version: 66.04
glider: 5
mission: 5
dive: 76
start: 11 17 108 6 0 44
data:
$ID,5
$MISSION,5
$DIVE,76
$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,-88749.086
$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,26
$R_STBD_OVSHOOT,21
$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
$GPS1,055155,6215.853,-313.961,65,0.9,65,-6.4
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-61.1
$GPS2,055954,6215.781,-313.886,19,1.3,19,-6.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.180,-0.192
$KALMAN_X,48001.9,661.3,243.4,90887.0,-6355.1
$KALMAN_Y,-8509.7,-1732.3,-920.8,-145279.0,9117.3
$MHEAD_RNG_PITCHd_Wd,143.3,151085,-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,15,begin dive
$GC,18,-1.44,-146.6,0.0,0.0,0,98,0.00,0.00,-78.12,0.000,6,0.000,0.000,421,1961,3430
$GC,102,-1.44,-146.6,5.2,-6.0,4,118,10.23,2.62,0.00,0.000,4,0.140,0.062,2377,3412,3432
$GC,322,-1.27,-146.6,48.6,-17.9,13,327,0.22,2.50,0.00,0.000,6,0.101,0.049,2418,2000,3433
$GC,650,-1.18,-146.6,98.8,-14.9,29,655,0.12,2.55,0.00,0.000,4,0.102,0.067,2444,587,3433
$GC,682,-1.18,-146.6,103.6,-13.0,30,689,0.00,2.53,0.00,0.000,6,0.000,0.051,2443,1996,3433
$GC,999,-1.18,-146.6,144.0,-13.4,46,1003,0.00,2.58,0.00,0.000,4,0.000,0.066,2444,596,3434
$GC,1088,-1.18,-146.6,155.9,-13.6,50,1092,0.00,2.42,0.00,0.000,6,0.000,0.051,2444,1960,3434
$GC,1409,-1.18,-146.6,196.4,-12.7,66,1413,0.00,2.50,0.00,0.000,4,0.000,0.067,2443,596,3433
$GC,1453,-1.18,-146.6,202.2,-13.2,68,1457,0.00,2.40,0.00,0.000,6,0.000,0.051,2444,1945,3434
$GC,1774,-1.18,-146.6,241.8,-11.8,84,1778,0.00,2.47,0.00,0.000,4,0.000,0.069,2444,597,3434
$GC,1829,-1.18,-146.6,248.6,-12.7,86,1835,0.00,2.38,0.00,0.000,6,0.000,0.052,2444,1931,3434
$GC,2145,-1.18,-146.6,285.8,-11.3,102,2149,0.00,2.45,0.00,0.000,4,0.000,0.069,2444,598,3434
$GC,2167,-1.18,-146.6,288.1,-10.7,103,2172,0.00,2.38,0.00,0.000,6,0.000,0.053,2444,1932,3434
$GC,2489,-1.18,-146.6,321.4,-10.8,119,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1933,3435
$GC,2798,-1.18,-146.6,355.6,-11.1,134,2803,0.00,2.47,0.00,0.000,4,0.000,0.074,2444,599,3435
$GC,2821,-1.18,-146.6,358.1,-10.8,135,2825,0.00,2.38,0.00,0.000,6,0.000,0.057,2444,1918,3435
$GC,3142,-1.18,-146.6,391.4,-10.1,151,3147,0.00,2.72,0.00,0.000,4,0.000,0.074,2443,3411,3435
$GC,3182,-1.18,-146.6,395.5,-10.5,153,3186,0.00,2.70,0.00,0.000,6,0.000,0.064,2444,1922,3434
$GC,3508,-1.18,-146.6,429.9,-11.1,169,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1921,3434
$GC,3817,-1.18,-146.6,465.0,-11.4,184,3822,0.00,2.78,0.00,0.000,4,0.000,0.077,2444,3404,3434
$GC,3862,-1.18,-146.6,470.3,-12.0,186,3866,0.00,2.70,0.00,0.000,6,0.000,0.067,2444,1931,3433
$GC,4182,-1.18,-146.6,506.5,-11.1,202,4187,0.00,2.78,0.00,0.000,4,0.000,0.081,2444,3405,3432
$GC,4238,-1.18,-146.6,513.2,-11.2,204,4244,0.00,2.72,0.00,0.000,6,0.000,0.070,2444,1929,3432
$GC,4554,-1.18,-146.6,549.8,-10.9,220,4559,0.00,2.78,0.00,0.000,4,0.000,0.082,2444,3402,3431
$GC,4604,-1.18,-146.6,555.4,-10.8,222,4608,0.00,2.70,0.00,0.000,6,0.000,0.071,2444,1946,3431
$GC,4925,-1.18,-146.6,588.8,-10.7,238,4929,0.00,2.78,0.00,0.000,4,0.000,0.084,2444,3404,3430
$GC,4980,-1.22,-146.6,595.1,-10.9,240,4987,0.00,2.67,0.00,0.000,6,0.000,0.073,2444,1965,3430
$GC,5296,-1.22,-146.6,628.7,-10.5,256,5301,0.00,2.75,0.00,0.000,4,0.000,0.087,2444,3405,3428
$GC,5337,-1.22,-146.6,633.2,-11.3,258,5341,0.00,2.67,0.00,0.000,6,0.000,0.074,2444,1968,3428
$GC,5663,-1.22,-146.6,667.6,-10.6,274,5667,0.00,2.75,0.00,0.000,4,0.000,0.087,2444,3405,3426
$GC,5685,-1.22,-146.6,670.2,-11.4,275,5689,0.00,2.67,0.00,0.000,6,0.000,0.075,2444,1975,3426
$GC,6006,-1.22,-146.6,705.1,-11.0,291,6011,0.00,2.75,0.00,0.000,4,0.000,0.090,2444,3405,3425
$GC,6040,-1.22,-146.6,709.0,-11.5,292,6046,0.00,2.62,0.00,0.000,6,0.000,0.078,2444,2001,3425
$GC,6356,-1.22,-146.6,742.3,-10.7,308,6360,0.00,2.70,0.00,0.000,4,0.000,0.092,2444,3403,3424
$GC,6377,-1.22,-146.6,744.8,-11.6,309,6382,0.00,2.62,0.00,0.000,6,0.000,0.077,2444,1997,3424
$GC,6698,-1.22,-146.6,779.8,-10.7,325,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1997,3423
$STATE,6881,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6881,begin apogee
$GC,6888,-0.33,0.0,799.8,10.9,334,7014,0.88,0.00,122.45,1.511,6,0.099,0.000,2624,2246,2833
$STATE,7015,end apogee,CONTROL_FINISHED_OK
$STATE,7015,begin climb
$GC,7018,1.44,146.6,805.7,0.0,340,7151,1.83,2.85,122.53,1.458,4,0.079,0.094,3007,3653,2234
$GC,7180,1.40,179.3,798.3,8.5,347,7215,0.00,2.70,28.50,1.385,6,0.000,0.079,3007,2248,2101
$GC,7538,1.40,179.3,761.9,10.4,365,7542,0.00,2.70,0.00,0.000,4,0.000,0.093,3007,845,2099
$GC,7600,1.35,179.3,755.1,11.0,368,7605,0.00,2.65,0.00,0.000,6,0.000,0.076,3007,2241,2099
$GC,7927,1.35,179.3,719.7,11.1,384,7931,0.00,2.72,0.00,0.000,4,0.000,0.090,3007,840,2099
$GC,7948,1.35,179.3,717.0,11.7,385,7952,0.00,2.62,0.00,0.000,6,0.000,0.076,3007,2235,2098
$GC,8269,1.35,179.3,682.4,10.7,401,8274,0.00,2.70,0.00,0.000,4,0.000,0.090,3007,842,2098
$GC,8296,1.35,179.3,679.1,12.3,402,8301,0.00,2.62,0.00,0.000,6,0.000,0.076,3008,2229,2097
$GC,8612,1.35,179.3,644.8,10.9,417,8617,0.00,2.72,0.00,0.000,4,0.000,0.093,3007,3656,2097
$GC,8652,1.35,179.3,640.2,11.6,419,8657,0.00,2.70,0.00,0.000,6,0.000,0.078,3008,2230,2097
$GC,8978,1.35,179.3,604.9,10.7,435,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2230,2096
$GC,9288,1.35,179.3,573.0,10.2,450,9289,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2230,2096
$GC,9597,1.35,179.3,541.0,10.6,465,9601,0.00,2.65,0.00,0.000,4,0.000,0.091,3007,836,2095
$GC,9641,1.35,179.3,535.8,11.3,467,9645,0.00,2.62,0.00,0.000,6,0.000,0.075,3008,2240,2096
$GC,9962,1.35,179.3,500.1,11.0,483,9966,0.00,2.70,0.00,0.000,4,0.000,0.087,3008,837,2095
$GC,9994,1.35,179.3,496.2,12.5,484,10000,0.00,2.62,0.00,0.000,6,0.000,0.077,3007,2230,2095
$GC,10310,1.35,179.3,462.0,10.4,500,10311,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2230,2095
$GC,10620,1.38,192.8,431.2,9.4,515,10641,0.00,2.78,11.60,1.211,4,0.000,0.084,3007,837,2045
$GC,10652,1.38,197.2,428.0,9.8,516,10664,0.00,2.65,5.53,1.012,6,0.000,0.073,3007,2233,2028
$GC,10973,1.40,209.9,398.6,9.4,532,10987,0.00,0.00,12.05,1.189,6,0.000,0.000,3007,2233,1976
$GC,11283,1.47,222.6,370.2,9.4,547,11305,0.00,2.78,11.93,1.166,4,0.000,0.083,3007,838,1924
$GC,11351,1.47,222.6,363.0,10.7,550,11355,0.00,2.60,0.00,0.000,6,0.000,0.071,3007,2223,1924
$GC,11678,1.53,222.6,329.1,10.2,566,11683,0.12,2.65,0.00,0.000,4,0.067,0.082,3037,841,1924
$GC,11711,1.53,222.6,325.0,12.0,567,11717,0.00,2.55,0.00,0.000,6,0.000,0.071,3037,2210,1924
$GC,12027,1.53,222.6,289.6,11.4,583,12031,0.00,2.72,0.00,0.000,4,0.000,0.084,3037,3663,1924
$GC,12066,1.53,222.6,284.6,12.5,585,12071,0.00,2.67,0.00,0.000,6,0.000,0.067,3037,2216,1924
$GC,12393,1.53,222.6,245.4,11.9,601,12398,0.00,2.72,0.00,0.000,4,0.000,0.080,3038,3655,1924
$GC,12459,1.53,222.6,236.4,12.8,604,12464,0.00,2.62,0.00,0.000,6,0.000,0.062,3038,2218,1924
$GC,12780,1.53,222.6,198.4,11.8,620,12781,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2218,1924
$GC,13089,1.53,222.6,160.0,12.7,635,13094,0.00,2.67,0.00,0.000,4,0.000,0.072,3038,3656,1924
$GC,13123,1.53,222.6,155.4,13.0,636,13129,0.00,2.55,0.00,0.000,6,0.000,0.054,3038,2237,1925
$GC,13439,1.53,222.6,115.2,12.8,652,13440,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2237,1926
$GC,13748,1.59,260.4,78.8,8.3,667,13785,0.00,2.58,31.55,0.926,4,0.000,0.066,3038,846,1769
$GC,13802,1.59,261.1,73.9,10.0,668,13809,0.00,2.55,0.00,0.000,6,0.000,0.054,3038,2240,1769
$GC,14120,1.59,261.1,38.6,11.3,684,14121,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2243,1770
$GC,14427,1.59,261.1,4.6,12.4,699,14432,0.00,2.22,0.00,0.000,3,0.000,0.064,3037,3477,1771
$STATE,14432,end climb,SURFACE_DEPTH_REACHED
$STATE,14432,begin surface coast
$FINISH,0.3,1.017397
$STATE,14470,end surface coast,CONTROL_FINISHED_OK
$STATE,14470,begin surface
$SM_CCo,14555,0.00,0.000,0,0,1770,260.26
$SM_GC,1.44,11.48,0.00,0.00,0.041,0.000,0.000,421,1968,1770,-10.39,-0.90,260.26
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1811
$TCM_TEMP,16.70
$XPDR_PINGS,167
$ALTIM_TOP_PING,17.6,16.7
$ALTIM_BOTTOM_PING,726.9,82.4
$24V_AH,23.7,13.931
$10V_AH,10.0,5.987
$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,24.875,163.600,346.125,0.000,0.000,75.518,56.775,170.395,48.500,0.000,0.000,19.542,1312.825,11119.820,494.069,1545.469,566.024,33.361,1310.430,0.000,1497.911,0.000,45.448,0.000
$DEVICE_MAMPS,139.594,94.341,1510.990,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,520.667,473.060,393.420,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34781,701
$CAP_FILE_SIZE,115998,0
$CFSIZE,254472192,248549376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,50,0,0
$GPS,171108,100438,6213.595,-311.073,43,1.2,43,-6.3