version: 66.04
glider: 5
mission: 5
dive: 19
start: 11 9 108 22 32 56
data:
$ID,5
$MISSION,5
$DIVE,19
$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,330
$T_MISSION,360
$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,-87597.352
$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,26
$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
$GPS1,222627,6252.671,-605.964,39,3.1,58,-8.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-57.5
$GPS2,223203,6252.647,-605.910,15,1.3,15,-8.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.060,-0.257
$KALMAN_X,38371.3,498.7,384.6,-40746.1,1428.4
$KALMAN_Y,-27130.3,325.8,182.8,-61588.3,-2600.7
$MHEAD_RNG_PITCHd_Wd,201.2,23436,-18.1,-10.000
$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,13,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,99,0.00,0.00,-81.05,0.000,2,0.000,0.000,424,1964,3428
$GC,102,-1.44,-146.6,5.2,-5.9,4,117,10.20,2.50,0.00,0.000,4,0.141,0.064,2377,597,3430
$GC,213,-1.24,-146.6,32.8,-16.9,8,219,0.28,2.55,0.00,0.000,6,0.097,0.058,2429,2004,3431
$GC,537,-1.18,-146.6,78.3,-14.5,24,541,0.00,2.62,0.00,0.000,4,0.000,0.070,2430,596,3431
$GC,587,-1.12,-146.6,86.2,-15.5,26,592,0.12,2.53,0.00,0.000,6,0.106,0.056,2453,1994,3431
$GC,903,-1.12,-146.6,128.5,-12.9,41,908,0.00,2.60,0.00,0.000,4,0.000,0.071,2453,591,3431
$GC,943,-1.12,-146.6,134.1,-14.0,43,948,0.00,2.53,0.00,0.000,6,0.000,0.056,2453,1991,3431
$GC,1271,-1.12,-146.6,175.7,-12.2,59,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1991,3432
$GC,1580,-1.12,-146.6,212.2,-11.6,74,1584,0.00,2.58,0.00,0.000,4,0.000,0.072,2453,598,3432
$GC,1612,-1.12,-146.6,216.3,-12.3,75,1619,0.00,2.50,0.00,0.000,6,0.000,0.057,2453,1987,3432
$GC,1929,-1.12,-146.6,252.1,-11.3,91,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1987,3433
$GC,2238,-1.12,-146.6,288.4,-12.1,106,2242,0.00,2.58,0.00,0.000,4,0.000,0.072,2454,592,3432
$GC,2287,-1.12,-146.6,295.0,-13.3,108,2292,0.00,2.50,0.00,0.000,6,0.000,0.057,2453,1979,3432
$GC,2603,-1.12,-146.6,331.8,-11.0,123,2607,0.00,2.62,0.00,0.000,4,0.000,0.073,2453,3415,3433
$GC,2681,-1.18,-146.6,340.7,-10.8,126,2687,0.00,2.60,0.00,0.000,6,0.000,0.057,2453,1977,3433
$GC,2997,-1.18,-146.6,374.5,-10.2,142,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1976,3433
$GC,3306,-1.18,-146.6,406.5,-10.0,157,3310,0.00,2.67,0.00,0.000,4,0.000,0.074,2453,3412,3433
$GC,3327,-1.18,-146.6,408.8,-10.4,158,3332,0.00,2.60,0.00,0.000,6,0.000,0.059,2453,1979,3433
$GC,3648,-1.18,-146.6,441.4,-10.2,174,3653,0.00,2.67,0.00,0.000,4,0.000,0.076,2453,3408,3433
$GC,3715,-1.24,-146.6,448.6,-10.4,177,3720,0.12,2.55,0.00,0.000,6,0.064,0.061,2422,2009,3433
$GC,4036,-1.24,-146.6,487.9,-12.6,193,4041,0.00,2.60,0.00,0.000,4,0.000,0.078,2422,596,3433
$GC,4184,-1.20,-146.6,507.0,-13.4,199,4190,0.00,2.53,0.00,0.000,6,0.000,0.064,2422,1979,3433
$GC,4500,-1.20,-146.6,547.4,-12.6,215,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1979,3433
$GC,4809,-1.20,-146.6,585.5,-12.2,230,4814,0.00,2.62,0.00,0.000,4,0.000,0.086,2422,596,3432
$GC,4872,-1.20,-146.6,593.5,-13.6,233,4876,0.00,2.53,0.00,0.000,6,0.000,0.071,2422,1961,3432
$STATE,5010,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5010,begin apogee
$GC,5017,-0.33,0.0,610.7,12.3,240,5141,0.98,0.00,121.03,1.333,6,0.094,0.000,2624,2249,2832
$STATE,5142,end apogee,CONTROL_FINISHED_OK
$STATE,5142,begin climb
$GC,5145,1.44,146.6,613.5,0.0,246,5275,1.80,2.78,119.57,1.296,4,0.067,0.084,3011,847,2234
$GC,5311,1.39,161.9,604.8,9.3,254,5331,0.00,2.67,14.05,1.168,6,0.000,0.074,3011,2247,2171
$GC,5655,1.42,180.2,572.7,9.2,271,5678,0.00,2.80,16.15,1.202,4,0.000,0.087,3011,849,2097
$GC,5696,1.42,180.2,568.4,10.9,273,5701,0.00,2.67,0.00,0.000,6,0.000,0.076,3011,2247,2097
$GC,6023,1.42,180.2,535.9,10.1,289,6028,0.00,2.70,0.00,0.000,4,0.000,0.087,3011,848,2096
$GC,6056,1.42,180.2,532.3,10.8,290,6063,0.00,2.65,0.00,0.000,6,0.000,0.077,3011,2242,2095
$GC,6373,1.43,188.5,500.9,9.6,306,6382,0.00,0.00,8.15,1.122,6,0.000,0.000,3011,2242,2063
$GC,6682,1.44,194.4,471.2,9.7,321,6695,0.00,2.78,6.45,1.058,4,0.000,0.086,3011,846,2038
$GC,6763,1.44,194.4,462.4,10.5,324,6770,0.00,2.65,0.00,0.000,6,0.000,0.075,3011,2242,2038
$GC,7079,1.44,194.4,430.3,10.2,340,7083,0.00,2.72,0.00,0.000,4,0.000,0.094,3011,3663,2036
$GC,7145,1.44,194.4,423.3,10.2,343,7150,0.00,2.62,0.00,0.000,6,0.000,0.071,3011,2258,2036
$GC,7466,1.45,201.9,391.5,9.7,359,7480,0.00,2.75,7.12,1.071,4,0.000,0.082,3012,842,2009
$GC,7527,1.45,201.9,384.9,11.0,361,7533,0.00,2.65,0.00,0.000,6,0.000,0.071,3011,2251,2009
$GC,7842,1.45,201.9,352.3,10.2,377,7846,0.00,2.65,0.00,0.000,4,0.000,0.087,3011,3657,2009
$GC,7869,1.45,201.9,349.2,11.4,378,7874,0.00,2.60,0.00,0.000,6,0.000,0.066,3011,2249,2009
$GC,8185,1.48,219.6,320.2,9.2,393,8204,0.00,0.00,15.82,1.118,6,0.000,0.000,3011,2249,1936
$GC,8515,1.53,223.2,287.8,9.8,409,8525,0.00,2.70,4.60,0.828,4,0.000,0.077,3011,3664,1923
$GC,8555,1.53,223.2,283.6,10.6,411,8559,0.00,2.60,0.00,0.000,6,0.000,0.059,3011,2243,1922
$GC,8881,1.57,223.2,249.7,10.4,427,8886,0.15,2.58,0.00,0.000,4,0.061,0.070,3048,838,1922
$GC,8911,1.52,223.2,246.3,13.5,428,8915,0.00,2.58,0.00,0.000,6,0.000,0.058,3048,2249,1923
$GC,9227,1.46,223.2,206.8,12.4,443,9229,0.17,0.00,0.00,0.000,6,0.099,0.000,3017,2249,1923
$GC,9536,1.51,223.2,175.3,10.0,458,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2250,1924
$GC,9846,1.54,242.0,145.3,9.1,473,9865,0.00,0.00,17.08,0.946,6,0.000,0.000,3017,2250,1845
$GC,10176,1.59,242.0,110.6,10.8,489,10178,0.15,0.00,0.00,0.000,6,0.058,0.000,3054,2249,1845
$GC,10484,1.59,242.0,70.1,13.0,504,10485,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2250,1846
$GC,10793,1.54,242.0,28.9,13.3,519,10798,0.00,2.58,0.00,0.000,4,0.000,0.072,3054,3658,1846
$GC,10834,1.48,242.0,23.5,12.9,521,10839,0.17,2.55,0.00,0.000,6,0.103,0.054,3021,2233,1846
$STATE,10994,end climb,SURFACE_DEPTH_REACHED
$STATE,10994,begin surface coast
$FINISH,1.2,1.027346
$STATE,11018,end surface coast,CONTROL_FINISHED_OK
$STATE,11019,begin surface
$SM_CCo,11041,4.43,0.641,0,0,1811,250.21
$SM_GC,1.97,0.00,0.00,4.43,0.000,0.000,0.641,421,1974,1811,-10.48,-0.74,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1779
$TCM_TEMP,16.70
$XPDR_PINGS,309
$ALTIM_TOP_PING,18.8,19.0
$ALTIM_BOTTOM_PING,552.5,65.8
$24V_AH,23.7,6.250
$10V_AH,10.0,2.912
$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,25.575,105.675,330.025,4.425,0.000,37.761,32.860,151.549,82.250,0.000,0.000,15.413,1012.166,8312.157,470.646,1161.579,431.052,33.387,1074.898,0.000,1134.182,0.000,34.240,0.000
$DEVICE_MAMPS,141.128,94.341,1333.046,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,393.384,356.534,333.811,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28559,530
$CAP_FILE_SIZE,88669,0
$CFSIZE,254472192,251068416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,0,0
$GPS,101108,013808,6250.005,-604.790,26,1.2,26,-8.1