version: 66.04
glider: 5
mission: 5
dive: 35
start: 11 11 108 8 20 4
data:
$ID,5
$MISSION,5
$DIVE,35
$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,-87892.328
$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,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
$GPS1,081425,6240.658,-533.147,43,1.5,43,-7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-63.7
$GPS2,081914,6240.644,-533.061,18,1.8,35,-7.7
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.255,0.067
$KALMAN_X,35992.7,2376.1,1531.5,-14437.8,-17570.1
$KALMAN_Y,-32577.9,628.9,-13.5,-78478.2,-9612.5
$MHEAD_RNG_PITCHd_Wd,83.0,67159,-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,15,-1.44,-146.6,0.0,0.0,0,98,0.00,0.00,-80.07,0.000,6,0.000,0.000,423,1974,3430
$GC,102,-1.44,-146.6,5.2,-5.9,4,117,10.05,2.50,0.00,0.000,4,0.137,0.061,2376,593,3432
$GC,314,-1.23,-146.6,53.1,-20.6,12,321,0.28,2.50,0.00,0.000,6,0.095,0.052,2429,2001,3432
$GC,632,-1.17,-146.6,100.2,-13.7,28,636,0.00,2.58,0.00,0.000,4,0.000,0.065,2430,587,3431
$GC,710,-1.12,-146.6,112.1,-14.1,31,717,0.12,2.53,0.00,0.000,6,0.100,0.052,2454,2007,3431
$GC,1027,-1.12,-146.6,152.1,-12.1,47,1031,0.00,2.58,0.00,0.000,4,0.000,0.066,2454,591,3432
$GC,1054,-1.12,-146.6,156.0,-13.1,48,1058,0.00,2.47,0.00,0.000,6,0.000,0.052,2454,1981,3432
$GC,1370,-1.12,-146.6,194.9,-12.6,63,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1983,3431
$GC,1679,-1.12,-146.6,232.6,-12.1,78,1683,0.00,2.55,0.00,0.000,4,0.000,0.067,2454,587,3431
$GC,1706,-1.12,-146.6,236.1,-12.2,79,1710,0.00,2.47,0.00,0.000,6,0.000,0.053,2454,1975,3431
$GC,2023,-1.12,-146.6,275.4,-12.6,94,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1976,3431
$GC,2331,-1.12,-146.6,313.6,-12.1,109,2335,0.00,2.60,0.00,0.000,4,0.000,0.068,2454,3412,3431
$GC,2358,-1.12,-146.6,317.0,-12.0,110,2363,0.00,2.60,0.00,0.000,6,0.000,0.054,2454,1959,3432
$GC,2680,-1.12,-146.6,353.7,-11.1,126,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1959,3431
$GC,2990,-1.12,-146.6,387.8,-10.8,141,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1959,3431
$GC,3299,-1.12,-146.6,422.3,-10.9,156,3303,0.00,2.45,0.00,0.000,4,0.000,0.070,2454,596,3431
$GC,3361,-1.12,-146.6,429.5,-11.5,159,3365,0.00,2.45,0.00,0.000,6,0.000,0.054,2454,1972,3432
$STATE,3602,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3602,begin apogee
$GC,3610,-0.33,0.0,456.0,10.4,171,3731,0.80,0.00,118.47,1.125,6,0.082,0.000,2626,2262,2832
$STATE,3732,end apogee,CONTROL_FINISHED_OK
$STATE,3732,begin climb
$GC,3735,1.44,146.6,461.0,0.0,177,3861,1.75,2.65,116.90,1.096,4,0.064,0.077,3009,3652,2234
$GC,3923,1.39,146.6,448.6,10.9,185,3930,0.00,2.58,0.00,0.000,6,0.000,0.063,3009,2252,2234
$GC,4240,1.44,179.4,419.8,8.5,201,4274,0.00,2.72,27.35,1.052,4,0.000,0.073,3009,838,2100
$GC,4321,1.44,179.4,411.8,10.1,204,4327,0.00,2.62,0.00,0.000,6,0.000,0.060,3008,2267,2100
$GC,4637,1.47,199.6,381.8,9.1,220,4659,0.00,2.75,17.30,1.025,4,0.000,0.070,3009,844,2018
$GC,4699,1.48,202.6,375.6,9.9,222,4709,0.00,2.62,4.57,0.749,6,0.000,0.061,3009,2268,2005
$GC,5037,1.52,202.6,342.2,10.0,239,5042,0.00,2.65,0.00,0.000,4,0.000,0.069,3009,839,2004
$GC,5059,1.52,202.6,339.8,10.5,240,5063,0.00,2.58,0.00,0.000,6,0.000,0.059,3009,2251,2003
$GC,5381,1.56,202.6,305.8,11.0,256,5383,0.15,0.00,0.00,0.000,6,0.058,0.000,3048,2251,2003
$GC,5690,1.49,202.6,265.5,13.4,271,5695,0.12,2.58,0.00,0.000,4,0.100,0.072,3026,3661,2002
$GC,5707,1.44,202.6,263.1,13.4,272,5712,0.00,2.55,0.00,0.000,6,0.000,0.056,3026,2244,2002
$GC,6034,1.44,202.6,225.0,11.1,288,6039,0.00,2.55,0.00,0.000,4,0.000,0.068,3026,838,2002
$GC,6068,1.44,202.6,221.0,11.4,289,6074,0.00,2.53,0.00,0.000,6,0.000,0.055,3025,2241,2002
$GC,6384,1.44,202.6,186.6,11.1,305,6388,0.00,2.58,0.00,0.000,4,0.000,0.071,3026,3653,2002
$GC,6416,1.44,202.6,182.6,12.2,306,6422,0.00,2.55,0.00,0.000,6,0.000,0.054,3026,2232,2002
$GC,6733,1.44,202.6,147.1,11.7,322,6737,0.00,2.50,0.00,0.000,4,0.000,0.066,3025,843,2003
$GC,6765,1.44,202.6,143.0,11.7,323,6772,0.00,2.50,0.00,0.000,6,0.000,0.054,3026,2234,2002
$GC,7082,1.44,205.8,108.6,9.9,339,7090,0.00,0.00,3.88,0.607,6,0.000,0.000,3026,2235,1993
$GC,7413,1.44,205.8,75.3,11.0,355,7417,0.00,2.55,0.00,0.000,4,0.000,0.064,3026,839,1993
$GC,7453,1.44,205.8,70.6,11.4,357,7457,0.00,2.53,0.00,0.000,6,0.000,0.054,3026,2246,1993
$GC,7780,1.44,205.8,32.9,10.3,373,7784,0.00,2.58,0.00,0.000,4,0.000,0.064,3026,838,1993
$GC,7812,1.44,205.8,28.9,12.0,374,7819,0.00,2.47,0.00,0.000,6,0.000,0.052,3026,2224,1994
$STATE,8084,end climb,SURFACE_DEPTH_REACHED
$STATE,8084,begin surface coast
$FINISH,0.4,1.002641
$STATE,8127,end surface coast,CONTROL_FINISHED_OK
$STATE,8127,begin surface
$SM_CCo,8150,23.48,0.804,0,0,1812,250.21
$SM_GC,0.94,0.00,0.00,23.48,0.000,0.000,0.804,421,1965,1812,-10.48,-0.99,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1812
$TCM_TEMP,16.30
$XPDR_PINGS,241
$ALTIM_TOP_PING,18.9,999.0
$ALTIM_BOTTOM_PING,376.6,88.2
$24V_AH,23.9,8.001
$10V_AH,10.1,3.560
$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,24.600,82.825,288.475,23.475,0.000,37.757,35.013,98.894,63.500,0.000,0.000,35.310,746.144,6055.216,413.371,925.787,333.743,33.336,900.925,0.000,882.235,0.000,23.198,0.000
$DEVICE_MAMPS,136.526,77.467,1125.189,803.816,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,285.652,261.667,293.680,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19123,390
$CAP_FILE_SIZE,66368,0
$CFSIZE,254472192,250556416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,111108,103738,6240.418,-528.023,40,1.3,40,-7.7