version: 66.04
glider: 5
mission: 5
dive: 104
start: 11 23 108 21 55 50
data:
$ID,5
$MISSION,5
$DIVE,104
$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,-89313.477
$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,30
$R_STBD_OVSHOOT,19
$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
$GPS1,214927,6112.563,-206.575,58,4.3,77,-5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-55.5
$GPS2,215502,6112.548,-206.694,17,1.8,35,-5.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.213,-0.122
$KALMAN_X,35687.0,1596.6,716.2,156955.8,-17257.3
$KALMAN_Y,-19194.9,-13.7,-127.1,-254261.6,3907.0
$MHEAD_RNG_PITCHd_Wd,125.4,20467,-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,-146.6,0.0,0.0,0,81,0.00,0.00,-61.72,0.000,2,0.000,0.000,421,1971,3027
$GC,84,-1.22,-146.6,3.3,-4.1,3,115,10.35,2.55,-12.10,0.000,4,0.138,0.071,2427,590,3431
$GC,183,-1.01,-146.6,19.2,-16.3,7,188,0.25,2.50,0.00,0.000,6,0.097,0.048,2476,2005,3431
$GC,501,-0.91,-146.6,50.2,-10.3,22,506,0.12,2.58,0.00,0.000,4,0.091,0.061,2504,593,3431
$GC,551,-0.91,-146.6,55.5,-9.6,24,555,0.00,2.50,0.00,0.000,6,0.000,0.050,2504,2006,3431
$GC,868,-0.91,-146.6,87.2,-10.6,39,873,0.00,2.55,0.00,0.000,4,0.000,0.064,2504,600,3431
$GC,901,-0.91,-146.6,90.6,-9.6,40,908,0.00,2.45,0.00,0.000,6,0.000,0.049,2504,1986,3431
$GC,1218,-0.91,-146.6,120.8,-10.4,56,1222,0.00,2.55,0.00,0.000,4,0.000,0.061,2504,3415,3431
$GC,1251,-0.91,-146.6,124.6,-10.4,57,1258,0.00,2.53,0.00,0.000,6,0.000,0.051,2504,1993,3432
$GC,1566,-0.91,-146.6,155.7,-9.9,73,1571,0.00,2.50,0.00,0.000,4,0.000,0.063,2504,587,3432
$GC,1600,-0.91,-146.6,159.4,-11.2,74,1606,0.00,2.47,0.00,0.000,6,0.000,0.050,2504,1989,3431
$GC,1915,-0.91,-146.6,191.3,-9.0,90,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1990,3431
$GC,2224,-0.91,-146.6,223.2,-11.0,105,2229,0.00,2.55,0.00,0.000,4,0.000,0.066,2504,587,3432
$GC,2269,-0.91,-146.6,228.4,-11.8,107,2273,0.00,2.47,0.00,0.000,6,0.000,0.050,2503,1990,3431
$GC,2590,-0.91,-146.6,261.7,-10.7,123,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1992,3431
$GC,2899,-0.91,-146.6,292.9,-9.7,138,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1993,3431
$GC,3208,-0.91,-146.6,321.6,-9.1,153,3212,0.00,2.53,0.00,0.000,4,0.000,0.062,2504,3405,3431
$GC,3231,-0.91,-146.6,323.7,-8.7,154,3236,0.00,2.53,0.00,0.000,6,0.000,0.052,2504,1984,3431
$GC,3558,-0.91,-146.6,356.0,-9.8,170,3563,0.00,2.47,0.00,0.000,4,0.000,0.064,2504,595,3431
$GC,3603,-0.91,-146.6,360.9,-11.3,172,3607,0.00,2.45,0.00,0.000,6,0.000,0.050,2504,1986,3431
$GC,3924,-0.91,-146.6,392.7,-10.7,188,3925,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1987,3431
$GC,4233,-0.91,-146.6,424.8,-9.8,203,4240,0.00,2.53,0.00,0.000,4,0.000,0.067,2504,597,3432
$GC,4326,-0.91,-146.6,434.6,-10.0,207,4330,0.00,2.40,0.00,0.000,6,0.000,0.050,2504,1973,3431
$GC,4658,-0.91,-146.6,470.1,-10.8,223,4662,0.00,2.55,0.00,0.000,4,0.000,0.063,2503,3410,3431
$GC,4679,-0.91,-146.6,472.5,-11.0,224,4684,0.00,2.58,0.00,0.000,6,0.000,0.054,2504,1969,3431
$GC,5001,-0.91,-146.6,506.4,-10.4,240,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1969,3431
$GC,5310,-0.91,-146.6,537.5,-9.6,255,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1969,3431
$GC,5620,-0.95,-146.6,564.2,-7.4,270,5624,0.00,2.45,0.00,0.000,4,0.000,0.066,2504,594,3432
$GC,5727,-0.95,-146.6,573.4,-8.8,275,5731,0.00,2.47,0.00,0.000,6,0.000,0.051,2504,1997,3431
$GC,6061,-1.01,-146.6,601.2,-8.0,291,6066,0.10,2.50,0.00,0.000,4,0.061,0.066,2472,3405,3431
$GC,6319,-1.57,-146.6,603.6,0.0,302,6326,0.52,2.53,0.00,0.000,6,0.050,0.059,2352,2006,3431
$STATE,6405,end dive,NO_VERTICAL_VELOCITY
$STATE,6405,begin apogee
$GC,6412,-0.33,0.0,603.6,0.0,307,6537,1.23,0.00,121.10,1.226,6,0.051,0.000,2630,2252,2832
$STATE,6538,end apogee,CONTROL_FINISHED_OK
$STATE,6538,begin climb
$GC,6541,1.22,146.6,603.4,0.0,313,6669,1.50,2.70,119.45,1.193,4,0.051,0.070,2968,854,2234
$GC,6743,1.16,146.6,592.0,8.3,322,6747,0.00,2.55,0.00,0.000,6,0.000,0.057,2968,2247,2234
$GC,7059,1.22,182.7,570.4,6.7,337,7095,0.00,2.70,30.50,1.154,4,0.000,0.071,2968,845,2086
$GC,7186,1.23,189.5,561.3,7.8,342,7200,0.00,2.50,7.28,0.976,6,0.000,0.061,2968,2208,2059
$GC,7517,1.23,189.5,534.8,8.3,358,7521,0.00,2.53,0.00,0.000,4,0.000,0.071,2968,848,2057
$GC,7595,1.23,189.5,527.9,9.3,361,7601,0.00,2.45,0.00,0.000,6,0.000,0.059,2969,2190,2057
$GC,7911,1.23,189.5,502.6,8.3,377,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2190,2056
$GC,8220,1.23,189.8,477.8,8.0,392,8224,0.00,2.47,0.00,0.000,4,0.000,0.067,2969,847,2056
$GC,8264,1.23,189.8,473.9,9.1,394,8268,0.00,2.45,0.00,0.000,6,0.000,0.055,2968,2205,2055
$GC,8585,1.25,202.1,448.9,7.6,410,8601,0.00,2.55,11.20,1.036,4,0.000,0.064,2969,847,2007
$GC,8635,1.25,202.1,444.6,9.2,411,8639,0.00,2.42,0.00,0.000,6,0.000,0.053,2968,2188,2007
$GC,8951,1.25,202.1,418.2,9.1,426,8955,0.00,2.45,0.00,0.000,4,0.000,0.064,2968,842,2007
$GC,8984,1.25,202.1,415.2,9.2,427,8988,0.00,2.40,0.00,0.000,6,0.000,0.051,2969,2180,2007
$GC,9300,1.25,203.3,389.4,8.0,442,9305,0.00,2.65,0.00,0.000,4,0.000,0.064,2968,3654,2007
$GC,9311,1.25,203.3,388.3,8.1,442,9317,0.00,2.65,0.00,0.000,6,0.000,0.054,2968,2172,2007
$GC,9627,1.25,203.3,363.1,8.4,458,9631,0.00,2.38,0.00,0.000,4,0.000,0.064,2969,846,2008
$GC,9660,1.25,203.3,360.2,8.8,459,9666,0.00,2.38,0.00,0.000,6,0.000,0.051,2968,2177,2008
$GC,9976,1.25,203.3,334.4,8.1,475,9977,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2178,2008
$GC,10285,1.25,203.3,308.1,9.4,490,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2178,2008
$GC,10594,1.25,203.3,280.7,8.6,505,10598,0.00,2.40,0.00,0.000,4,0.000,0.063,2968,846,2009
$GC,10618,1.25,203.3,278.6,9.3,506,10622,0.00,2.35,0.00,0.000,6,0.000,0.051,2968,2167,2009
$GC,10944,1.25,203.3,247.4,9.6,522,10949,0.00,2.67,0.00,0.000,4,0.000,0.063,2969,3661,2009
$GC,10984,1.25,203.3,243.4,10.3,524,10989,0.00,2.65,0.00,0.000,6,0.000,0.051,2968,2169,2010
$GC,11311,1.25,203.3,213.9,8.7,540,11312,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2157,2010
$GC,11620,1.31,241.5,189.4,6.6,555,11659,0.00,0.00,32.50,0.915,6,0.000,0.000,2969,2156,1847
$GC,11969,1.37,241.5,158.5,8.6,572,11974,0.15,2.38,0.00,0.000,4,0.050,0.063,3010,845,1846
$GC,11986,1.37,241.5,156.4,10.2,572,11992,0.00,2.38,0.00,0.000,6,0.000,0.049,3010,2177,1847
$GC,12302,1.32,241.5,120.1,12.2,588,12307,0.12,2.65,0.00,0.000,4,0.090,0.061,2986,3658,1846
$GC,12352,1.32,241.5,113.2,12.6,590,12357,0.00,2.62,0.00,0.000,6,0.000,0.050,2986,2182,1847
$GC,12669,1.32,241.5,84.2,9.9,605,12673,0.00,2.40,0.00,0.000,4,0.000,0.063,2986,841,1847
$GC,12696,1.32,241.5,81.7,8.5,606,12700,0.00,2.40,0.00,0.000,6,0.000,0.049,2986,2193,1847
$GC,13014,1.37,273.3,57.6,6.8,621,13045,0.00,2.53,25.95,0.825,4,0.000,0.062,2986,842,1718
$GC,13057,1.42,273.3,53.0,10.5,623,13062,0.10,2.42,0.00,0.000,6,0.058,0.049,3016,2194,1718
$GC,13382,1.37,273.3,15.6,13.4,639,13386,0.00,2.62,0.00,0.000,4,0.000,0.061,3016,3657,1718
$GC,13409,1.37,273.3,11.7,12.3,640,13413,0.00,2.58,0.00,0.000,6,0.000,0.049,3016,2210,1718
$STATE,13495,end climb,SURFACE_DEPTH_REACHED
$STATE,13495,begin surface coast
$FINISH,0.5,1.007992
$STATE,13517,end surface coast,CONTROL_FINISHED_OK
$STATE,13517,begin surface
$SM_CCo,13600,0.00,0.000,0,0,1718,273.51
$SM_GC,1.44,11.25,0.00,0.00,0.037,0.000,0.000,423,1993,1718,-10.39,-0.20,273.51
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1780
$TCM_TEMP,17.50
$XPDR_PINGS,461
$ALTIM_TOP_PING,18.6,17.8
$24V_AH,23.9,18.908
$10V_AH,10.1,8.453
$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,25.700,136.250,347.975,0.000,0.000,37.763,28.840,131.910,120.500,0.000,0.000,34.998,1217.631,10308.565,472.225,1482.567,451.423,33.358,1239.071,0.000,1427.077,0.000,34.452,0.000
$DEVICE_MAMPS,138.060,71.331,1225.666,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.021,434.346,414.176,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31690,645
$CAP_FILE_SIZE,106477,0
$CFSIZE,254472192,246657024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,0,0
$GPS,241108,014338,6111.430,-205.697,32,1.8,32,-5.5