version: 66.04
glider: 5
mission: 5
dive: 101
start: 11 23 108 9 24 18
data:
$ID,5
$MISSION,5
$DIVE,101
$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,-89250.094
$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,44
$R_STBD_OVSHOOT,18
$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
$GPS1,091756,6115.034,-206.824,37,2.0,37,-5.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-54.7
$GPS2,092327,6115.044,-206.972,12,1.3,12,-5.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.186,-0.160
$KALMAN_X,50438.3,347.8,-147.7,144137.9,-9906.2
$KALMAN_Y,-23460.6,-115.5,-741.2,-244636.5,1922.0
$MHEAD_RNG_PITCHd_Wd,136.2,24022,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.50,0.000,2,0.000,0.000,419,1962,3277
$GC,102,-1.22,-146.6,4.2,-4.7,4,125,10.35,2.62,-3.83,0.000,4,0.137,0.072,2427,3415,3431
$GC,159,-1.06,-146.6,17.2,-13.2,6,164,0.20,2.50,0.00,0.000,6,0.091,0.048,2468,2012,3431
$GC,477,-0.97,-146.6,60.4,-15.1,21,481,0.00,2.53,0.00,0.000,4,0.000,0.062,2468,594,3432
$GC,555,-0.89,-146.6,72.7,-14.2,24,562,0.17,2.50,0.00,0.000,6,0.084,0.049,2505,2008,3432
$GC,873,-0.89,-146.6,109.6,-10.1,40,877,0.00,2.58,0.00,0.000,4,0.000,0.064,2505,592,3432
$GC,937,-0.89,-146.6,116.3,-10.5,43,941,0.00,2.45,0.00,0.000,6,0.000,0.049,2506,1982,3432
$GC,1265,-0.89,-146.6,145.6,-7.7,59,1270,0.00,2.55,0.00,0.000,4,0.000,0.061,2506,3413,3432
$GC,1289,-0.89,-146.6,147.9,-8.8,60,1293,0.00,2.58,0.00,0.000,6,0.000,0.050,2505,1964,3432
$GC,1612,-0.89,-146.6,175.2,-7.4,76,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1963,3431
$GC,1920,-0.89,-146.6,195.6,-6.9,91,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1963,3431
$GC,2229,-0.89,-146.6,215.7,-6.3,106,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1963,3431
$GC,2538,-0.89,-146.6,237.1,-8.3,121,2542,0.00,2.60,0.00,0.000,4,0.000,0.060,2506,3403,3432
$GC,2565,-0.89,-146.6,239.7,-9.2,122,2570,0.00,2.53,0.00,0.000,6,0.000,0.049,2505,1971,3432
$GC,2881,-0.89,-146.6,265.5,-8.3,137,2882,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1971,3432
$GC,3190,-0.89,-146.6,294.5,-8.9,152,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1969,3432
$GC,3500,-0.89,-146.6,324.2,-9.3,167,3504,0.00,2.60,0.00,0.000,4,0.000,0.061,2506,3408,3432
$GC,3532,-0.89,-146.6,327.5,-9.9,168,3538,0.00,2.55,0.00,0.000,6,0.000,0.050,2506,1970,3432
$GC,3848,-0.89,-146.6,358.2,-8.9,184,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1969,3432
$GC,4157,-0.89,-146.6,384.2,-8.5,199,4162,0.00,2.60,0.00,0.000,4,0.000,0.061,2506,3407,3432
$GC,4179,-0.89,-146.6,386.3,-8.9,200,4184,0.00,2.53,0.00,0.000,6,0.000,0.051,2506,1986,3432
$GC,4501,-0.89,-146.6,413.5,-8.1,216,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1985,3432
$GC,4810,-0.89,-146.6,438.6,-8.7,231,4814,0.00,2.47,0.00,0.000,4,0.000,0.064,2506,597,3432
$GC,4856,-0.89,-146.6,442.9,-9.6,233,4860,0.00,2.47,0.00,0.000,6,0.000,0.050,2506,2004,3432
$GC,5188,-0.89,-146.6,474.7,-10.0,249,5196,0.00,2.50,0.00,0.000,4,0.000,0.064,2506,3405,3432
$GC,5213,-0.89,-146.6,477.3,-10.3,250,5218,0.00,2.53,0.00,0.000,6,0.000,0.054,2506,1991,3432
$GC,5541,-0.89,-146.6,508.2,-9.3,266,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1990,3432
$GC,5850,-0.89,-146.6,537.9,-9.2,281,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1990,3432
$GC,6160,-0.89,-146.6,566.4,-8.6,296,6164,0.00,2.50,0.00,0.000,4,0.000,0.064,2506,587,3432
$GC,6232,-0.89,-146.6,573.0,-9.5,299,6236,0.00,2.50,0.00,0.000,6,0.000,0.051,2506,2004,3432
$GC,6549,-0.95,-146.6,596.8,-6.9,314,6553,0.00,2.50,0.00,0.000,4,0.000,0.064,2505,3402,3432
$GC,6560,-1.04,-146.6,597.5,-6.2,314,6567,0.15,2.55,0.00,0.000,6,0.052,0.054,2463,1975,3432
$GC,6876,-0.96,-146.6,623.1,-8.8,330,6881,0.12,2.50,0.00,0.000,4,0.090,0.071,2489,591,3432
$GC,7032,-0.96,-146.6,638.2,-9.0,337,7037,0.00,2.45,0.00,0.000,6,0.000,0.057,2489,1966,3432
$GC,7354,-1.40,-146.6,647.2,-0.0,353,7360,0.40,2.60,0.00,0.000,4,0.051,0.081,2385,590,3432
$STATE,7511,end dive,NO_VERTICAL_VELOCITY
$STATE,7511,begin apogee
$GC,7521,-0.33,0.0,647.1,0.0,360,7646,1.05,0.00,121.45,1.282,6,0.063,0.000,2624,2251,2832
$STATE,7647,end apogee,CONTROL_FINISHED_OK
$STATE,7647,begin climb
$GC,7650,1.22,146.6,647.1,0.0,366,7778,1.55,2.75,119.65,1.252,4,0.061,0.084,2964,3656,2234
$GC,7925,1.16,146.6,628.9,8.6,378,7931,0.00,2.62,0.00,0.000,6,0.000,0.072,2964,2256,2234
$GC,8241,1.19,163.1,605.5,7.4,394,8263,0.00,2.70,14.70,1.169,4,0.000,0.083,2964,844,2167
$GC,8365,1.17,180.3,596.1,7.4,399,8385,0.00,2.58,15.57,1.183,6,0.000,0.067,2964,2227,2096
$GC,8702,1.19,191.9,570.0,7.6,416,8718,0.00,2.70,11.10,1.153,4,0.000,0.083,2964,839,2048
$GC,8758,1.19,191.9,565.0,9.1,417,8764,0.00,2.62,0.00,0.000,6,0.000,0.068,2965,2241,2048
$GC,9073,1.19,191.9,538.9,8.5,433,9078,0.00,2.62,0.00,0.000,4,0.000,0.081,2964,3656,2046
$GC,9124,1.19,191.9,534.4,8.4,435,9128,0.00,2.62,0.00,0.000,6,0.000,0.066,2964,2231,2046
$GC,9440,1.20,198.2,509.2,7.8,450,9453,0.00,2.62,6.40,1.002,4,0.000,0.072,2965,835,2023
$GC,9493,1.20,198.2,504.5,8.9,452,9497,0.00,2.55,0.00,0.000,6,0.000,0.058,2964,2240,2023
$GC,9809,1.20,198.2,476.4,8.9,467,9813,0.00,2.58,0.00,0.000,4,0.000,0.067,2964,836,2022
$GC,9841,1.20,198.2,473.2,9.0,468,9848,0.00,2.50,0.00,0.000,6,0.000,0.056,2965,2223,2022
$GC,10157,1.20,198.2,446.2,8.1,484,10161,0.00,2.55,0.00,0.000,4,0.000,0.066,2965,833,2023
$GC,10179,1.20,202.6,444.5,7.8,485,10189,0.00,2.47,5.22,0.874,6,0.000,0.054,2964,2212,2006
$GC,10500,1.20,202.6,418.5,8.2,500,10504,0.00,2.50,0.00,0.000,4,0.000,0.065,2964,839,2006
$GC,10523,1.20,202.6,416.4,9.2,501,10527,0.00,2.45,0.00,0.000,6,0.000,0.052,2964,2209,2006
$GC,10849,1.20,202.6,389.2,8.8,517,10854,0.00,2.50,0.00,0.000,4,0.000,0.064,2965,840,2007
$GC,10877,1.20,202.6,386.5,9.5,518,10881,0.00,2.42,0.00,0.000,6,0.000,0.051,2965,2198,2007
$GC,11198,1.25,202.6,359.6,8.2,534,11199,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2199,2007
$GC,11508,1.39,266.0,337.8,5.7,549,11566,0.17,2.58,51.72,1.046,4,0.048,0.062,3017,836,1746
$GC,11590,1.31,266.0,330.9,9.7,552,11595,0.17,2.45,0.00,0.000,6,0.086,0.051,2983,2191,1746
$GC,11916,1.31,266.0,303.4,8.3,568,11921,0.00,2.65,0.00,0.000,4,0.000,0.063,2983,3661,1748
$GC,11938,1.31,266.0,301.4,8.7,569,11943,0.00,2.65,0.00,0.000,6,0.000,0.051,2983,2181,1748
$GC,12259,1.31,266.0,270.7,10.1,585,12264,0.00,2.42,0.00,0.000,4,0.000,0.064,2982,831,1750
$GC,12282,1.31,266.0,268.4,10.4,586,12286,0.00,2.42,0.00,0.000,6,0.000,0.050,2982,2190,1749
$GC,12603,1.31,266.0,234.8,11.3,602,12604,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2190,1751
$GC,12912,1.36,266.0,204.0,10.1,617,12916,0.00,2.47,0.00,0.000,4,0.000,0.064,2982,835,1751
$GC,12956,1.36,266.0,200.2,8.8,619,12960,0.00,2.40,0.00,0.000,6,0.000,0.050,2982,2180,1751
$GC,13277,1.41,266.0,172.0,8.9,635,13282,0.10,2.47,0.00,0.000,4,0.057,0.064,3014,838,1751
$GC,13299,1.41,266.0,169.4,11.2,636,13304,0.00,2.38,0.00,0.000,6,0.000,0.050,3014,2171,1751
$GC,13622,1.41,266.0,142.5,8.7,652,13626,0.00,2.65,0.00,0.000,4,0.000,0.061,3014,3654,1751
$GC,13655,1.46,297.6,140.0,6.9,653,13687,0.00,2.65,26.65,0.882,6,0.000,0.050,3014,2162,1617
$GC,14011,1.53,341.0,117.9,6.4,671,14054,0.00,2.78,34.90,0.875,4,0.000,0.060,3013,3653,1440
$GC,14071,1.53,341.0,112.9,9.4,673,14077,0.00,2.65,0.00,0.000,6,0.000,0.048,3014,2172,1441
$GC,14388,1.53,341.0,85.0,9.1,689,14393,0.00,2.70,0.00,0.000,4,0.000,0.060,3014,3657,1441
$GC,14406,1.53,341.0,82.8,10.4,690,14410,0.00,2.60,0.00,0.000,6,0.000,0.048,3013,2182,1441
$GC,14733,1.53,341.0,51.8,8.7,706,14734,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2170,1442
$GC,15042,1.53,341.0,21.3,11.2,721,15046,0.00,2.40,0.00,0.000,4,0.000,0.062,3014,840,1442
$GC,15069,1.53,341.0,17.8,13.3,722,15073,0.00,2.42,0.00,0.000,6,0.000,0.050,3013,2202,1442
$STATE,15198,end climb,SURFACE_DEPTH_REACHED
$STATE,15198,begin surface coast
$FINISH,0.8,1.027289
$STATE,15219,end surface coast,CONTROL_FINISHED_OK
$STATE,15219,begin surface
$SM_CCo,15302,0.00,0.000,0,0,1441,341.46
$SM_GC,1.13,11.32,0.00,0.00,0.041,0.000,0.000,424,1980,1441,-10.39,-0.11,341.46
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1774
$TCM_TEMP,17.30
$XPDR_PINGS,476
$ALTIM_TOP_PING,19.2,999.0
$24V_AH,23.9,18.482
$10V_AH,10.1,8.249
$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,25.775,158.825,407.375,0.000,0.000,37.762,33.453,145.773,124.500,0.000,0.000,12.712,1369.660,11606.863,524.668,1637.121,496.171,33.363,1397.651,0.000,1598.614,0.000,36.049,0.000
$DEVICE_MAMPS,136.526,83.603,1282.424,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,535.865,491.001,446.744,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38043,729
$CAP_FILE_SIZE,120708,0
$CFSIZE,254472192,246796288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,47,0,0
$GPS,231108,134038,6113.408,-207.897,42,1.2,42,-5.5