version: 66.04
glider: 5
mission: 5
dive: 259
start: 12 31 108 5 20 4
data:
$ID,5
$MISSION,5
$DIVE,259
$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,550
$T_MISSION,580
$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,2
$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,-92360.523
$T_RSLEEP,27
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,21
$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
$GPS1,051507,6052.753,-539.848,37,0.9,37,-7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-66.3
$GPS2,051945,6052.722,-539.989,11,1.4,11,-7.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCS_SE
$TGT_LATLONG,6010.000,-425.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.132,-0.177
$KALMAN_X,220775.9,-921.1,-1644.0,-80717.6,25183.1
$KALMAN_Y,135954.9,-405.3,-1430.2,-453990.2,21805.5
$MHEAD_RNG_PITCHd_Wd,146.1,105040,-11.0,-6.000
$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,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-81.65,0.000,2,0.000,0.000,421,1970,3361
$GC,102,-0.97,-146.6,4.7,-5.5,4,125,10.73,2.65,-1.60,0.000,4,0.138,0.073,2480,3412,3432
$GC,299,-0.78,-146.6,35.0,-10.8,12,306,0.22,2.53,0.00,0.000,6,0.087,0.050,2527,1998,3432
$GC,616,-0.69,-146.6,62.0,-8.2,28,620,0.10,2.53,0.00,0.000,4,0.096,0.065,2549,593,3432
$GC,665,-0.69,-146.6,66.2,-8.0,30,670,0.00,2.50,0.00,0.000,6,0.000,0.052,2549,1998,3432
$GC,982,-0.69,-146.6,88.8,-7.1,45,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1999,3432
$GC,1291,-0.69,-146.6,111.1,-7.8,60,1295,0.00,2.58,0.00,0.000,4,0.000,0.067,2549,591,3432
$GC,1331,-0.69,-146.6,114.4,-8.5,62,1335,0.00,2.47,0.00,0.000,6,0.000,0.053,2548,1981,3432
$GC,1666,-0.69,-146.6,139.5,-7.9,78,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1982,3432
$GC,1972,-0.69,-146.6,163.5,-7.5,93,1977,0.00,2.55,0.00,0.000,4,0.000,0.064,2548,3404,3433
$GC,2006,-0.69,-146.6,166.3,-8.1,94,2012,0.00,2.53,0.00,0.000,6,0.000,0.051,2549,1990,3432
$GC,2322,-0.69,-146.6,190.0,-7.4,110,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1989,3432
$GC,2631,-0.69,-146.6,211.5,-6.8,125,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1989,3432
$GC,2940,-0.69,-146.6,231.6,-6.5,140,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1990,3432
$GC,3250,-0.69,-146.6,251.1,-6.4,155,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1989,3433
$GC,3558,-0.69,-146.6,271.8,-7.0,170,3562,0.00,2.53,0.00,0.000,4,0.000,0.070,2548,589,3432
$GC,3599,-0.69,-146.6,274.5,-7.0,171,3606,0.00,2.50,0.00,0.000,6,0.000,0.054,2549,1996,3433
$GC,3914,-0.69,-146.6,293.9,-6.2,187,3918,0.00,2.55,0.00,0.000,4,0.000,0.066,2548,3412,3432
$GC,3948,-0.69,-146.6,296.1,-6.2,188,3952,0.00,2.55,0.00,0.000,6,0.000,0.054,2549,1990,3432
$GC,4263,-0.69,-146.6,316.9,-7.5,203,4268,0.00,2.60,0.00,0.000,4,0.000,0.065,2548,3412,3432
$GC,4291,-0.69,-146.6,318.9,-7.5,204,4296,0.00,2.55,0.00,0.000,6,0.000,0.054,2549,1987,3432
$GC,4607,-0.69,-146.6,343.6,-7.7,219,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1987,3432
$GC,4916,-0.69,-146.6,364.5,-6.9,234,4921,0.00,2.60,0.00,0.000,4,0.000,0.067,2548,3405,3432
$GC,4979,-0.69,-146.6,368.6,-6.2,237,4984,0.00,2.53,0.00,0.000,6,0.000,0.055,2549,1996,3432
$GC,5307,-0.65,-146.6,388.8,-6.6,253,5311,0.00,2.55,0.00,0.000,4,0.000,0.074,2548,590,3432
$GC,5369,-0.65,-146.6,393.1,-6.5,256,5373,0.00,2.53,0.00,0.000,6,0.000,0.056,2548,2007,3432
$STATE,5569,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5569,begin apogee
$GC,5577,-0.33,0.0,403.9,6.2,266,5705,0.38,0.00,125.40,1.097,6,0.075,0.000,2628,2202,2832
$STATE,5706,end apogee,CONTROL_FINISHED_OK
$STATE,5706,begin climb
$GC,5709,0.97,146.6,408.7,0.0,272,5841,1.30,2.67,124.07,1.063,4,0.066,0.072,2910,3599,2233
$GC,5891,0.97,146.6,397.9,10.3,280,5898,0.00,2.55,0.00,0.000,6,0.000,0.058,2910,2202,2233
$GC,6208,0.92,146.6,376.6,7.8,296,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2192,2233
$GC,6517,0.92,146.6,356.5,7.5,311,6521,0.00,2.60,0.00,0.000,4,0.000,0.069,2910,3601,2233
$GC,6612,0.92,146.6,350.2,6.3,315,6616,0.00,2.58,0.00,0.000,6,0.000,0.059,2910,2183,2233
$GC,6927,0.92,146.6,329.6,6.8,330,6932,0.00,2.55,0.00,0.000,4,0.000,0.071,2910,787,2232
$GC,7001,0.92,146.6,323.9,8.3,333,7005,0.00,2.50,0.00,0.000,6,0.000,0.054,2910,2176,2232
$GC,7316,0.92,146.6,300.6,8.4,348,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2176,2232
$GC,7627,0.92,146.6,270.4,10.4,363,7631,0.00,2.55,0.00,0.000,4,0.000,0.068,2910,793,2232
$GC,7649,0.92,146.6,268.2,8.9,364,7653,0.00,2.47,0.00,0.000,6,0.000,0.057,2911,2166,2232
$GC,7976,1.00,198.0,247.9,4.6,380,8026,0.00,2.65,43.15,0.995,4,0.000,0.068,2910,793,2024
$GC,8062,1.10,258.8,244.3,4.3,384,8119,0.12,2.45,51.22,0.984,6,0.056,0.055,2948,2143,1777
$GC,8430,1.21,326.8,227.2,4.1,401,8493,0.00,2.60,57.40,0.970,4,0.000,0.071,2948,794,1500
$GC,8511,1.31,389.0,223.5,4.3,405,8569,0.15,2.47,51.67,0.946,6,0.052,0.056,2990,2149,1246
$GC,8879,1.25,389.0,196.9,7.7,422,8883,0.00,2.53,0.00,0.000,4,0.000,0.071,2990,793,1248
$GC,8919,1.21,389.0,193.4,9.0,424,8923,0.15,2.40,0.00,0.000,6,0.083,0.056,2960,2120,1247
$GC,9246,1.25,413.9,173.7,5.3,440,9275,0.00,2.58,22.23,0.910,4,0.000,0.071,2960,792,1143
$GC,9299,1.29,413.9,169.8,8.7,442,9303,0.00,2.38,0.00,0.000,6,0.000,0.054,2960,2101,1143
$GC,9615,1.35,413.9,147.3,8.0,457,9620,0.15,2.45,0.00,0.000,4,0.051,0.072,3002,787,1143
$GC,9660,1.28,413.9,142.0,12.6,459,9665,0.12,2.33,0.00,0.000,6,0.087,0.054,2976,2076,1143
$GC,9982,1.28,413.9,108.5,9.9,475,9986,0.00,2.78,0.00,0.000,4,0.000,0.065,2977,3613,1144
$GC,9999,1.28,413.9,106.6,9.8,476,10004,0.00,2.78,0.00,0.000,6,0.000,0.054,2977,2070,1144
$GC,10327,1.28,413.9,75.6,9.1,492,10331,0.00,2.33,0.00,0.000,4,0.000,0.070,2976,793,1144
$GC,10360,1.28,413.9,72.2,9.8,493,10366,0.00,2.30,0.00,0.000,6,0.000,0.053,2976,2076,1143
$GC,10677,1.28,413.9,38.3,10.4,509,10679,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2079,1144
$GC,10986,1.28,413.9,8.7,9.4,524,10990,0.00,2.40,0.00,0.000,4,0.000,0.071,2976,791,1144
$GC,11013,1.28,413.9,5.6,11.1,525,11017,0.00,2.28,0.00,0.000,6,0.000,0.053,2976,2060,1144
$STATE,11038,end climb,SURFACE_DEPTH_REACHED
$STATE,11038,begin surface coast
$FINISH,0.5,1.012542
$STATE,11080,end surface coast,CONTROL_FINISHED_OK
$STATE,11081,begin surface
$SM_CCo,11164,0.00,0.000,0,0,1143,414.31
$SM_GC,1.22,11.20,0.00,0.00,0.041,0.000,0.000,422,1970,1143,-10.40,-0.82,414.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1809
$TCM_TEMP,16.60
$XPDR_PINGS,343
$ALTIM_TOP_PING,18.5,17.6
$ALTIM_BOTTOM_PING,350.8,62.6
$24V_AH,23.9,45.231
$10V_AH,10.1,22.240
$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,24.625,106.425,475.150,0.000,0.000,37.759,31.325,104.889,88.750,0.000,0.000,11.367,992.052,8295.327,548.795,1217.176,394.178,0.000,1209.950,0.000,1191.111,0.000,21.524,0.000
$DEVICE_MAMPS,138.060,74.399,1096.810,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,386.949,353.884,398.734,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25447,528
$CAP_FILE_SIZE,86663,0
$CFSIZE,254472192,236519424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,0,0
$GPS,311208,082726,6051.278,-541.065,41,1.2,41,-7.2