version: 66.04
glider: 5
mission: 5
dive: 75
start: 11 17 108 2 57 28
data:
$ID,5
$MISSION,5
$DIVE,75
$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,-88728.922
$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,23
$R_STBD_OVSHOOT,15
$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
$GPS1,025148,6217.172,-317.419,10,1.7,19,-6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-61.8
$GPS2,025638,6217.164,-317.283,33,1.1,33,-6.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.214,-0.154
$KALMAN_X,48381.9,394.9,659.4,87562.3,-8124.0
$KALMAN_Y,-7868.4,-2100.8,-348.6,-143574.0,10285.5
$MHEAD_RNG_PITCHd_Wd,132.1,154826,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.30,0.000,2,0.000,0.000,423,1982,3063
$GC,82,-1.44,-146.6,3.9,-6.1,3,108,10.12,2.60,-9.85,0.000,4,0.138,0.073,2378,3419,3432
$GC,361,-1.24,-146.6,61.7,-19.0,15,366,0.25,2.55,0.00,0.000,6,0.100,0.053,2427,1999,3432
$GC,678,-1.16,-146.6,109.9,-15.0,30,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1999,3433
$GC,986,-1.08,-146.6,156.9,-15.3,45,991,0.17,2.55,0.00,0.000,4,0.095,0.066,2466,583,3433
$GC,1043,-1.08,-146.6,164.6,-13.5,47,1049,0.00,2.53,0.00,0.000,6,0.000,0.052,2466,2002,3434
$GC,1359,-1.12,-146.6,208.0,-14.4,63,1363,0.00,2.53,0.00,0.000,4,0.000,0.064,2466,3406,3434
$GC,1377,-1.12,-146.6,210.4,-13.5,64,1381,0.00,2.53,0.00,0.000,6,0.000,0.051,2466,1992,3433
$GC,1704,-1.17,-146.6,253.1,-12.3,80,1708,0.00,2.53,0.00,0.000,4,0.000,0.067,2466,587,3434
$GC,1816,-1.21,-146.6,267.9,-13.3,85,1821,0.15,2.47,0.00,0.000,6,0.053,0.051,2427,1980,3434
$GC,2140,-1.16,-146.6,312.8,-13.4,101,2144,0.00,2.55,0.00,0.000,4,0.000,0.069,2427,592,3434
$GC,2173,-1.07,-146.6,317.6,-12.8,102,2179,0.20,2.45,0.00,0.000,6,0.095,0.054,2466,1962,3435
$GC,2489,-1.13,-146.6,349.7,-10.4,118,2494,0.00,2.55,0.00,0.000,4,0.000,0.074,2467,586,3434
$GC,2528,-1.19,-146.6,354.3,-12.0,119,2535,0.12,2.47,0.00,0.000,6,0.059,0.057,2433,1963,3435
$GC,2843,-1.19,-146.6,392.0,-11.8,135,2848,0.00,2.62,0.00,0.000,4,0.000,0.075,2433,3403,3435
$GC,2871,-1.14,-146.6,395.5,-12.5,136,2875,0.00,2.62,0.00,0.000,6,0.000,0.062,2433,1959,3435
$GC,3187,-1.14,-146.6,432.2,-11.4,151,3192,0.00,2.70,0.00,0.000,4,0.000,0.075,2433,3403,3435
$GC,3220,-1.14,-146.6,436.4,-12.4,152,3226,0.00,2.60,0.00,0.000,6,0.000,0.064,2433,1982,3435
$GC,3536,-1.14,-146.6,474.1,-12.1,168,3540,0.00,2.67,0.00,0.000,4,0.000,0.079,2433,3411,3434
$GC,3563,-1.14,-146.6,477.7,-12.8,169,3567,0.00,2.62,0.00,0.000,6,0.000,0.067,2433,1985,3434
$GC,3879,-1.14,-146.6,518.0,-13.4,184,3883,0.00,2.58,0.00,0.000,4,0.000,0.082,2433,593,3433
$GC,3974,-1.14,-146.6,531.1,-13.6,188,3978,0.00,2.53,0.00,0.000,6,0.000,0.067,2433,1971,3433
$GC,4289,-1.14,-146.6,570.3,-12.5,203,4294,0.00,2.67,0.00,0.000,4,0.000,0.087,2433,3405,3431
$GC,4329,-1.14,-146.6,575.1,-11.6,205,4334,0.00,2.62,0.00,0.000,6,0.000,0.073,2433,1979,3431
$STATE,4570,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4570,begin apogee
$GC,4577,-0.33,0.0,605.1,12.2,217,4702,0.93,0.00,121.35,1.338,6,0.098,0.000,2623,2250,2832
$STATE,4703,end apogee,CONTROL_FINISHED_OK
$STATE,4703,begin climb
$GC,4706,1.44,146.6,611.0,0.0,223,4834,1.83,2.75,119.93,1.292,4,0.074,0.084,3010,846,2234
$GC,4854,1.44,185.2,605.5,8.2,230,4892,0.00,2.67,32.35,1.234,6,0.000,0.071,3010,2255,2077
$GC,5201,1.50,220.6,576.3,8.4,247,5233,0.00,0.00,30.55,1.242,6,0.000,0.000,3010,2255,1932
$GC,5531,1.57,231.5,544.2,9.5,263,5547,0.15,2.78,10.27,1.151,4,0.065,0.084,3047,845,1887
$GC,5575,1.49,231.5,539.0,11.4,264,5581,0.12,2.65,0.00,0.000,6,0.115,0.074,3026,2239,1887
$GC,5897,1.49,231.5,504.9,10.7,280,5901,0.00,2.70,0.00,0.000,4,0.000,0.088,3026,845,1886
$GC,5952,1.49,231.5,498.6,11.5,282,5958,0.00,2.60,0.00,0.000,6,0.000,0.075,3026,2223,1886
$GC,6268,1.49,231.5,466.4,10.4,298,6272,0.00,2.72,0.00,0.000,4,0.000,0.093,3026,3654,1884
$GC,6330,1.49,231.5,459.6,11.1,301,6335,0.00,2.67,0.00,0.000,6,0.000,0.076,3026,2234,1885
$GC,6657,1.49,233.9,424.5,9.9,317,6661,0.00,2.62,0.00,0.000,4,0.000,0.086,3026,839,1883
$GC,6678,1.50,237.1,422.3,9.9,318,6689,0.00,2.60,5.43,0.992,6,0.000,0.071,3026,2237,1865
$GC,6999,1.50,237.1,387.9,11.4,333,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2237,1864
$GC,7308,1.50,237.2,355.1,10.0,348,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2237,1864
$GC,7618,1.54,237.2,321.7,10.9,363,7622,0.00,2.62,0.00,0.000,4,0.000,0.077,3026,840,1863
$GC,7696,1.54,237.2,313.1,10.9,366,7702,0.00,2.58,0.00,0.000,6,0.000,0.069,3026,2233,1864
$GC,8011,1.54,237.2,280.9,10.3,382,8012,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2233,1864
$GC,8321,1.54,237.2,246.9,11.8,397,8325,0.00,2.60,0.00,0.000,4,0.000,0.072,3026,837,1864
$GC,8409,1.54,237.2,235.9,11.9,401,8414,0.00,2.50,0.00,0.000,6,0.000,0.060,3026,2217,1864
$GC,8731,1.54,237.2,198.7,11.2,417,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2218,1864
$GC,9041,1.58,237.2,163.7,11.6,432,9045,0.00,2.55,0.00,0.000,4,0.000,0.067,3026,834,1865
$GC,9073,1.58,237.2,159.2,12.6,433,9079,0.00,2.47,0.00,0.000,6,0.000,0.056,3026,2205,1865
$GC,9390,1.63,237.2,121.4,12.1,449,9392,0.12,0.00,0.00,0.000,6,0.061,0.000,3059,2205,1866
$GC,9699,1.59,237.2,77.7,13.9,464,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2206,1867
$GC,10008,1.55,237.2,41.5,12.1,479,10013,0.12,2.62,0.00,0.000,4,0.103,0.066,3036,3659,1868
$GC,10030,1.50,237.2,38.0,14.5,480,10035,0.00,2.65,0.00,0.000,6,0.000,0.052,3036,2178,1869
$STATE,10307,end climb,SURFACE_DEPTH_REACHED
$STATE,10307,begin surface coast
$FINISH,1.0,1.027316
$STATE,10331,end surface coast,CONTROL_FINISHED_OK
$STATE,10331,begin surface
$SM_CCo,10354,8.12,0.758,0,0,1812,250.21
$SM_GC,2.66,0.00,0.00,8.12,0.000,0.000,0.758,421,1963,1812,-10.48,-0.82,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1820
$TCM_TEMP,16.90
$XPDR_PINGS,179
$ALTIM_TOP_PING,18.6,999.0
$ALTIM_BOTTOM_PING,525.7,87.1
$24V_AH,23.8,13.773
$10V_AH,10.1,5.918
$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,25.750,104.750,319.875,8.125,0.000,37.756,26.632,103.857,49.500,0.000,0.000,33.275,955.164,7754.409,438.872,1148.019,364.338,33.360,1032.188,0.000,1102.154,0.000,32.734,0.000
$DEVICE_MAMPS,138.060,92.807,1338.415,757.796,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,364.175,333.116,307.535,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25480,495
$CAP_FILE_SIZE,84980,0
$CFSIZE,254472192,248635392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,0,0
$GPS,171108,055155,6215.853,-313.961,65,0.9,65,-6.4