version: 66.04
glider: 5
mission: 5
dive: 105
start: 11 24 108 1 49 40
data:
$ID,5
$MISSION,5
$DIVE,105
$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,-89332.68
$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,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
$GPS1,014338,6111.430,-205.697,32,1.8,32,-5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-55.6
$GPS2,014851,6111.413,-205.792,18,1.6,18,-5.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.218,-0.112
$KALMAN_X,32046.7,1856.7,1076.9,160715.1,-18894.8
$KALMAN_Y,-18130.9,-445.2,-154.7,-256944.7,4428.7
$MHEAD_RNG_PITCHd_Wd,122.6,18467,-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,-61.47,0.000,2,0.000,0.000,422,1981,2958
$GC,84,-1.22,-146.6,3.1,-3.5,3,115,10.23,2.55,-14.20,0.000,4,0.132,0.076,2427,600,3431
$GC,309,-0.99,-146.6,40.3,-16.2,13,314,0.28,2.47,0.00,0.000,6,0.093,0.048,2484,2002,3431
$GC,638,-0.93,-146.6,76.1,-10.7,29,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2002,3432
$GC,946,-0.86,-146.6,107.5,-10.5,44,951,0.12,2.58,0.00,0.000,4,0.091,0.062,2511,594,3432
$GC,996,-0.86,-146.6,112.4,-9.2,46,1000,0.00,2.47,0.00,0.000,6,0.000,0.049,2511,1998,3432
$GC,1313,-0.86,-146.6,138.1,-8.3,61,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2010,3431
$GC,1622,-0.86,-146.6,176.0,-11.9,76,1627,0.00,2.55,0.00,0.000,4,0.000,0.064,2512,590,3432
$GC,1672,-0.86,-146.6,181.8,-11.5,78,1677,0.00,2.47,0.00,0.000,6,0.000,0.049,2511,1995,3431
$GC,1988,-0.86,-146.6,217.1,-12.2,93,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1995,3432
$GC,2298,-0.86,-146.6,250.9,-9.9,108,2302,0.00,2.55,0.00,0.000,4,0.000,0.065,2512,590,3432
$GC,2337,-0.86,-146.6,255.0,-10.0,110,2342,0.00,2.47,0.00,0.000,6,0.000,0.051,2511,1993,3432
$GC,2665,-0.86,-146.6,288.9,-10.4,126,2669,0.00,2.50,0.00,0.000,4,0.000,0.061,2511,3406,3431
$GC,2692,-0.86,-146.6,291.9,-9.8,127,2696,0.00,2.53,0.00,0.000,6,0.000,0.052,2511,1987,3432
$GC,3008,-0.86,-146.6,324.6,-10.6,142,3015,0.00,2.50,0.00,0.000,4,0.000,0.064,2512,584,3431
$GC,3049,-0.86,-146.6,329.3,-11.4,143,3055,0.00,2.47,0.00,0.000,6,0.000,0.051,2511,1988,3432
$GC,3365,-0.86,-146.6,361.1,-10.4,159,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1989,3432
$GC,3674,-0.86,-146.6,391.4,-10.6,174,3678,0.00,2.55,0.00,0.000,4,0.000,0.066,2511,585,3432
$GC,3707,-0.86,-146.6,395.3,-11.7,175,3713,0.00,2.45,0.00,0.000,6,0.000,0.051,2511,1975,3432
$GC,4023,-0.86,-146.6,427.9,-9.8,191,4027,0.00,2.55,0.00,0.000,4,0.000,0.063,2511,3405,3432
$GC,4056,-0.91,-146.6,431.3,-9.9,192,4062,0.00,2.55,0.00,0.000,6,0.000,0.054,2511,1973,3431
$GC,4372,-0.91,-146.6,463.6,-10.1,208,4376,0.00,2.45,0.00,0.000,4,0.000,0.065,2511,596,3431
$GC,4411,-0.91,-146.6,467.6,-9.7,210,4416,0.00,2.42,0.00,0.000,6,0.000,0.051,2511,1972,3431
$GC,4739,-0.91,-146.6,495.9,-8.1,226,4743,0.00,2.55,0.00,0.000,4,0.000,0.063,2511,3403,3432
$GC,4840,-0.96,-146.6,504.1,-8.3,230,4846,0.00,2.53,0.00,0.000,6,0.000,0.054,2512,1983,3432
$GC,5157,-1.01,-146.6,525.7,-6.8,246,5162,0.15,2.47,0.00,0.000,4,0.052,0.065,2468,596,3431
$GC,5230,-0.92,-146.6,532.0,-9.1,249,5235,0.15,2.40,0.00,0.000,6,0.091,0.051,2498,1962,3431
$STATE,5502,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5502,begin apogee
$GC,5509,-0.33,0.0,555.3,9.2,262,5633,0.60,0.00,120.22,1.178,6,0.075,0.000,2628,2250,2832
$STATE,5633,end apogee,CONTROL_FINISHED_OK
$STATE,5634,begin climb
$GC,5637,1.22,146.6,559.7,0.0,268,5765,1.52,2.67,118.90,1.148,4,0.061,0.071,2965,3650,2234
$GC,5821,1.17,146.6,549.8,8.5,276,5828,0.00,2.58,0.00,0.000,6,0.000,0.059,2964,2242,2233
$GC,6137,1.17,146.6,523.2,8.4,292,6142,0.00,2.53,0.00,0.000,4,0.000,0.068,2965,846,2232
$GC,6245,1.18,184.1,514.9,6.6,297,6282,0.00,2.47,31.25,1.111,6,0.000,0.057,2965,2220,2081
$GC,6594,1.28,244.2,494.9,5.8,313,6649,0.00,2.70,49.45,1.131,4,0.000,0.072,2964,3653,1836
$GC,6667,1.34,248.0,489.6,7.9,316,6679,0.12,2.62,4.85,0.795,6,0.057,0.061,2999,2230,1821
$GC,6988,1.34,248.0,458.9,10.1,332,6992,0.00,2.53,0.00,0.000,4,0.000,0.070,2999,841,1821
$GC,7010,1.29,248.0,456.3,11.5,333,7014,0.00,2.53,0.00,0.000,6,0.000,0.055,2999,2234,1821
$GC,7331,1.29,248.0,422.9,10.9,349,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2234,1821
$GC,7640,1.29,248.0,390.9,10.2,364,7644,0.00,2.55,0.00,0.000,4,0.000,0.065,2999,836,1820
$GC,7684,1.29,248.0,386.0,11.0,366,7688,0.00,2.50,0.00,0.000,6,0.000,0.052,2999,2228,1820
$GC,8005,1.29,248.0,352.8,10.1,382,8009,0.00,2.58,0.00,0.000,4,0.000,0.064,2999,3658,1820
$GC,8026,1.29,248.0,350.4,11.2,383,8030,0.00,2.58,0.00,0.000,6,0.000,0.053,2999,2222,1820
$GC,8347,1.29,248.0,317.1,10.6,399,8351,0.00,2.47,0.00,0.000,4,0.000,0.064,2999,843,1820
$GC,8391,1.29,248.0,312.0,11.9,401,8395,0.00,2.47,0.00,0.000,6,0.000,0.051,2999,2229,1820
$GC,8712,1.29,248.0,281.0,9.4,417,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2229,1820
$GC,9021,1.29,248.0,251.0,9.9,432,9025,0.00,2.53,0.00,0.000,4,0.000,0.064,2999,842,1821
$GC,9048,1.29,248.0,248.1,10.7,433,9053,0.00,2.45,0.00,0.000,6,0.000,0.051,2999,2215,1821
$GC,9364,1.29,248.0,216.4,10.2,448,9365,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2215,1821
$GC,9673,1.29,248.0,183.2,11.0,463,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2215,1821
$GC,9982,1.29,248.0,149.9,11.2,478,9987,0.00,2.50,0.00,0.000,4,0.000,0.064,2999,838,1821
$GC,10004,1.29,248.0,147.0,12.1,479,10009,0.00,2.45,0.00,0.000,6,0.000,0.051,2999,2213,1821
$GC,10326,1.29,248.0,112.9,10.1,495,10330,0.00,2.50,0.00,0.000,4,0.000,0.063,3000,839,1822
$GC,10344,1.29,248.0,111.1,9.4,496,10348,0.00,2.42,0.00,0.000,6,0.000,0.051,2999,2204,1822
$GC,10676,1.29,248.0,85.2,9.2,512,10681,0.00,2.58,0.00,0.000,4,0.000,0.061,2999,3652,1822
$GC,10694,1.29,248.0,83.8,8.1,513,10699,0.00,2.60,0.00,0.000,6,0.000,0.051,2999,2187,1822
$GC,11022,1.29,248.0,47.1,10.4,529,11026,0.00,2.42,0.00,0.000,4,0.000,0.064,2999,835,1822
$GC,11045,1.29,248.0,44.4,11.3,530,11049,0.00,2.40,0.00,0.000,6,0.000,0.049,2999,2187,1822
$GC,11368,1.29,248.0,8.6,10.6,546,11369,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2189,1822
$STATE,11425,end climb,SURFACE_DEPTH_REACHED
$STATE,11425,begin surface coast
$FINISH,0.8,1.027277
$STATE,11447,end surface coast,CONTROL_FINISHED_OK
$STATE,11447,begin surface
$SM_CCo,11470,1.35,0.127,0,0,1812,250.21
$SM_GC,2.23,0.00,0.00,1.35,0.000,0.000,0.127,425,1975,1812,-10.47,-0.71,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1786
$TCM_TEMP,17.40
$XPDR_PINGS,399
$ALTIM_TOP_PING,19.3,999.0
$ALTIM_BOTTOM_PING,551.4,13.2
$24V_AH,23.9,19.036
$10V_AH,10.1,8.510
$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,24.325,116.525,324.675,1.350,0.000,37.761,27.240,127.301,104.750,0.000,0.000,18.576,1045.731,8636.855,428.099,1255.060,421.253,33.364,1089.326,0.000,1219.958,0.000,34.145,0.000
$DEVICE_MAMPS,131.924,75.933,1178.112,126.555,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.855,370.047,378.130,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28523,550
$CAP_FILE_SIZE,92566,0
$CFSIZE,254472192,246620160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
$GPS,241108,050208,6110.241,-202.715,36,1.0,36,-5.5