version: 66.04
glider: 5
mission: 5
dive: 98
start: 11 22 108 20 24 48
data:
$ID,5
$MISSION,5
$DIVE,98
$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,-89188.641
$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,48
$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
$GPS1,201755,6118.348,-210.373,41,0.8,41,-5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.3
$GPS2,202357,6118.380,-210.403,14,1.2,14,-5.6
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.237,0.062
$KALMAN_X,63332.8,112.0,197.4,128316.9,-2655.8
$KALMAN_Y,-25086.7,807.8,2580.5,-241104.4,-6294.1
$MHEAD_RNG_PITCHd_Wd,80.9,30788,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.50,0.000,2,0.000,0.000,422,1969,2930
$GC,82,-1.22,-146.6,3.1,-3.7,3,115,10.25,2.60,-16.35,0.000,4,0.131,0.071,2427,3416,3429
$GC,370,-1.06,-146.6,43.7,-11.0,16,375,0.20,2.50,0.00,0.000,6,0.091,0.049,2468,2012,3430
$GC,697,-0.96,-146.6,80.1,-13.3,32,699,0.10,0.00,0.00,0.000,6,0.093,0.000,2488,2011,3430
$GC,1006,-0.96,-146.6,112.2,-9.4,47,1010,0.00,2.53,0.00,0.000,4,0.000,0.062,2489,594,3430
$GC,1033,-0.96,-146.6,114.7,-9.1,48,1038,0.00,2.50,0.00,0.000,6,0.000,0.049,2489,2007,3430
$GC,1350,-0.96,-146.6,146.1,-10.3,63,1354,0.00,2.58,0.00,0.000,4,0.000,0.064,2489,590,3430
$GC,1416,-0.96,-146.6,153.2,-10.4,66,1420,0.00,2.47,0.00,0.000,6,0.000,0.049,2489,1989,3430
$GC,1737,-0.92,-146.6,183.4,-9.4,82,1742,0.00,2.53,0.00,0.000,4,0.000,0.061,2489,3403,3430
$GC,1777,-0.92,-146.6,187.5,-10.6,84,1782,0.00,2.53,0.00,0.000,6,0.000,0.049,2488,1981,3430
$GC,2104,-0.92,-146.6,218.9,-10.6,100,2108,0.00,2.47,0.00,0.000,4,0.000,0.064,2488,589,3430
$GC,2165,-0.92,-146.6,224.7,-10.3,102,2172,0.00,2.47,0.00,0.000,6,0.000,0.049,2489,1990,3430
$GC,2481,-0.92,-146.6,259.8,-12.9,118,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2009,3430
$GC,2790,-0.92,-146.6,291.0,-10.1,133,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2009,3430
$GC,3099,-0.92,-146.6,318.8,-9.3,148,3104,0.00,2.58,0.00,0.000,4,0.000,0.067,2489,587,3430
$GC,3133,-0.92,-146.6,322.0,-9.3,149,3139,0.00,2.47,0.00,0.000,6,0.000,0.050,2489,1979,3430
$GC,3448,-0.92,-146.6,350.0,-8.8,165,3453,0.00,2.53,0.00,0.000,4,0.000,0.064,2489,588,3430
$GC,3475,-0.92,-146.6,352.5,-9.4,166,3480,0.00,2.45,0.00,0.000,6,0.000,0.050,2489,1973,3430
$GC,3797,-0.92,-146.6,382.5,-9.9,182,3801,0.00,2.55,0.00,0.000,4,0.000,0.062,2489,3405,3430
$GC,3824,-0.92,-146.6,385.5,-10.6,183,3828,0.00,2.58,0.00,0.000,6,0.000,0.054,2489,1962,3430
$GC,4140,-0.92,-146.6,418.8,-10.8,198,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1963,3430
$GC,4450,-0.92,-146.6,450.7,-10.2,213,4454,0.00,2.45,0.00,0.000,4,0.000,0.064,2489,586,3430
$GC,4499,-0.92,-146.6,456.2,-10.5,215,4504,0.00,2.45,0.00,0.000,6,0.000,0.050,2489,1975,3430
$GC,4815,-0.92,-146.6,488.3,-10.3,230,4819,0.00,2.55,0.00,0.000,4,0.000,0.063,2489,3405,3430
$GC,4842,-0.92,-146.6,491.3,-10.6,231,4847,0.00,2.55,0.00,0.000,6,0.000,0.053,2489,1975,3430
$GC,5158,-0.92,-146.6,520.9,-8.5,246,5163,0.00,2.60,0.00,0.000,4,0.000,0.063,2489,3406,3430
$GC,5203,-0.92,-146.6,524.8,-8.3,248,5211,0.00,2.53,0.00,0.000,6,0.000,0.054,2489,1991,3430
$GC,5532,-0.92,-146.6,553.8,-8.8,264,5537,0.00,2.50,0.00,0.000,4,0.000,0.065,2489,590,3430
$GC,5573,-0.92,-146.6,557.6,-9.8,266,5577,0.00,2.47,0.00,0.000,6,0.000,0.051,2489,1993,3430
$GC,5899,-0.92,-146.6,585.2,-8.9,282,5904,0.00,2.55,0.00,0.000,4,0.000,0.067,2489,3406,3430
$GC,6017,-0.92,-146.6,596.5,-9.5,287,6021,0.00,2.50,0.00,0.000,6,0.000,0.058,2489,2019,3430
$GC,6332,-0.92,-146.6,623.4,-9.0,302,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2018,3430
$GC,6643,-0.92,-146.6,650.9,-9.2,317,6647,0.00,2.62,0.00,0.000,4,0.000,0.081,2489,587,3430
$GC,6698,-0.92,-146.6,656.4,-9.8,319,6704,0.00,2.55,0.00,0.000,6,0.000,0.063,2489,1998,3430
$GC,7014,-0.92,-146.6,683.9,-8.5,335,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1998,3428
$GC,7323,-0.92,-146.6,710.6,-8.6,350,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1998,3427
$GC,7632,-0.92,-146.6,736.5,-8.3,365,7636,0.00,2.62,0.00,0.000,4,0.000,0.087,2489,3410,3424
$GC,7659,-0.92,-146.6,738.8,-8.7,366,7663,0.00,0.10,0.00,0.000,6,0.000,0.078,2489,3351,3424
$STATE,7936,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7937,begin apogee
$GC,7946,-0.33,0.0,762.7,8.6,380,8071,0.65,0.00,121.95,1.441,6,0.091,0.000,2625,2233,2832
$STATE,8072,end apogee,CONTROL_FINISHED_OK
$STATE,8072,begin climb
$GC,8075,1.22,146.6,767.0,0.0,386,8205,1.58,2.75,121.70,1.392,4,0.074,0.089,2962,844,2233
$GC,8415,1.14,146.6,745.8,8.5,401,8422,0.00,2.65,0.00,0.000,6,0.000,0.074,2962,2247,2232
$GC,8731,1.18,169.9,723.3,7.2,417,8753,0.00,0.00,20.10,1.337,6,0.000,0.000,2962,2247,2139
$GC,9061,1.22,192.8,699.6,7.2,433,9087,0.00,2.78,20.48,1.345,4,0.000,0.088,2962,845,2046
$GC,9138,1.22,192.8,693.1,8.7,436,9145,0.00,2.65,0.00,0.000,6,0.000,0.078,2962,2239,2045
$GC,9454,1.22,192.8,667.1,8.0,452,9459,0.00,2.70,0.00,0.000,4,0.000,0.090,2962,845,2044
$GC,9499,1.22,192.8,663.1,8.7,454,9503,0.00,2.58,0.00,0.000,6,0.000,0.076,2962,2212,2044
$GC,9820,1.26,217.5,638.8,7.1,470,9847,0.00,2.70,21.67,1.356,4,0.000,0.087,2962,845,1944
$GC,9892,1.27,224.3,633.1,7.8,473,9904,0.00,2.58,7.32,1.173,6,0.000,0.075,2962,2200,1917
$GC,10213,1.31,224.3,603.8,9.0,489,10218,0.10,2.75,0.00,0.000,4,0.071,0.091,2986,3655,1917
$GC,10247,1.26,224.3,600.3,10.4,490,10253,0.00,2.78,0.00,0.000,6,0.000,0.081,2986,2188,1916
$GC,10563,1.26,224.3,569.6,9.6,506,10568,0.00,2.83,0.00,0.000,4,0.000,0.087,2986,3656,1915
$GC,10630,1.20,224.3,562.9,9.8,509,10636,0.15,2.72,0.00,0.000,6,0.106,0.073,2959,2200,1915
$GC,10953,1.27,231.1,537.8,7.8,525,10967,0.00,2.62,6.85,1.130,4,0.000,0.079,2959,836,1889
$GC,10985,1.31,231.1,535.0,8.7,526,10990,0.12,2.53,0.00,0.000,6,0.067,0.066,2990,2192,1889
$GC,11301,1.31,231.1,505.1,9.8,541,11305,0.00,2.70,0.00,0.000,4,0.000,0.076,2990,3660,1889
$GC,11334,1.31,231.1,501.5,10.3,542,11340,0.00,2.70,0.00,0.000,6,0.000,0.062,2990,2187,1889
$GC,11650,1.31,231.1,469.6,10.2,558,11651,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2187,1889
$GC,11959,1.31,231.1,440.5,9.0,573,11963,0.00,2.42,0.00,0.000,4,0.000,0.068,2990,840,1890
$GC,11982,1.31,231.1,438.2,10.2,574,11986,0.00,2.47,0.00,0.000,6,0.000,0.055,2990,2215,1891
$GC,12308,1.31,231.1,406.3,9.7,590,12309,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2215,1891
$GC,12617,1.31,231.1,377.3,9.2,605,12622,0.00,2.53,0.00,0.000,4,0.000,0.065,2990,835,1892
$GC,12658,1.31,231.1,373.4,9.5,607,12662,0.00,2.42,0.00,0.000,6,0.000,0.053,2989,2190,1892
$GC,12985,1.31,231.1,341.7,9.8,623,12989,0.00,2.65,0.00,0.000,4,0.000,0.065,2990,3660,1894
$GC,13012,1.31,231.1,338.7,11.2,624,13016,0.00,2.65,0.00,0.000,6,0.000,0.053,2990,2168,1894
$GC,13327,1.31,231.1,308.3,9.1,639,13331,0.00,2.38,0.00,0.000,4,0.000,0.064,2990,839,1895
$GC,13355,1.31,231.1,305.4,10.1,640,13359,0.00,2.40,0.00,0.000,6,0.000,0.051,2990,2186,1895
$GC,13671,1.31,231.1,273.9,10.3,655,13675,0.00,2.45,0.00,0.000,4,0.000,0.063,2990,839,1896
$GC,13711,1.31,231.1,269.7,10.0,657,13715,0.00,2.38,0.00,0.000,6,0.000,0.051,2990,2173,1896
$GC,14037,1.31,231.1,236.3,10.5,673,14039,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2173,1897
$GC,14347,1.31,231.1,206.8,9.6,688,14356,0.00,2.47,3.72,0.619,4,0.000,0.064,2990,841,1889
$GC,14374,1.31,231.1,204.2,8.7,689,14378,0.00,2.35,0.00,0.000,6,0.000,0.051,2990,2153,1889
$GC,14694,1.31,231.1,171.9,9.7,705,14699,0.00,2.70,0.00,0.000,4,0.000,0.061,2990,3663,1890
$GC,14721,1.31,231.1,168.3,13.1,706,14726,0.00,2.70,0.00,0.000,6,0.000,0.050,2990,2146,1890
$GC,15038,1.31,231.1,135.3,8.3,721,15039,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2146,1890
$GC,15348,1.31,231.1,104.9,10.4,736,15349,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2146,1890
$GC,15656,1.31,231.1,72.5,10.3,751,15660,0.00,2.35,0.00,0.000,4,0.000,0.064,2990,834,1891
$GC,15666,1.31,231.1,71.3,9.6,751,15673,0.00,2.38,0.00,0.000,6,0.000,0.049,2990,2169,1891
$GC,15982,1.31,231.1,40.0,9.4,767,15984,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2169,1891
$GC,16292,1.31,231.1,12.5,8.8,782,16296,0.00,2.42,0.00,0.000,4,0.000,0.063,2990,838,1892
$GC,16324,1.31,231.1,9.0,9.7,783,16331,0.00,2.38,0.00,0.000,6,0.000,0.050,2990,2174,1892
$STATE,16392,end climb,SURFACE_DEPTH_REACHED
$STATE,16392,begin surface coast
$FINISH,0.7,1.010425
$STATE,16433,end surface coast,CONTROL_FINISHED_OK
$STATE,16433,begin surface
$SM_CCo,16456,10.25,0.746,0,0,1812,250.21
$SM_GC,2.01,0.00,0.00,10.25,0.000,0.000,0.746,424,1953,1812,-10.47,-1.33,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1767
$TCM_TEMP,17.50
$XPDR_PINGS,375
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,701.7,70.9
$24V_AH,23.8,18.009
$10V_AH,10.1,8.041
$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,24.325,163.350,323.800,10.250,0.000,37.759,47.637,152.317,100.250,0.000,0.000,14.077,1467.804,12610.932,481.286,1737.827,530.301,33.359,1381.606,0.000,1697.107,0.000,43.860,0.000
$DEVICE_MAMPS,131.157,90.506,1441.193,746.291,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,585.779,532.840,463.928,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41171,789
$CAP_FILE_SIZE,125439,0
$CFSIZE,254472192,246951936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,0,0
$GPS,231108,010055,6118.006,-208.451,42,1.8,60,-5.5