30
data:
$ID,5
$MISSION,5
$DIVE,72
$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,-88663.305
$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,30
$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
$GPS1,183308,6214.307,-329.056,33,1.0,33,-6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-64.8
$GPS2,183739,6214.329,-329.035,13,1.3,13,-6.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.263,0.012
$KALMAN_X,49972.6,1398.1,465.4,75511.8,-10415.2
$KALMAN_Y,-12277.9,575.9,-474.1,-146963.2,7975.4
$MHEAD_RNG_PITCHd_Wd,93.9,156049,-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,-61.10,0.000,2,0.000,0.000,427,1974,3033
$GC,82,-1.44,-146.6,3.2,-3.9,3,112,10.15,2.53,-11.77,0.000,4,0.139,0.077,2376,593,3430
$GC,327,-1.22,-146.6,48.4,-19.4,14,332,0.30,2.53,0.00,0.000,6,0.097,0.052,2433,2001,3431
$GC,655,-1.15,-146.6,95.2,-13.8,30,659,0.00,2.55,0.00,0.000,4,0.000,0.064,2433,3416,3431
$GC,677,-1.09,-146.6,98.5,-14.3,31,682,0.15,2.53,0.00,0.000,6,0.100,0.051,2463,2002,3431
$GC,999,-1.09,-146.6,140.0,-13.0,47,1003,0.00,2.53,0.00,0.000,4,0.000,0.066,2463,596,3432
$GC,1026,-1.09,-146.6,143.9,-14.1,48,1031,0.00,2.50,0.00,0.000,6,0.000,0.052,2463,2002,3432
$GC,1342,-1.09,-146.6,182.7,-11.9,63,1346,0.00,2.53,0.00,0.000,4,0.000,0.065,2463,3405,3432
$GC,1363,-1.09,-146.6,185.4,-12.2,64,1368,0.00,2.53,0.00,0.000,6,0.000,0.051,2463,1995,3433
$GC,1684,-1.09,-146.6,222.8,-11.4,80,1689,0.00,2.60,0.00,0.000,4,0.000,0.064,2463,3415,3433
$GC,1741,-1.15,-146.6,230.1,-13.0,82,1747,0.00,2.53,0.00,0.000,6,0.000,0.052,2463,2002,3433
$GC,2056,-1.15,-146.6,266.8,-11.3,98,2061,0.00,2.55,0.00,0.000,4,0.000,0.069,2463,589,3433
$GC,2078,-1.15,-146.6,269.6,-12.2,99,2083,0.00,2.50,0.00,0.000,6,0.000,0.053,2463,1992,3433
$GC,2400,-1.19,-146.6,306.5,-11.4,115,2404,0.00,2.58,0.00,0.000,4,0.000,0.069,2463,3409,3434
$GC,2434,-1.24,-146.6,310.3,-11.2,116,2441,0.15,2.58,0.00,0.000,6,0.061,0.057,2426,1981,3433
$GC,2750,-1.18,-146.6,347.7,-12.1,132,2754,0.00,2.53,0.00,0.000,4,0.000,0.074,2426,588,3434
$GC,2767,-1.11,-146.6,350.0,-12.7,133,2773,0.15,2.53,0.00,0.000,6,0.099,0.057,2454,1994,3434
$GC,3100,-1.11,-146.6,385.6,-10.8,149,3105,0.00,2.60,0.00,0.000,4,0.000,0.075,2455,3412,3434
$GC,3128,-1.11,-146.6,388.6,-11.0,150,3132,0.00,2.60,0.00,0.000,6,0.000,0.063,2454,1988,3434
$GC,3444,-1.11,-146.6,422.2,-10.9,165,3448,0.00,2.65,0.00,0.000,4,0.000,0.076,2455,3406,3434
$GC,3465,-1.11,-146.6,424.8,-11.3,166,3470,0.00,2.60,0.00,0.000,6,0.000,0.064,2454,1987,3434
$GC,3792,-1.11,-146.6,461.9,-11.2,182,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1987,3433
$GC,4102,-1.11,-146.6,493.3,-9.8,197,4106,0.00,2.67,0.00,0.000,4,0.000,0.081,2455,3405,3432
$GC,4141,-1.17,-146.6,497.4,-10.6,199,4146,0.00,2.60,0.00,0.000,6,0.000,0.069,2454,1996,3431
$STATE,4321,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4321,begin apogee
$GC,4328,-0.33,0.0,517.0,10.9,208,4452,0.82,0.00,120.15,1.262,6,0.091,0.000,2625,2249,2832
$STATE,4452,end apogee,CONTROL_FINISHED_OK
$STATE,4453,begin climb
$GC,4455,1.44,146.6,522.5,0.0,214,4583,1.80,2.78,118.22,1.216,4,0.072,0.087,3010,3653,2234
$GC,4618,1.40,160.7,514.3,9.4,221,4638,0.00,2.65,13.00,1.095,6,0.000,0.074,3010,2245,2176
$GC,4956,1.46,200.0,484.1,8.2,238,4998,0.00,2.75,32.75,1.180,4,0.000,0.084,3010,846,2016
$GC,5044,1.49,220.4,476.5,9.1,242,5068,0.00,2.62,18.00,1.136,6,0.000,0.071,3010,2247,1932
$GC,5400,1.54,220.4,442.7,10.2,259,5405,0.12,2.72,0.00,0.000,4,0.068,0.084,3040,839,1931
$GC,5456,1.47,220.4,435.4,13.1,261,5462,0.12,2.60,0.00,0.000,6,0.112,0.071,3020,2225,1931
$GC,5772,1.47,220.4,400.0,11.4,277,5776,0.00,2.65,0.00,0.000,4,0.000,0.084,3020,838,1930
$GC,5804,1.47,220.4,396.0,12.2,278,5810,0.00,2.58,0.00,0.000,6,0.000,0.071,3020,2215,1930
$GC,6120,1.47,220.4,361.6,11.0,294,6124,0.00,2.72,0.00,0.000,4,0.000,0.088,3020,3662,1929
$GC,6160,1.47,220.4,357.0,12.5,296,6165,0.00,2.72,0.00,0.000,6,0.000,0.072,3020,2204,1929
$GC,6487,1.47,220.4,320.7,11.1,312,6491,0.00,2.55,0.00,0.000,4,0.000,0.081,3020,840,1928
$GC,6515,1.47,220.4,317.1,12.1,313,6519,0.00,2.55,0.00,0.000,6,0.000,0.067,3020,2215,1928
$GC,6831,1.47,220.4,280.8,11.9,328,6835,0.00,2.70,0.00,0.000,4,0.000,0.082,3020,3659,1927
$GC,6858,1.47,220.4,277.2,13.0,329,6862,0.00,2.65,0.00,0.000,6,0.000,0.066,3020,2224,1927
$GC,7173,1.47,220.4,243.3,10.4,344,7178,0.00,2.55,0.00,0.000,4,0.000,0.077,3020,842,1927
$GC,7195,1.47,220.4,240.7,11.2,345,7200,0.00,2.60,0.00,0.000,6,0.000,0.064,3019,2256,1926
$GC,7517,1.47,220.4,207.1,11.0,361,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2256,1927
$GC,7827,1.53,230.3,175.4,9.6,376,7837,0.00,0.00,8.30,0.923,6,0.000,0.000,3019,2256,1893
$GC,8136,1.59,230.3,145.4,10.2,391,8141,0.12,2.65,0.00,0.000,4,0.062,0.067,3051,833,1893
$GC,8163,1.59,230.3,141.8,12.6,392,8168,0.00,2.58,0.00,0.000,6,0.000,0.057,3051,2253,1893
$GC,8480,1.59,230.3,103.2,12.1,407,8484,0.00,2.55,0.00,0.000,4,0.000,0.068,3051,3659,1894
$GC,8525,1.55,230.3,97.1,13.9,409,8529,0.00,2.53,0.00,0.000,6,0.000,0.053,3051,2248,1894
$GC,8846,1.55,230.3,56.8,11.9,425,8850,0.00,2.55,0.00,0.000,4,0.000,0.067,3051,840,1894
$GC,8873,1.49,230.3,53.0,13.5,426,8878,0.15,2.55,0.00,0.000,6,0.099,0.053,3024,2261,1894
$GC,9190,1.49,230.3,14.4,12.1,441,9194,0.00,2.53,0.00,0.000,4,0.000,0.066,3024,3660,1895
$GC,9200,1.49,230.3,13.1,11.4,441,9206,0.00,2.53,0.00,0.000,6,0.000,0.053,3024,2248,1896
$STATE,9286,end climb,SURFACE_DEPTH_REACHED
$STATE,9286,begin surface coast
$FINISH,1.1,1.027321
$STATE,9308,end surface coast,CONTROL_FINISHED_OK
$STATE,9308,begin surface
$SM_CCo,9331,12.18,0.808,0,0,1812,250.21
$SM_GC,2.41,0.00,0.00,12.18,0.000,0.000,0.808,426,1971,1812,-10.47,-0.82,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1805
$TCM_TEMP,16.80
$XPDR_PINGS,194
$ALTIM_TOP_PING,19.3,999.0
$ALTIM_BOTTOM_PING,477.0,48.0
$24V_AH,23.8,13.388
$10V_AH,10.1,5.767
$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,25.450,120.075,310.425,12.175,0.000,37.759,32.205,100.890,52.750,0.000,0.000,13.618,879.751,6910.271,432.161,1037.026,365.152,33.354,1005.911,0.000,1009.481,0.000,29.458,0.000
$DEVICE_MAMPS,138.827,88.205,1262.482,808.418,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,330.962,300.783,302.480,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22247,447
$CAP_FILE_SIZE,82640,0
$CFSIZE,254472192,248754176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,161108,211532,6214.996,-325.905,38,1.7,38,-6.5