version: 66.04
glider: 5
mission: 5
dive: 102
start: 11 23 108 13 50 4
data:
$ID,5
$MISSION,5
$DIVE,102
$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,-89264.914
$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,32
$R_STBD_OVSHOOT,23
$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
$GPS1,134038,6113.408,-207.897,42,1.2,42,-5.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-54.0
$GPS2,134915,6113.439,-208.158,12,1.2,12,-5.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.220,-0.108
$KALMAN_X,43891.7,1019.1,564.5,148314.0,-14351.6
$KALMAN_Y,-24229.6,693.0,111.0,-248505.8,-1326.2
$MHEAD_RNG_PITCHd_Wd,121.5,22554,-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,-146.6,0.0,0.0,0,118,0.00,0.00,-97.82,0.000,6,0.000,0.000,423,1992,3430
$GC,122,-1.22,-146.6,6.0,-5.5,5,138,10.32,0.00,0.00,0.000,6,0.131,0.000,2427,1995,3431
$GC,449,-1.02,-146.6,64.7,-15.3,21,454,0.20,2.53,0.00,0.000,4,0.092,0.061,2471,594,3431
$GC,505,-0.90,-146.6,72.9,-14.7,23,512,0.15,2.50,0.00,0.000,6,0.091,0.049,2503,2008,3431
$GC,822,-0.90,-146.6,106.2,-8.3,39,826,0.00,2.50,0.00,0.000,4,0.000,0.060,2503,3411,3431
$GC,855,-0.90,-146.6,108.8,-7.9,40,862,0.00,2.50,0.00,0.000,6,0.000,0.051,2503,2008,3431
$GC,1171,-0.90,-146.6,135.9,-8.2,56,1176,0.00,2.53,0.00,0.000,4,0.000,0.063,2503,592,3431
$GC,1215,-0.90,-146.6,140.1,-9.9,58,1220,0.00,2.50,0.00,0.000,6,0.000,0.049,2503,2007,3431
$GC,1537,-0.90,-146.6,169.9,-9.0,74,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2008,3431
$GC,1846,-0.90,-146.6,193.6,-8.0,89,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2019,3431
$GC,2155,-0.90,-146.6,220.7,-8.6,104,2160,0.00,2.60,0.00,0.000,4,0.000,0.065,2503,587,3431
$GC,2196,-0.90,-146.6,224.3,-9.5,106,2200,0.00,2.50,0.00,0.000,6,0.000,0.050,2503,1995,3431
$GC,2523,-0.90,-146.6,255.2,-9.2,122,2527,0.00,2.55,0.00,0.000,4,0.000,0.065,2503,591,3431
$GC,2550,-0.90,-146.6,257.8,-9.4,123,2554,0.00,2.47,0.00,0.000,6,0.000,0.051,2503,1992,3431
$GC,2865,-0.90,-146.6,286.4,-9.5,138,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1993,3431
$GC,3175,-0.90,-146.6,316.7,-9.6,153,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1993,3431
$GC,3484,-0.90,-146.6,347.8,-10.0,168,3488,0.00,2.55,0.00,0.000,4,0.000,0.067,2503,590,3431
$GC,3512,-0.90,-146.6,350.8,-11.2,169,3516,0.00,2.45,0.00,0.000,6,0.000,0.051,2503,1979,3431
$GC,3828,-0.90,-146.6,383.3,-10.3,184,3832,0.00,2.55,0.00,0.000,4,0.000,0.063,2503,3406,3431
$GC,3874,-0.90,-146.6,388.0,-10.5,186,3878,0.00,2.53,0.00,0.000,6,0.000,0.053,2503,1986,3431
$GC,4200,-0.90,-146.6,419.4,-9.5,202,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1985,3431
$GC,4510,-0.90,-146.6,450.2,-10.4,217,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1984,3431
$GC,4819,-0.90,-146.6,480.9,-9.8,232,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1984,3431
$GC,5128,-0.90,-146.6,511.4,-9.6,247,5133,0.00,2.58,0.00,0.000,4,0.000,0.062,2503,3408,3431
$GC,5161,-0.90,-146.6,514.6,-9.1,248,5167,0.00,0.08,0.00,0.000,6,0.000,0.064,2503,3342,3430
$GC,5478,-0.94,-146.6,542.7,-8.9,264,5481,0.00,0.12,0.00,0.000,4,0.000,0.086,2503,3408,3431
$GC,5736,-1.02,-146.6,565.4,-8.5,275,5741,0.12,2.62,0.00,0.000,6,0.055,0.053,2467,1930,3431
$GC,6053,-0.98,-146.6,593.3,-9.0,290,6057,0.10,2.40,0.00,0.000,4,0.095,0.070,2487,592,3431
$GC,6085,-0.98,-146.6,596.1,-8.3,291,6092,0.00,2.42,0.00,0.000,6,0.000,0.054,2487,1961,3431
$GC,6401,-0.98,-146.6,621.5,-8.3,307,6406,0.00,2.62,0.00,0.000,4,0.000,0.073,2487,3404,3431
$GC,6434,-0.98,-146.6,624.6,-9.0,308,6441,0.00,2.65,0.00,0.000,6,0.000,0.067,2487,1955,3431
$GC,6751,-1.45,-146.6,629.5,0.1,324,6756,0.45,2.50,0.00,0.000,4,0.051,0.081,2377,594,3431
$STATE,6860,end dive,NO_VERTICAL_VELOCITY
$STATE,6860,begin apogee
$GC,6870,-0.33,0.0,629.6,0.0,329,6995,1.10,0.00,120.95,1.280,6,0.064,0.000,2625,2248,2832
$STATE,6996,end apogee,CONTROL_FINISHED_OK
$STATE,6996,begin climb
$GC,6999,1.22,146.6,629.5,0.0,335,7127,1.55,2.75,119.53,1.240,4,0.063,0.084,2964,3653,2234
$GC,7168,1.17,149.5,621.2,7.9,343,7178,0.00,2.65,4.22,0.787,6,0.000,0.072,2964,2246,2222
$GC,7500,1.21,175.2,596.3,7.1,359,7529,0.00,2.70,21.98,1.192,4,0.000,0.083,2964,838,2116
$GC,7565,1.21,175.2,591.2,8.4,362,7569,0.00,2.62,0.00,0.000,6,0.000,0.067,2964,2241,2116
$GC,7891,1.27,209.9,565.5,6.7,378,7926,0.00,2.72,29.12,1.230,4,0.000,0.081,2964,844,1977
$GC,8073,1.29,225.9,551.0,7.4,386,8093,0.00,2.53,14.50,1.174,6,0.000,0.069,2964,2197,1911
$GC,8421,1.34,225.9,523.0,8.5,403,8427,0.12,2.72,0.00,0.000,4,0.060,0.079,2998,3656,1910
$GC,8485,1.29,225.9,516.6,10.1,406,8489,0.00,2.67,0.00,0.000,6,0.000,0.066,2998,2207,1909
$GC,8812,1.25,225.9,484.2,9.8,422,8817,0.12,2.50,0.00,0.000,4,0.097,0.071,2975,841,1909
$GC,8833,1.25,225.9,482.0,9.2,423,8838,0.00,2.50,0.00,0.000,6,0.000,0.058,2975,2216,1909
$GC,9155,1.25,225.9,454.1,8.8,439,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2217,1909
$GC,9464,1.25,225.9,427.7,8.2,454,9465,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2217,1909
$GC,9773,1.25,225.9,401.9,8.3,469,9774,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2217,1909
$GC,10083,1.25,225.9,375.8,8.3,484,10087,0.00,2.53,0.00,0.000,4,0.000,0.064,2975,837,1910
$GC,10110,1.25,225.9,373.5,8.1,485,10115,0.00,2.45,0.00,0.000,6,0.000,0.051,2975,2209,1910
$GC,10432,1.25,229.0,347.6,7.9,501,10439,0.00,0.00,4.45,0.747,6,0.000,0.000,2975,2209,1898
$GC,10742,1.31,238.9,321.9,7.6,516,10757,0.00,2.55,9.57,0.931,4,0.000,0.063,2975,835,1857
$GC,10781,1.31,238.9,318.7,9.0,517,10785,0.00,2.45,0.00,0.000,6,0.000,0.051,2975,2199,1857
$GC,11108,1.38,246.3,293.1,7.7,533,11118,0.12,0.00,7.62,0.869,6,0.053,0.000,3010,2199,1827
$GC,11417,1.32,246.3,260.4,10.4,548,11422,0.12,2.60,0.00,0.000,4,0.090,0.062,2984,3653,1827
$GC,11439,1.32,246.3,258.2,9.9,549,11443,0.00,2.60,0.00,0.000,6,0.000,0.050,2985,2191,1827
$GC,11760,1.32,246.3,229.9,8.9,565,11764,0.00,2.42,0.00,0.000,4,0.000,0.064,2985,838,1827
$GC,11782,1.32,246.3,227.8,9.0,566,11786,0.00,2.42,0.00,0.000,6,0.000,0.050,2984,2198,1827
$GC,12103,1.32,246.3,201.0,8.7,582,12104,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2198,1828
$GC,12412,1.34,255.4,175.5,7.7,597,12423,0.00,0.00,9.38,0.833,6,0.000,0.000,2984,2199,1790
$GC,12721,1.34,255.4,149.6,9.1,612,12722,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2199,1790
$GC,13032,1.34,255.4,117.7,9.9,627,13033,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2199,1790
$GC,13340,1.34,255.4,88.2,10.0,642,13344,0.00,2.60,0.00,0.000,4,0.000,0.062,2985,3653,1790
$GC,13373,1.38,255.4,85.2,9.5,643,13380,0.00,2.60,0.00,0.000,6,0.000,0.049,2985,2184,1790
$GC,13691,1.38,255.4,54.5,10.4,659,13692,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2184,1790
$GC,13999,1.38,255.4,28.1,8.2,674,14000,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2153,1790
$GC,14308,1.38,255.4,5.7,8.8,689,14312,0.00,2.67,0.00,0.000,4,0.000,0.061,2984,3660,1790
$STATE,14322,end climb,SURFACE_DEPTH_REACHED
$STATE,14322,begin surface coast
$FINISH,0.5,1.027288
$STATE,14346,end surface coast,CONTROL_FINISHED_OK
$STATE,14346,begin surface
$SM_CCo,14431,0.00,0.000,0,0,1791,255.36
$SM_GC,1.54,11.15,0.00,0.00,0.041,0.000,0.000,421,1986,1791,-10.40,-0.40,255.36
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1781
$TCM_TEMP,17.50
$XPDR_PINGS,448
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,23.9,18.629
$10V_AH,10.1,8.318
$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,25.650,113.600,341.325,0.000,0.000,75.526,127.647,137.355,117.500,0.000,0.000,14.196,1279.202,11120.056,477.963,1477.882,590.524,33.363,1241.398,0.000,1450.613,0.000,36.036,0.000
$DEVICE_MAMPS,131.157,85.904,1280.123,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,514.475,465.713,434.786,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34818,691
$CAP_FILE_SIZE,106885,0
$CFSIZE,254472192,246755328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,231108,175232,6112.747,-207.590,81,1.5,81,-5.5