version: 66.04
glider: 5
mission: 5
dive: 31
start: 11 11 108 0 14 0
data:
$ID,5
$MISSION,5
$DIVE,31
$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,-87792.57
$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,23
$R_STBD_OVSHOOT,22
$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
$GPS1,000552,6240.088,-546.248,14,2.2,33,-7.9
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-61.1
$GPS2,001309,6240.015,-546.179,13,1.7,13,-7.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.253,0.074
$KALMAN_X,48479.9,-4003.8,90.3,-29824.7,2234.6
$KALMAN_Y,-28823.7,410.0,-67.2,-83110.6,-8255.2
$MHEAD_RNG_PITCHd_Wd,81.6,78307,-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,12,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,79,0.00,0.00,-61.17,0.000,2,0.000,0.000,424,1978,2992
$GC,82,-1.44,-146.6,3.1,-4.6,3,112,10.00,0.00,-13.75,0.000,6,0.132,0.000,2379,1972,3431
$GC,435,-1.22,-146.6,65.1,-18.7,20,440,0.22,2.50,0.00,0.000,4,0.095,0.066,2428,594,3431
$GC,536,-1.15,-146.6,83.1,-17.4,24,543,0.10,2.50,0.00,0.000,6,0.105,0.052,2447,2000,3431
$GC,852,-1.15,-146.6,129.0,-13.6,40,857,0.00,2.58,0.00,0.000,4,0.000,0.067,2447,593,3431
$GC,880,-1.15,-146.6,133.1,-13.6,41,884,0.00,2.50,0.00,0.000,6,0.000,0.053,2446,1999,3431
$GC,1197,-1.15,-146.6,175.5,-12.5,56,1201,0.00,2.58,0.00,0.000,4,0.000,0.065,2447,592,3431
$GC,1230,-1.15,-146.6,179.3,-11.0,57,1236,0.00,2.50,0.00,0.000,6,0.000,0.053,2447,1997,3431
$GC,1545,-1.15,-146.6,215.2,-11.3,73,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1997,3432
$GC,1855,-1.15,-146.6,251.3,-11.5,88,1860,0.00,2.58,0.00,0.000,4,0.000,0.067,2447,587,3431
$GC,1918,-1.15,-146.6,259.2,-11.8,91,1923,0.00,2.50,0.00,0.000,6,0.000,0.053,2447,1983,3431
$GC,2245,-1.15,-146.6,295.6,-10.9,107,2250,0.00,2.55,0.00,0.000,4,0.000,0.071,2447,596,3431
$GC,2375,-1.15,-146.6,311.4,-12.0,113,2380,0.00,2.40,0.00,0.000,6,0.000,0.054,2447,1943,3431
$GC,2703,-1.47,-146.6,341.7,-0.7,129,2708,0.30,2.50,0.00,0.000,4,0.049,0.071,2372,595,3431
$GC,2962,-1.74,-146.6,341.7,-0.1,140,2969,0.22,2.35,0.00,0.000,6,0.053,0.053,2314,1939,3431
$STATE,3006,end dive,NO_VERTICAL_VELOCITY
$STATE,3006,begin apogee
$GC,3014,-0.33,0.0,341.6,0.0,143,3135,1.45,0.00,117.25,1.032,6,0.067,0.000,2630,2262,2832
$STATE,3136,end apogee,CONTROL_FINISHED_OK
$STATE,3136,begin climb
$GC,3139,1.44,146.6,341.5,0.0,149,3264,1.73,2.62,115.32,1.001,4,0.059,0.072,3012,3657,2234
$GC,3288,1.46,195.4,335.9,7.8,156,3333,0.00,2.58,39.47,0.963,6,0.000,0.055,3012,2242,2035
$GC,3663,1.46,195.4,297.1,10.7,174,3667,0.00,2.55,0.00,0.000,4,0.000,0.067,3012,844,2034
$GC,3757,1.46,195.4,286.2,11.5,178,3762,0.00,2.50,0.00,0.000,6,0.000,0.054,3012,2225,2034
$GC,4074,1.51,195.4,252.9,11.0,193,4078,0.00,2.55,0.00,0.000,4,0.000,0.066,3011,843,2034
$GC,4095,1.51,195.4,250.3,11.5,194,4099,0.00,2.50,0.00,0.000,6,0.000,0.054,3012,2225,2034
$GC,4416,1.51,195.5,217.2,10.0,210,4420,0.00,2.55,0.00,0.000,4,0.000,0.065,3012,839,2034
$GC,4437,1.51,195.5,214.9,10.5,211,4442,0.00,2.47,0.00,0.000,6,0.000,0.054,3012,2213,2034
$GC,4759,1.54,217.0,184.5,9.0,227,4784,0.12,2.60,18.10,0.885,4,0.057,0.064,3046,845,1947
$GC,4796,1.49,217.0,180.3,12.7,228,4803,0.12,2.45,0.00,0.000,6,0.100,0.054,3024,2192,1947
$GC,5112,1.49,217.0,148.8,10.2,244,5116,0.00,2.67,0.00,0.000,4,0.000,0.069,3024,3661,1946
$GC,5212,1.49,217.0,137.6,10.9,248,5218,0.00,2.60,0.00,0.000,6,0.000,0.053,3024,2211,1946
$GC,5529,1.49,217.0,103.5,11.2,264,5533,0.00,2.47,0.00,0.000,4,0.000,0.065,3024,840,1946
$GC,5546,1.49,217.0,101.3,11.9,265,5551,0.00,2.47,0.00,0.000,6,0.000,0.053,3024,2221,1946
$GC,5879,1.49,217.0,62.8,11.4,281,5884,0.00,2.60,0.00,0.000,4,0.000,0.067,3024,3656,1946
$GC,5930,1.49,217.0,57.1,10.4,283,5934,0.00,2.60,0.00,0.000,6,0.000,0.053,3024,2203,1946
$GC,6246,1.51,234.8,25.4,9.2,298,6268,0.00,2.50,15.35,0.783,4,0.000,0.065,3024,841,1873
$GC,6303,1.57,269.4,20.0,8.4,300,6336,0.00,2.47,27.35,0.804,6,0.000,0.051,3024,2221,1733
$STATE,6458,end climb,SURFACE_DEPTH_REACHED
$STATE,6458,begin surface coast
$FINISH,0.4,1.027299
$STATE,6478,end surface coast,CONTROL_FINISHED_OK
$STATE,6479,begin surface
$SM_CCo,6562,0.00,0.000,0,0,1732,269.83
$SM_GC,1.48,11.40,0.00,0.00,0.040,0.000,0.000,420,1987,1732,-10.40,-0.37,269.83
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1792
$TCM_TEMP,17.20
$XPDR_PINGS,178
$ALTIM_TOP_PING,20.0,999.0
$24V_AH,24.0,7.552
$10V_AH,10.1,3.390
$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,25.675,76.825,332.850,0.000,0.000,75.521,57.638,143.880,47.000,0.000,0.000,13.249,627.638,4718.278,404.537,829.503,429.114,33.340,866.430,0.000,809.332,0.000,16.945,0.000
$DEVICE_MAMPS,131.924,72.098,1031.615,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,223.812,207.632,259.318,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16068,309
$CAP_FILE_SIZE,62342,0
$CFSIZE,254472192,250699776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,111108,020611,6239.656,-543.479,113,3.0,132,-7.8