version: 66.04
glider: 5
mission: 5
dive: 100
start: 11 23 108 5 31 34
data:
$ID,5
$MISSION,5
$DIVE,100
$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,-89236.758
$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,27
$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
$GPS1,052532,6115.717,-207.992,39,1.3,39,-5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-60.2
$GPS2,053045,6115.743,-208.053,12,1.3,12,-5.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.245,-0.019
$KALMAN_X,55818.6,-438.3,347.5,138173.8,-6280.9
$KALMAN_Y,-22857.8,-1071.7,563.5,-244292.4,779.4
$MHEAD_RNG_PITCHd_Wd,100.0,25636,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.22,-146.6,0.0,0.0,0,101,0.00,0.00,-81.55,0.000,2,0.000,0.000,421,1966,3332
$GC,104,-1.22,-146.6,5.2,-6.1,4,127,10.38,2.62,-2.22,0.000,4,0.138,0.071,2428,3408,3431
$GC,230,-1.05,-146.6,30.1,-13.9,9,236,0.20,2.50,0.00,0.000,6,0.091,0.048,2469,2001,3432
$GC,547,-0.93,-146.6,63.6,-10.3,24,552,0.12,2.53,0.00,0.000,4,0.090,0.064,2494,590,3432
$GC,575,-0.88,-146.6,67.1,-12.3,25,579,0.00,2.50,0.00,0.000,6,0.000,0.049,2495,2004,3432
$GC,892,-0.88,-146.6,104.1,-10.7,40,897,0.00,2.58,0.00,0.000,4,0.000,0.064,2495,598,3432
$GC,926,-0.84,-146.6,108.1,-11.0,41,933,0.10,2.47,0.00,0.000,6,0.097,0.051,2516,1994,3432
$GC,1244,-0.84,-146.6,134.5,-7.7,57,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1995,3432
$GC,1551,-0.84,-146.6,161.6,-10.1,72,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1994,3432
$GC,1860,-0.84,-146.6,195.2,-12.9,87,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1997,3432
$GC,2170,-0.84,-146.6,236.4,-14.7,102,2174,0.00,2.55,0.00,0.000,4,0.000,0.067,2516,593,3432
$GC,2237,-0.89,-146.6,244.7,-11.4,105,2241,0.00,2.47,0.00,0.000,6,0.000,0.051,2516,1980,3432
$GC,2558,-0.89,-146.6,272.6,-8.3,121,2562,0.00,2.53,0.00,0.000,4,0.000,0.061,2516,3410,3432
$GC,2591,-0.94,-146.6,275.5,-8.7,122,2597,0.00,2.55,0.00,0.000,6,0.000,0.051,2516,1976,3432
$GC,2907,-0.94,-146.6,301.5,-8.5,138,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1976,3432
$GC,3216,-0.94,-146.6,333.3,-10.8,153,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1976,3432
$GC,3526,-0.98,-146.6,365.8,-10.7,168,3531,0.15,2.62,0.00,0.000,4,0.052,0.061,2472,3415,3432
$GC,3555,-0.94,-146.6,369.5,-12.6,169,3560,0.10,2.55,0.00,0.000,6,0.093,0.051,2493,1980,3432
$GC,3872,-0.94,-146.6,405.0,-10.9,184,3876,0.00,2.60,0.00,0.000,4,0.000,0.061,2493,3416,3432
$GC,3904,-0.94,-146.6,409.0,-11.8,185,3911,0.00,2.53,0.00,0.000,6,0.000,0.051,2493,1997,3432
$GC,4221,-0.94,-146.6,443.7,-10.9,201,4225,0.00,2.50,0.00,0.000,4,0.000,0.065,2493,598,3433
$GC,4255,-0.94,-146.6,447.6,-11.1,202,4261,0.00,2.47,0.00,0.000,6,0.000,0.050,2493,2004,3432
$GC,4571,-0.94,-146.6,481.8,-10.7,218,4575,0.00,2.47,0.00,0.000,4,0.000,0.063,2493,3403,3433
$GC,4598,-0.94,-146.6,484.9,-11.5,219,4602,0.00,2.50,0.00,0.000,6,0.000,0.053,2493,2000,3433
$GC,4914,-0.94,-146.6,518.0,-10.2,234,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2000,3433
$GC,5223,-0.94,-146.6,546.4,-8.7,249,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2000,3433
$GC,5532,-0.94,-146.6,571.6,-7.6,264,5536,0.00,2.55,0.00,0.000,4,0.000,0.064,2493,3403,3433
$GC,5644,-0.94,-146.6,580.5,-8.4,269,5649,0.00,2.53,0.00,0.000,6,0.000,0.054,2493,1989,3433
$GC,5966,-0.94,-146.6,606.2,-6.9,285,5970,0.00,2.50,0.00,0.000,4,0.000,0.069,2493,597,3433
$GC,6089,-0.94,-146.6,615.1,-6.9,290,6096,0.00,2.40,0.00,0.000,6,0.000,0.053,2493,1957,3433
$GC,6406,-0.94,-146.6,635.2,-6.6,306,6410,0.00,2.62,0.00,0.000,4,0.000,0.070,2493,3406,3432
$GC,6445,-0.94,-146.6,638.4,-8.6,308,6450,0.00,2.58,0.00,0.000,6,0.000,0.062,2493,1988,3432
$STATE,6728,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6728,begin apogee
$GC,6735,-0.33,0.0,663.1,9.2,322,6860,0.62,0.00,121.75,1.289,6,0.081,0.000,2627,2255,2832
$STATE,6861,end apogee,CONTROL_FINISHED_OK
$STATE,6861,begin climb
$GC,6864,1.22,146.6,666.9,0.0,328,6992,1.55,2.70,119.68,1.259,4,0.069,0.081,2962,3652,2234
$GC,7042,1.18,146.6,656.7,8.8,336,7047,0.00,2.62,0.00,0.000,6,0.000,0.069,2962,2249,2234
$GC,7359,1.25,193.4,635.6,6.3,351,7405,0.00,2.72,39.53,1.241,4,0.000,0.085,2962,3646,2042
$GC,7435,1.29,212.9,630.3,7.3,354,7462,0.00,2.62,17.30,1.186,6,0.000,0.074,2962,2259,1964
$GC,7772,1.35,253.9,605.4,6.5,371,7814,0.15,2.75,34.42,1.249,4,0.061,0.084,3000,839,1796
$GC,7890,1.28,253.9,595.2,9.4,376,7895,0.00,2.60,0.00,0.000,6,0.000,0.068,3000,2229,1797
$GC,8211,1.24,253.9,558.3,11.8,392,8213,0.15,0.00,0.00,0.000,6,0.095,0.000,2972,2230,1796
$GC,8520,1.29,253.9,528.7,9.1,407,8525,0.00,2.58,0.00,0.000,4,0.000,0.072,2972,838,1796
$GC,8554,1.29,253.9,525.4,10.1,408,8560,0.00,2.53,0.00,0.000,6,0.000,0.061,2972,2216,1796
$GC,8870,1.33,253.9,497.1,9.1,424,8874,0.00,2.53,0.00,0.000,4,0.000,0.070,2972,844,1796
$GC,8927,1.33,253.9,491.5,10.6,426,8933,0.00,2.42,0.00,0.000,6,0.000,0.058,2972,2180,1795
$GC,9243,1.38,253.9,462.6,8.8,442,9248,0.12,2.70,0.00,0.000,4,0.058,0.068,3005,3661,1795
$GC,9276,1.38,253.9,458.8,11.8,443,9282,0.00,2.70,0.00,0.000,6,0.000,0.058,3005,2171,1796
$GC,9592,1.34,253.9,424.1,11.3,459,9593,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2171,1796
$GC,9901,1.34,253.9,392.4,9.6,474,9905,0.00,2.72,0.00,0.000,4,0.000,0.064,3005,3661,1797
$GC,9933,1.34,253.9,388.8,11.8,475,9940,0.00,2.62,0.00,0.000,6,0.000,0.054,3005,2191,1797
$GC,10249,1.34,253.9,353.5,10.3,491,10250,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2191,1798
$GC,10559,1.34,253.9,318.8,11.3,506,10563,0.00,2.67,0.00,0.000,4,0.000,0.063,3005,3659,1798
$GC,10586,1.34,253.9,315.5,12.3,507,10590,0.00,2.60,0.00,0.000,6,0.000,0.051,3005,2198,1799
$GC,10902,1.30,253.9,281.1,11.2,522,10907,0.12,2.45,0.00,0.000,4,0.089,0.063,2979,833,1799
$GC,10935,1.30,253.9,277.1,11.7,523,10941,0.00,2.42,0.00,0.000,6,0.000,0.050,2979,2197,1798
$GC,11251,1.41,292.5,250.6,6.6,539,11291,0.12,0.00,32.10,0.967,6,0.053,0.000,3016,2200,1639
$GC,11600,1.41,292.5,207.8,14.4,556,11601,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2198,1639
$GC,11909,1.41,292.5,171.7,10.5,571,11913,0.00,2.47,0.00,0.000,4,0.000,0.062,3016,838,1640
$GC,11943,1.36,292.5,168.0,10.6,572,11947,0.00,2.40,0.00,0.000,6,0.000,0.050,3016,2184,1640
$GC,12259,1.36,292.5,134.1,12.8,587,12260,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2186,1640
$GC,12570,1.36,292.5,99.1,11.6,602,12571,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2186,1641
$GC,12878,1.36,292.5,61.1,13.4,617,12882,0.00,2.45,0.00,0.000,4,0.000,0.064,3016,841,1641
$GC,12899,1.36,292.5,57.8,14.1,618,12904,0.00,2.40,0.00,0.000,6,0.000,0.051,3016,2189,1642
$GC,13222,1.36,292.5,22.5,10.5,634,13226,0.00,2.62,0.00,0.000,4,0.000,0.061,3016,3658,1642
$GC,13254,1.36,292.5,19.2,9.3,635,13261,0.00,2.60,0.00,0.000,6,0.000,0.049,3016,2185,1642
$STATE,13402,end climb,SURFACE_DEPTH_REACHED
$STATE,13402,begin surface coast
$FINISH,0.5,1.027269
$STATE,13426,end surface coast,CONTROL_FINISHED_OK
$STATE,13426,begin surface
$SM_CCo,13509,0.00,0.000,0,0,1641,292.15
$SM_GC,1.34,11.27,0.00,0.00,0.038,0.000,0.000,419,1951,1641,-10.40,-1.39,292.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1777
$TCM_TEMP,17.40
$XPDR_PINGS,397
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,626.0,45.9
$24V_AH,23.9,18.321
$10V_AH,10.1,8.177
$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,25.175,123.450,364.775,0.000,0.000,37.762,27.814,134.984,105.250,0.000,0.000,12.649,1192.624,10296.800,502.204,1384.727,443.167,33.365,1228.376,0.000,1350.263,0.000,41.871,0.000
$DEVICE_MAMPS,138.060,85.137,1288.560,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.052,432.759,400.304,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31587,644
$CAP_FILE_SIZE,102972,0
$CFSIZE,254472192,246874112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,0,0
$GPS,231108,091756,6115.034,-206.824,37,2.0,37,-5.5