version: 66.04
glider: 5
mission: 5
dive: 34
start: 11 11 108 6 8 0
data:
$ID,5
$MISSION,5
$DIVE,34
$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,-87856.391
$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,24
$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
$GPS1,055925,6240.102,-537.724,22,1.4,40,-7.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-61.7
$GPS2,060709,6240.089,-537.655,11,1.2,11,-7.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.199,0.172
$KALMAN_X,34930.1,1804.0,919.2,-15949.0,-20844.8
$KALMAN_Y,-29681.5,-975.2,576.5,-81393.4,-6601.0
$MHEAD_RNG_PITCHd_Wd,57.0,71171,-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,-61.20,0.000,2,0.000,0.000,421,1981,3000
$GC,82,-1.44,-146.6,3.0,-4.0,3,113,10.07,2.58,-13.05,0.000,4,0.135,0.074,2380,588,3431
$GC,299,-1.21,-146.6,42.3,-17.8,12,306,0.28,2.53,0.00,0.000,6,0.096,0.051,2434,1998,3431
$GC,617,-1.15,-146.6,85.4,-12.7,28,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1999,3431
$GC,925,-1.09,-146.6,125.7,-12.4,43,930,0.12,2.58,0.00,0.000,4,0.099,0.065,2459,595,3431
$GC,975,-1.09,-146.6,132.2,-12.0,45,980,0.00,2.50,0.00,0.000,6,0.000,0.052,2459,2000,3431
$GC,1291,-1.09,-146.6,165.1,-10.4,60,1295,0.00,2.58,0.00,0.000,4,0.000,0.065,2460,593,3431
$GC,1353,-1.09,-146.6,171.7,-10.1,63,1357,0.00,2.45,0.00,0.000,6,0.000,0.052,2459,1973,3431
$GC,1679,-1.09,-146.6,209.0,-12.4,79,1683,0.00,2.58,0.00,0.000,4,0.000,0.067,2460,3405,3431
$GC,1712,-1.09,-146.6,213.3,-12.5,80,1719,0.00,2.53,0.00,0.000,6,0.000,0.052,2459,1990,3431
$GC,2028,-1.09,-146.6,252.7,-12.6,96,2033,0.00,2.50,0.00,0.000,4,0.000,0.067,2460,596,3431
$GC,2063,-1.09,-146.6,257.4,-13.1,97,2069,0.00,2.50,0.00,0.000,6,0.000,0.052,2460,1994,3431
$GC,2379,-1.09,-146.6,294.2,-11.2,113,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1994,3431
$GC,2691,-1.09,-146.6,325.1,-9.3,128,2695,0.00,2.58,0.00,0.000,4,0.000,0.070,2459,589,3431
$GC,2718,-1.09,-146.6,328.1,-10.0,129,2722,0.00,2.47,0.00,0.000,6,0.000,0.054,2460,1984,3431
$GC,3033,-1.09,-146.6,362.1,-12.4,144,3038,0.00,2.58,0.00,0.000,4,0.000,0.072,2460,596,3431
$GC,3091,-1.14,-146.6,369.8,-13.3,146,3097,0.00,2.45,0.00,0.000,6,0.000,0.054,2460,1969,3431
$GC,3407,-1.14,-146.6,407.8,-12.0,162,3411,0.00,2.53,0.00,0.000,6,0.000,0.072,2459,596,3431
$STATE,3412,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3412,begin apogee
$GC,3422,-0.33,0.0,408.6,12.1,162,3543,0.73,0.00,117.60,1.081,6,0.084,0.000,2619,2259,2832
$STATE,3544,end apogee,CONTROL_FINISHED_OK
$STATE,3544,begin climb
$GC,3547,1.44,146.6,415.2,0.0,168,3672,1.80,2.62,116.35,1.053,4,0.064,0.071,3011,3654,2233
$GC,3768,1.41,153.0,400.9,9.7,178,3784,0.00,2.55,6.70,0.830,6,0.000,0.057,3011,2245,2208
$GC,4094,1.43,168.1,371.0,9.3,194,4113,0.00,0.00,13.70,0.950,6,0.000,0.000,3011,2240,2145
$GC,4423,1.50,211.5,342.6,8.0,210,4462,0.00,0.00,35.53,1.004,6,0.000,0.000,3011,2231,1968
$GC,4772,1.55,211.5,307.8,10.4,227,4774,0.12,0.00,0.00,0.000,6,0.061,0.000,3044,2231,1968
$GC,5081,1.55,211.5,272.0,11.5,242,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2231,1968
$GC,5390,1.55,211.5,238.0,10.7,257,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2231,1968
$GC,5700,1.55,211.5,202.2,11.8,272,5704,0.00,2.60,0.00,0.000,4,0.000,0.068,3044,3657,1968
$GC,5739,1.50,211.5,197.2,13.1,274,5744,0.00,2.47,0.00,0.000,6,0.000,0.053,3044,2262,1968
$GC,6066,1.50,211.5,155.6,13.5,290,6071,0.00,2.55,0.00,0.000,4,0.000,0.066,3045,846,1968
$GC,6117,1.45,211.5,148.6,13.6,292,6122,0.15,2.55,0.00,0.000,6,0.097,0.054,3017,2266,1968
$GC,6433,1.50,211.5,113.0,11.0,307,6435,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2266,1968
$GC,6743,1.62,257.5,81.6,7.9,322,6787,0.17,2.67,36.25,0.854,4,0.055,0.063,3064,847,1782
$GC,6834,1.56,257.5,71.8,12.5,326,6839,0.12,2.53,0.00,0.000,6,0.103,0.053,3041,2243,1782
$GC,7162,1.56,257.5,32.4,13.1,342,7167,0.00,2.58,0.00,0.000,4,0.000,0.067,3041,3662,1782
$GC,7186,1.56,257.5,29.1,13.2,343,7190,0.00,2.55,0.00,0.000,6,0.000,0.051,3041,2235,1781
$STATE,7401,end climb,SURFACE_DEPTH_REACHED
$STATE,7401,begin surface coast
$FINISH,0.5,1.027335
$STATE,7423,end surface coast,CONTROL_FINISHED_OK
$STATE,7423,begin surface
$SM_CCo,7506,0.00,0.000,0,0,1781,257.81
$SM_GC,1.50,11.43,0.00,0.00,0.041,0.000,0.000,423,1989,1781,-10.38,-0.34,257.81
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1781
$TCM_TEMP,17.30
$XPDR_PINGS,200
$ALTIM_TOP_PING,17.2,999.0
$ALTIM_BOTTOM_PING,351.9,66.3
$24V_AH,23.9,7.890
$10V_AH,10.1,3.516
$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,25.000,67.000,326.125,0.000,0.000,75.519,59.955,168.966,53.000,0.000,0.000,11.499,688.436,5600.728,409.854,821.768,458.849,33.332,858.693,0.000,806.721,0.000,21.547,0.000
$DEVICE_MAMPS,134.992,74.399,1081.470,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,261.884,237.909,281.612,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15964,355
$CAP_FILE_SIZE,62611,0
$CFSIZE,254472192,250601472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,111108,081425,6240.658,-533.147,43,1.5,43,-7.7