version: 66.04
glider: 5
mission: 5
dive: 103
start: 11 23 108 17 59 6
data:
$ID,5
$MISSION,5
$DIVE,103
$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,-89277.852
$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,17
$R_STBD_OVSHOOT,24
$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
$GPS1,175232,6112.747,-207.590,81,1.5,81,-5.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-59.6
$GPS2,175815,6112.755,-207.663,12,1.4,12,-5.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.223,-0.102
$KALMAN_X,39397.3,1325.2,690.7,152757.9,-16359.4
$KALMAN_Y,-22397.3,541.3,107.7,-251467.0,-205.4
$MHEAD_RNG_PITCHd_Wd,120.1,21365,-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,-146.6,0.0,0.0,0,97,0.00,0.00,-78.20,0.000,6,0.000,0.000,421,1976,3431
$GC,101,-1.22,-146.6,6.0,-7.3,4,118,10.45,0.00,0.00,0.000,6,0.137,0.000,2427,1984,3432
$GC,429,-0.99,-146.6,68.1,-16.5,20,434,0.22,2.53,0.00,0.000,4,0.094,0.063,2477,587,3432
$GC,515,-0.93,-146.6,81.3,-14.1,24,520,0.10,2.50,0.00,0.000,6,0.097,0.048,2497,2008,3432
$GC,843,-0.88,-146.6,121.3,-12.0,40,847,0.00,2.60,0.00,0.000,4,0.000,0.063,2497,584,3432
$GC,905,-0.88,-146.6,128.3,-10.5,43,909,0.00,2.45,0.00,0.000,6,0.000,0.050,2497,1970,3432
$GC,1231,-0.88,-146.6,162.6,-10.6,59,1236,0.00,2.50,0.00,0.000,4,0.000,0.064,2497,586,3432
$GC,1320,-0.88,-146.6,173.3,-11.7,63,1325,0.00,2.38,0.00,0.000,6,0.000,0.050,2497,1926,3432
$GC,1647,-0.88,-146.6,210.0,-10.6,79,1652,0.00,2.45,0.00,0.000,4,0.000,0.064,2497,585,3432
$GC,1675,-0.88,-146.6,213.0,-10.5,80,1679,0.00,2.33,0.00,0.000,6,0.000,0.050,2496,1902,3432
$GC,1991,-0.88,-146.6,247.7,-10.5,95,1995,0.00,2.40,0.00,0.000,4,0.000,0.063,2497,586,3432
$GC,2024,-0.88,-146.6,251.1,-9.9,96,2028,0.00,2.28,0.00,0.000,6,0.000,0.049,2497,1878,3432
$GC,2340,-0.88,-146.6,280.8,-9.6,111,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1894,3432
$GC,2649,-0.88,-146.6,311.0,-9.7,126,2653,0.00,2.35,0.00,0.000,4,0.000,0.066,2497,586,3432
$GC,2701,-0.88,-146.6,316.1,-10.1,128,2705,0.00,2.25,0.00,0.000,6,0.000,0.050,2497,1868,3432
$GC,3022,-0.88,-146.6,344.1,-8.4,144,3026,0.00,2.33,0.00,0.000,4,0.000,0.066,2497,586,3432
$GC,3056,-0.88,-146.6,347.2,-9.1,145,3062,0.00,2.22,0.00,0.000,6,0.000,0.050,2497,1853,3432
$GC,3372,-0.88,-146.6,374.5,-8.9,161,3377,0.00,2.78,0.00,0.000,4,0.000,0.063,2497,3405,3432
$GC,3396,-0.88,-146.6,376.6,-8.7,162,3401,0.00,2.78,0.00,0.000,6,0.000,0.054,2497,1845,3432
$GC,3723,-0.88,-146.6,406.5,-9.3,178,3727,0.00,2.25,0.00,0.000,4,0.000,0.065,2497,580,3432
$GC,3750,-0.88,-146.6,409.3,-10.0,179,3754,0.00,2.22,0.00,0.000,6,0.000,0.049,2497,1848,3432
$GC,4066,-0.88,-146.6,439.0,-9.5,194,4070,0.00,2.80,0.00,0.000,4,0.000,0.063,2497,3413,3432
$GC,4087,-0.88,-146.6,441.1,-9.7,195,4092,0.00,2.83,0.00,0.000,6,0.000,0.054,2497,1831,3432
$GC,4409,-0.88,-146.6,472.6,-9.6,211,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1831,3432
$GC,4719,-0.88,-146.6,501.7,-9.3,226,4723,0.00,2.85,0.00,0.000,4,0.000,0.061,2497,3412,3432
$GC,4808,-0.88,-146.6,510.6,-9.9,230,4812,0.00,2.78,0.00,0.000,6,0.000,0.054,2497,1856,3432
$GC,5129,-0.88,-146.6,541.3,-9.3,246,5133,0.00,2.28,0.00,0.000,4,0.000,0.067,2497,581,3432
$GC,5156,-0.88,-146.6,544.4,-10.4,247,5160,0.00,2.25,0.00,0.000,6,0.000,0.051,2497,1865,3432
$GC,5472,-0.88,-146.6,573.3,-8.2,262,5476,0.00,2.35,0.00,0.000,4,0.000,0.066,2497,581,3432
$GC,5517,-0.88,-146.6,576.9,-7.9,264,5521,0.00,2.20,0.00,0.000,6,0.000,0.051,2497,1834,3432
$GC,5839,-0.88,-146.6,598.7,-7.8,280,5843,0.00,2.83,0.00,0.000,4,0.000,0.065,2497,3409,3433
$GC,6003,-0.88,-146.6,611.9,-8.5,287,6007,0.00,2.80,0.00,0.000,6,0.000,0.062,2497,1865,3433
$GC,6319,-1.32,-146.6,627.7,-0.1,302,6325,0.35,2.88,0.00,0.000,4,0.051,0.073,2406,3405,3432
$STATE,6553,end dive,NO_VERTICAL_VELOCITY
$STATE,6553,begin apogee
$GC,6562,-0.33,0.0,627.8,0.0,312,6688,0.98,0.00,121.45,1.267,6,0.065,0.000,2626,2219,2832
$STATE,6689,end apogee,CONTROL_FINISHED_OK
$STATE,6689,begin climb
$GC,6692,1.22,146.6,627.6,0.0,319,6820,1.52,2.65,120.10,1.233,4,0.058,0.077,2964,839,2234
$GC,6861,1.17,146.6,617.6,8.4,327,6866,0.00,2.60,0.00,0.000,6,0.000,0.064,2965,2247,2233
$GC,7188,1.21,167.2,593.3,7.3,343,7212,0.00,2.72,17.95,1.165,4,0.000,0.081,2965,3649,2150
$GC,7232,1.21,167.2,589.7,8.5,345,7236,0.00,2.65,0.00,0.000,6,0.000,0.071,2965,2240,2150
$GC,7559,1.29,221.5,565.6,6.0,361,7610,0.00,2.70,45.25,1.230,4,0.000,0.081,2965,837,1928
$GC,7801,1.29,221.5,547.8,8.2,372,7805,0.00,2.50,0.00,0.000,6,0.000,0.064,2965,2189,1927
$GC,8123,1.36,237.9,525.5,7.4,388,8145,0.15,2.58,14.40,1.141,4,0.056,0.075,3004,843,1861
$GC,8197,1.30,237.9,518.1,10.5,391,8202,0.00,2.45,0.00,0.000,6,0.000,0.061,3004,2174,1861
$GC,8519,1.25,237.9,484.4,10.5,407,8524,0.15,2.72,0.00,0.000,4,0.091,0.071,2975,3657,1861
$GC,8564,1.25,237.9,479.8,9.1,409,8568,0.00,2.70,0.00,0.000,6,0.000,0.059,2975,2173,1861
$GC,8884,1.25,237.9,449.5,9.6,425,8888,0.00,2.42,0.00,0.000,4,0.000,0.067,2975,835,1861
$GC,8917,1.25,237.9,446.5,8.7,426,8924,0.00,2.40,0.00,0.000,6,0.000,0.053,2975,2169,1861
$GC,9233,1.25,237.9,419.2,8.9,442,9238,0.00,2.70,0.00,0.000,4,0.000,0.066,2975,3661,1862
$GC,9256,1.29,237.9,417.0,9.4,443,9260,0.00,2.72,0.00,0.000,6,0.000,0.055,2975,2149,1862
$GC,9577,1.29,237.9,389.5,9.2,459,9581,0.00,2.35,0.00,0.000,4,0.000,0.064,2975,841,1862
$GC,9610,1.29,237.9,386.1,9.4,460,9616,0.00,2.35,0.00,0.000,6,0.000,0.051,2975,2157,1862
$GC,9926,1.29,237.9,357.8,8.8,476,9931,0.00,2.70,0.00,0.000,4,0.000,0.064,2975,3659,1862
$GC,9954,1.33,237.9,355.1,9.3,477,9958,0.00,2.70,0.00,0.000,6,0.000,0.053,2974,2148,1863
$GC,10270,1.33,237.9,326.4,9.2,492,10271,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2148,1863
$GC,10579,1.33,237.9,297.5,9.0,507,10583,0.00,2.75,0.00,0.000,4,0.000,0.062,2975,3659,1864
$GC,10619,1.37,237.9,293.7,9.5,509,10624,0.12,2.67,0.00,0.000,6,0.056,0.051,3009,2146,1864
$GC,10946,1.32,237.9,256.8,11.4,525,10947,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2145,1864
$GC,11255,1.27,237.9,222.4,11.0,540,11260,0.17,2.78,0.00,0.000,4,0.083,0.060,2970,3663,1865
$GC,11295,1.34,237.9,218.8,8.9,542,11300,0.00,2.67,0.00,0.000,6,0.000,0.051,2970,2157,1865
$GC,11622,1.39,237.9,191.5,8.3,558,11624,0.15,0.00,0.00,0.000,6,0.051,0.000,3010,2157,1865
$GC,11931,1.34,237.9,158.3,10.6,573,11936,0.00,2.72,0.00,0.000,4,0.000,0.061,3010,3659,1865
$GC,11965,1.29,237.9,154.4,11.5,574,11972,0.15,2.65,0.00,0.000,6,0.087,0.048,2979,2160,1866
$GC,12281,1.29,237.9,124.8,9.6,590,12282,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2160,1866
$GC,12590,1.29,237.9,96.5,9.0,605,12595,0.00,2.72,0.00,0.000,4,0.000,0.061,2979,3662,1866
$GC,12624,1.29,237.9,92.8,10.2,606,12631,0.00,2.62,0.00,0.000,6,0.000,0.048,2978,2174,1867
$GC,12940,1.30,242.9,65.2,7.8,622,12949,0.00,0.00,6.75,0.710,6,0.000,0.000,2979,2174,1841
$GC,13251,1.34,242.9,35.5,9.9,637,13252,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2175,1841
$GC,13559,1.43,242.9,10.4,9.5,652,13564,0.15,2.72,0.00,0.000,4,0.051,0.059,3021,3666,1841
$GC,13581,1.36,242.9,7.9,10.5,653,13586,0.12,2.62,0.00,0.000,6,0.091,0.048,2997,2180,1841
$STATE,13632,end climb,SURFACE_DEPTH_REACHED
$STATE,13632,begin surface coast
$FINISH,0.5,1.013663
$STATE,13675,end surface coast,CONTROL_FINISHED_OK
$STATE,13675,begin surface
$SM_CCo,13698,4.75,0.612,0,0,1811,250.21
$SM_GC,2.37,0.00,0.00,4.75,0.000,0.000,0.612,421,1977,1811,-10.48,-0.65,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1777
$TCM_TEMP,17.40
$XPDR_PINGS,455
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,23.9,18.770
$10V_AH,10.1,8.386
$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,25.950,148.475,325.900,4.750,0.000,37.763,27.993,164.339,119.250,0.000,0.000,12.316,1263.885,10301.478,466.852,1529.023,489.369,33.362,1261.765,0.000,1495.180,0.000,36.047,0.000
$DEVICE_MAMPS,136.526,81.302,1267.084,612.066,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,479.960,443.441,412.475,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31736,658
$CAP_FILE_SIZE,112528,0
$CFSIZE,254472192,246706176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,0,0
$GPS,231108,214927,6112.563,-206.575,58,4.3,77,-5.5