version: 66.04
glider: 5
mission: 5
dive: 97
start: 11 22 108 15 6 45
data:
$ID,5
$MISSION,5
$DIVE,97
$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,412.5
$T_MISSION,440
$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,-89173.938
$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,16
$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
$GPS1,145957,6118.822,-214.909,60,1.8,61,-5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-62.1
$GPS2,150557,6118.842,-214.894,15,1.3,15,-5.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.193,-0.152
$KALMAN_X,64221.5,237.5,243.6,123570.1,-3643.5
$KALMAN_Y,-26646.7,1111.9,831.7,-237249.9,-6666.8
$MHEAD_RNG_PITCHd_Wd,133.8,33973,-14.8,-8.000
$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,-1.22,-146.6,0.0,0.0,0,78,0.00,0.00,-60.85,0.000,2,0.000,0.000,421,1981,3015
$GC,81,-1.22,-146.6,3.4,-4.8,3,112,10.25,2.58,-12.55,0.000,4,0.130,0.074,2429,596,3431
$GC,365,-1.02,-146.6,43.3,-14.2,15,372,0.25,2.50,0.00,0.000,6,0.095,0.050,2478,2008,3431
$GC,683,-0.95,-146.6,83.5,-14.9,31,688,0.00,2.58,0.00,0.000,4,0.000,0.065,2479,596,3431
$GC,751,-0.88,-146.6,95.3,-19.2,34,756,0.12,2.50,0.00,0.000,6,0.098,0.050,2506,2008,3431
$GC,1074,-0.88,-146.6,139.2,-14.8,50,1078,0.00,2.60,0.00,0.000,4,0.000,0.065,2506,593,3431
$GC,1101,-0.88,-146.6,144.1,-16.4,51,1106,0.00,2.50,0.00,0.000,6,0.000,0.051,2506,2003,3431
$GC,1420,-0.88,-146.6,176.1,-6.5,66,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2003,3431
$GC,1727,-0.88,-146.6,205.2,-11.2,81,1731,0.00,2.58,0.00,0.000,4,0.000,0.064,2506,586,3431
$GC,1771,-0.88,-146.6,210.3,-11.6,83,1775,0.00,2.47,0.00,0.000,6,0.000,0.050,2506,1983,3431
$GC,2091,-0.88,-146.6,239.3,-9.1,99,2096,0.00,2.53,0.00,0.000,4,0.000,0.066,2506,596,3431
$GC,2109,-0.88,-146.6,241.0,-9.4,100,2113,0.00,2.47,0.00,0.000,6,0.000,0.051,2506,1994,3431
$GC,2436,-0.88,-146.6,269.6,-8.5,116,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1995,3431
$GC,2745,-0.88,-146.6,296.5,-8.8,131,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1995,3431
$GC,3054,-0.88,-146.6,327.3,-10.0,146,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1995,3431
$GC,3363,-0.88,-146.6,357.7,-9.3,161,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1995,3432
$GC,3673,-0.88,-146.6,385.8,-8.8,176,3677,0.00,2.55,0.00,0.000,4,0.000,0.067,2506,593,3432
$GC,3706,-0.88,-146.6,388.9,-9.4,177,3710,0.00,2.47,0.00,0.000,6,0.000,0.051,2506,1995,3432
$GC,4022,-0.88,-146.6,417.3,-9.1,192,4026,0.00,2.55,0.00,0.000,4,0.000,0.067,2506,596,3432
$GC,4054,-0.88,-146.6,420.5,-10.2,193,4061,0.00,2.47,0.00,0.000,6,0.000,0.051,2506,1994,3431
$GC,4370,-0.88,-146.6,449.1,-9.3,209,4374,0.00,2.53,0.00,0.000,4,0.000,0.064,2506,3405,3432
$GC,4466,-0.88,-146.6,458.9,-10.7,213,4470,0.00,2.50,0.00,0.000,6,0.000,0.054,2506,2005,3431
$GC,4787,-0.88,-146.6,488.5,-8.7,229,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2005,3432
$GC,5097,-0.88,-146.6,514.3,-8.5,244,5101,0.00,2.55,0.00,0.000,4,0.000,0.064,2506,3403,3432
$GC,5220,-0.88,-146.6,525.3,-9.2,249,5226,0.00,2.50,0.00,0.000,6,0.000,0.054,2506,2005,3432
$GC,5537,-0.88,-146.6,551.1,-8.0,265,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2005,3431
$GC,5846,-0.93,-146.6,573.8,-7.5,280,5850,0.00,2.58,0.00,0.000,4,0.000,0.067,2506,3411,3431
$GC,5896,-0.99,-146.6,577.8,-7.7,282,5901,0.00,2.47,0.00,0.000,6,0.000,0.058,2506,2037,3431
$GC,6213,-1.05,-146.6,605.2,-8.8,297,6214,0.17,0.00,0.00,0.000,6,0.054,0.000,2459,2037,3431
$GC,6522,-0.97,-146.6,635.5,-10.0,312,6527,0.15,2.55,0.00,0.000,4,0.092,0.074,2489,3403,3431
$GC,6539,-0.93,-146.6,637.3,-10.0,313,6544,0.00,2.53,0.00,0.000,6,0.000,0.065,2489,2017,3431
$GC,6867,-0.93,-146.6,665.4,-8.5,329,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2017,3430
$GC,7176,-0.93,-146.6,691.4,-8.4,344,7177,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2017,3429
$GC,7485,-0.93,-146.6,717.0,-8.2,359,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2017,3427
$GC,7794,-0.93,-146.6,742.5,-8.2,374,7798,0.00,2.65,0.00,0.000,4,0.000,0.090,2489,596,3425
$GC,7815,-0.93,-146.6,744.4,-8.1,375,7820,0.00,2.65,0.00,0.000,6,0.000,0.074,2489,2028,3425
$GC,8137,-0.93,-146.6,770.5,-8.3,391,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2029,3423
$GC,8446,-0.93,-146.6,795.8,-8.4,406,8447,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2029,3422
$GC,8755,-0.93,-146.6,822.0,-8.5,421,8760,0.00,2.75,0.00,0.000,4,0.000,0.095,2489,596,3420
$GC,8794,-0.93,-146.6,825.5,-9.1,423,8799,0.00,2.65,0.00,0.000,6,0.000,0.077,2490,2020,3420
$STATE,8829,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8830,begin apogee
$GC,8837,-0.33,0.0,828.3,7.4,425,8963,0.62,0.00,122.60,1.517,6,0.074,0.000,2625,2252,2832
$STATE,8963,end apogee,CONTROL_FINISHED_OK
$STATE,8963,begin climb
$GC,8966,1.22,146.6,828.1,0.0,431,9099,1.58,2.85,122.85,1.468,4,0.074,0.089,2962,847,2234
$GC,9125,1.15,160.4,821.2,7.5,438,9145,0.00,2.67,13.25,1.312,6,0.000,0.074,2962,2248,2178
$GC,9468,1.17,170.1,795.1,7.6,455,9482,0.00,2.78,9.45,1.266,4,0.000,0.091,2962,846,2138
$GC,9516,1.17,170.1,791.0,8.1,456,9521,0.00,2.65,0.00,0.000,6,0.000,0.075,2962,2238,2138
$GC,9833,1.18,173.8,766.1,7.9,471,9842,0.00,2.72,4.72,1.045,4,0.000,0.091,2962,848,2123
$GC,9876,1.18,173.8,762.1,9.1,473,9880,0.00,2.60,0.00,0.000,6,0.000,0.076,2962,2218,2123
$GC,10197,1.18,178.3,736.9,7.8,489,10208,0.00,2.70,5.50,1.137,4,0.000,0.090,2962,847,2104
$GC,10237,1.18,178.3,733.6,8.5,491,10242,0.00,2.58,0.00,0.000,6,0.000,0.076,2961,2204,2104
$GC,10565,1.20,189.9,708.9,7.6,507,10585,0.00,2.75,11.43,1.339,4,0.000,0.091,2962,841,2056
$GC,10609,1.20,189.9,705.3,8.4,509,10614,0.00,2.58,0.00,0.000,6,0.000,0.075,2962,2195,2056
$GC,10937,1.24,212.2,681.4,7.2,525,10962,0.00,2.70,19.90,1.393,4,0.000,0.091,2962,842,1967
$GC,10991,1.24,212.2,676.9,8.2,527,10995,0.00,2.55,0.00,0.000,6,0.000,0.076,2962,2179,1966
$GC,11307,1.24,215.4,652.0,7.9,542,11317,0.00,2.62,4.53,1.025,4,0.000,0.092,2962,841,1953
$GC,11356,1.24,215.4,647.6,9.7,544,11360,0.00,2.50,0.00,0.000,6,0.000,0.075,2961,2163,1953
$GC,11672,1.25,222.9,622.9,7.7,559,11686,0.00,2.62,7.78,1.233,4,0.000,0.091,2962,845,1923
$GC,11720,1.25,222.9,618.6,8.9,561,11725,0.00,2.45,0.00,0.000,6,0.000,0.074,2962,2143,1923
$GC,12042,1.31,225.5,592.9,7.9,577,12049,0.10,0.00,4.03,0.939,6,0.071,0.000,2986,2142,1912
$GC,12351,1.31,225.5,563.3,8.8,592,12356,0.00,2.85,0.00,0.000,4,0.000,0.088,2986,3657,1912
$GC,12384,1.31,225.5,560.2,8.5,593,12390,0.00,2.83,0.00,0.000,6,0.000,0.075,2986,2152,1912
$GC,12699,1.31,225.5,533.0,8.1,609,12704,0.00,2.88,0.00,0.000,4,0.000,0.083,2986,3661,1911
$GC,12727,1.31,225.5,530.6,8.9,610,12731,0.00,2.85,0.00,0.000,6,0.000,0.069,2986,2124,1911
$GC,13042,1.31,225.5,503.4,9.7,625,13047,0.00,2.90,0.00,0.000,4,0.000,0.077,2986,3663,1911
$GC,13075,1.31,225.5,499.8,9.9,626,13081,0.00,2.80,0.00,0.000,6,0.000,0.064,2986,2137,1911
$GC,13391,1.31,225.5,469.1,10.2,642,13396,0.00,2.85,0.00,0.000,4,0.000,0.072,2986,3665,1911
$GC,13436,1.31,225.5,464.0,11.2,644,13441,0.00,2.72,0.00,0.000,6,0.000,0.058,2986,2164,1912
$GC,13757,1.31,225.5,430.6,10.5,660,13761,0.00,2.40,0.00,0.000,4,0.000,0.070,2986,841,1912
$GC,13779,1.31,225.5,428.2,10.8,661,13783,0.00,2.42,0.00,0.000,6,0.000,0.055,2986,2187,1912
$GC,14099,1.31,225.5,396.0,9.5,677,14103,0.00,2.45,0.00,0.000,4,0.000,0.066,2986,845,1914
$GC,14122,1.31,225.5,393.9,8.6,678,14127,0.00,2.38,0.00,0.000,6,0.000,0.054,2986,2165,1914
$GC,14450,1.31,225.5,364.5,9.0,694,14454,0.00,2.70,0.00,0.000,4,0.000,0.066,2986,3660,1915
$GC,14471,1.31,225.5,362.3,9.0,695,14476,0.00,2.70,0.00,0.000,6,0.000,0.054,2986,2158,1915
$GC,14792,1.31,225.5,334.9,8.8,711,14793,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2157,1917
$GC,15102,1.31,225.5,306.4,9.4,726,15103,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2158,1918
$GC,15411,1.31,225.5,277.4,9.3,741,15415,0.00,2.35,0.00,0.000,4,0.000,0.065,2986,842,1919
$GC,15438,1.31,225.5,274.5,9.9,742,15442,0.00,2.35,0.00,0.000,6,0.000,0.050,2986,2163,1919
$GC,15760,1.31,225.5,246.9,8.3,758,15764,0.00,2.70,0.00,0.000,4,0.000,0.064,2986,3663,1920
$GC,15793,1.31,225.5,243.5,9.9,759,15799,0.00,2.70,0.00,0.000,6,0.000,0.051,2986,2149,1920
$GC,16108,1.31,225.5,215.6,8.5,775,16114,0.00,0.00,3.70,0.621,6,0.000,0.000,2986,2148,1912
$GC,16418,1.31,225.5,187.6,9.1,790,16422,0.00,2.72,0.00,0.000,4,0.000,0.061,2986,3659,1913
$GC,16457,1.31,225.5,184.0,10.7,792,16462,0.00,2.67,0.00,0.000,6,0.000,0.050,2986,2154,1912
$GC,16783,1.31,225.5,152.7,9.4,808,16785,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2153,1914
$GC,17093,1.31,225.5,124.3,10.4,823,17095,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2153,1914
$GC,17402,1.31,225.5,95.2,9.4,838,17407,0.00,2.75,0.00,0.000,4,0.000,0.061,2986,3667,1915
$GC,17429,1.31,225.5,92.9,8.5,839,17434,0.00,2.67,0.00,0.000,6,0.000,0.048,2986,2158,1915
$GC,17747,1.31,225.5,66.1,9.7,854,17751,0.00,2.35,0.00,0.000,4,0.000,0.062,2986,842,1915
$GC,17764,1.31,225.5,64.0,10.3,855,17768,0.00,2.35,0.00,0.000,6,0.000,0.049,2986,2176,1915
$GC,18097,1.39,277.3,37.0,6.1,871,18140,0.00,0.00,41.28,0.832,6,0.000,0.000,2986,2176,1700
$GC,18452,1.44,277.3,5.8,8.9,888,18454,0.12,0.00,0.00,0.000,6,0.052,0.000,3023,2177,1701
$STATE,18467,end climb,SURFACE_DEPTH_REACHED
$STATE,18467,begin surface coast
$FINISH,0.6,1.015095
$STATE,18509,end surface coast,CONTROL_FINISHED_OK
$STATE,18509,begin surface
$SM_CCo,18592,0.00,0.000,0,0,1700,277.68
$SM_GC,1.57,11.35,0.00,0.00,0.038,0.000,0.000,422,1960,1700,-10.39,-0.74,277.68
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1752
$TCM_TEMP,17.40
$XPDR_PINGS,373
$ALTIM_TOP_PING,18.2,999.0
$ALTIM_BOTTOM_PING,750.2,86.8
$24V_AH,23.7,17.854
$10V_AH,10.1,7.965
$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,24.725,172.700,371.000,0.000,0.000,37.762,32.416,157.601,100.250,0.000,0.000,17.890,1642.227,14372.401,498.751,1883.151,544.616,33.361,1479.472,0.000,1834.326,0.000,47.045,0.000
$DEVICE_MAMPS,130.390,95.108,1517.126,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,658.244,603.269,489.605,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44355,891
$CAP_FILE_SIZE,138584,0
$CFSIZE,254472192,247005184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,55,0,0
$GPS,221108,201755,6118.348,-210.373,41,0.8,41,-5.6