version: 66.04
glider: 5
mission: 5
dive: 38
start: 11 11 108 16 6 13
data:
$ID,5
$MISSION,5
$DIVE,38
$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,-88002.398
$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,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
$GPS1,160025,6239.578,-519.837,38,1.5,38,-7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-61.4
$GPS2,160523,6239.529,-519.778,15,2.1,34,-7.6
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.241,0.107
$KALMAN_X,38487.1,1627.5,475.8,-4202.3,-8882.6
$KALMAN_Y,-37816.0,1507.8,1011.6,-77236.7,-13762.9
$MHEAD_RNG_PITCHd_Wd,73.6,56586,-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,-146.6,0.0,0.0,0,97,0.00,0.00,-77.53,0.000,6,0.000,0.000,424,1961,3429
$GC,101,-1.44,-146.6,6.3,-7.2,4,116,10.05,2.53,0.00,0.000,4,0.137,0.064,2376,586,3431
$GC,320,-1.21,-146.6,59.7,-18.8,13,325,0.30,2.53,0.00,0.000,6,0.094,0.052,2434,2007,3432
$GC,648,-1.16,-146.6,105.2,-13.3,29,652,0.00,2.58,0.00,0.000,4,0.000,0.066,2434,597,3432
$GC,743,-1.11,-146.6,118.2,-13.9,33,748,0.12,2.47,0.00,0.000,6,0.100,0.053,2459,1984,3432
$GC,1058,-1.11,-146.6,158.0,-12.8,48,1063,0.00,2.55,0.00,0.000,4,0.000,0.068,2459,594,3432
$GC,1086,-1.11,-146.6,161.9,-13.3,49,1090,0.00,2.47,0.00,0.000,6,0.000,0.054,2459,1978,3432
$GC,1404,-1.11,-146.6,200.6,-11.9,64,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1979,3432
$GC,1711,-1.11,-146.6,235.8,-11.4,79,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1980,3432
$GC,2020,-1.11,-146.6,272.0,-11.8,94,2025,0.00,2.55,0.00,0.000,4,0.000,0.069,2459,589,3432
$GC,2093,-1.11,-146.6,281.1,-12.5,97,2097,0.00,2.45,0.00,0.000,6,0.000,0.054,2460,1962,3433
$GC,2409,-1.11,-146.6,317.0,-11.2,112,2413,0.00,2.50,0.00,0.000,4,0.000,0.071,2459,597,3433
$GC,2436,-1.11,-146.6,320.2,-11.9,113,2440,0.00,2.42,0.00,0.000,6,0.000,0.054,2460,1953,3433
$GC,2752,-1.15,-146.6,356.6,-12.2,128,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1954,3433
$GC,3061,-1.19,-146.6,391.8,-11.6,143,3065,0.00,2.65,0.00,0.000,4,0.000,0.071,2460,3412,3433
$GC,3082,-1.19,-146.6,394.5,-11.2,144,3087,0.00,2.60,0.00,0.000,6,0.000,0.058,2459,1966,3433
$GC,3404,-1.24,-146.6,430.4,-10.9,160,3409,0.15,2.50,0.00,0.000,4,0.058,0.072,2422,589,3433
$GC,3444,-1.15,-146.6,435.3,-12.8,162,3448,0.12,2.40,0.00,0.000,6,0.103,0.058,2446,1926,3433
$GC,3770,-1.15,-146.6,471.1,-10.9,178,3775,0.00,2.72,0.00,0.000,4,0.000,0.076,2446,3410,3433
$GC,3855,-1.15,-146.6,480.8,-11.1,182,3860,0.00,2.70,0.00,0.000,6,0.000,0.064,2446,1929,3433
$GC,4182,-1.15,-146.6,517.3,-11.0,198,4187,0.00,2.78,0.00,0.000,4,0.000,0.081,2446,3408,3432
$GC,4278,-1.15,-146.6,528.2,-10.2,202,4282,0.00,2.65,0.00,0.000,6,0.000,0.067,2446,1968,3432
$STATE,4529,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4529,begin apogee
$GC,4536,-0.33,0.0,556.1,11.2,214,4660,0.85,0.00,120.43,1.257,6,0.092,0.000,2623,2250,2832
$STATE,4660,end apogee,CONTROL_FINISHED_OK
$STATE,4661,begin climb
$GC,4664,1.44,146.6,561.6,0.0,220,4791,1.80,2.72,119.25,1.219,4,0.074,0.088,3008,3652,2234
$GC,4803,1.46,190.2,555.8,8.0,226,4845,0.00,2.67,36.78,1.172,6,0.000,0.072,3008,2240,2055
$GC,5155,1.46,190.2,520.2,10.1,243,5159,0.00,2.65,0.00,0.000,4,0.000,0.087,3008,841,2054
$GC,5176,1.46,190.2,517.9,10.3,244,5180,0.00,2.65,0.00,0.000,6,0.000,0.071,3008,2252,2054
$GC,5497,1.46,192.9,486.3,9.9,260,5501,0.00,2.70,0.00,0.000,4,0.000,0.094,3008,3660,2053
$GC,5541,1.46,192.9,481.7,10.9,262,5545,0.00,2.65,0.00,0.000,6,0.000,0.075,3009,2254,2052
$GC,5862,1.46,192.9,448.7,10.3,278,5866,0.00,2.67,0.00,0.000,4,0.000,0.087,3008,840,2051
$GC,5890,1.46,192.9,445.6,11.0,279,5894,0.00,2.65,0.00,0.000,6,0.000,0.072,3008,2250,2051
$GC,6206,1.48,203.3,415.0,9.5,294,6227,0.00,2.72,11.12,1.111,4,0.000,0.081,3008,837,2002
$GC,6279,1.48,203.3,407.7,10.1,297,6283,0.00,2.62,0.00,0.000,6,0.000,0.070,3008,2236,2002
$GC,6600,1.48,208.2,376.9,9.8,313,6610,0.00,2.70,5.75,0.956,4,0.000,0.085,3008,3656,1982
$GC,6689,1.48,208.2,367.5,10.2,317,6693,0.00,2.65,0.00,0.000,6,0.000,0.067,3008,2228,1982
$GC,7010,1.53,211.9,336.5,9.8,333,7021,0.12,2.60,4.60,0.848,4,0.067,0.076,3038,835,1967
$GC,7077,1.47,211.9,328.7,12.0,336,7082,0.00,2.60,0.00,0.000,6,0.000,0.063,3039,2245,1967
$GC,7399,1.47,211.9,291.2,11.8,352,7400,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2245,1967
$GC,7708,1.47,211.9,253.7,12.3,367,7712,0.00,2.60,0.00,0.000,4,0.000,0.069,3039,834,1967
$GC,7747,1.42,211.9,248.8,13.3,369,7753,0.15,2.55,0.00,0.000,6,0.104,0.059,3012,2236,1967
$GC,8075,1.48,216.6,215.6,9.8,385,8082,0.00,0.00,5.57,0.819,6,0.000,0.000,3012,2236,1949
$GC,8384,1.57,232.3,186.0,9.3,400,8407,0.15,2.65,13.88,0.933,4,0.058,0.067,3048,844,1885
$GC,8431,1.52,232.3,180.7,12.7,402,8435,0.00,2.53,0.00,0.000,6,0.000,0.057,3049,2228,1885
$GC,8758,1.52,232.3,140.0,13.0,418,8759,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2228,1885
$GC,9067,1.52,232.3,97.8,13.1,433,9068,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2228,1885
$GC,9376,1.52,232.3,59.1,12.3,448,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2228,1887
$GC,9686,1.48,232.3,20.3,12.6,463,9688,0.15,0.00,0.00,0.000,6,0.099,0.000,3021,2228,1887
$STATE,9827,end climb,SURFACE_DEPTH_REACHED
$STATE,9827,begin surface coast
$FINISH,0.3,1.027338
$STATE,9849,end surface coast,CONTROL_FINISHED_OK
$STATE,9849,begin surface
$SM_CCo,9872,10.00,0.773,0,0,1812,250.21
$SM_GC,2.33,0.00,0.00,10.00,0.000,0.000,0.773,420,1948,1812,-10.49,-1.47,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1803
$TCM_TEMP,16.90
$XPDR_PINGS,287
$ALTIM_TOP_PING,17.8,18.0
$ALTIM_BOTTOM_PING,501.3,63.5
$24V_AH,23.8,8.375
$10V_AH,10.0,3.707
$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,25.325,94.650,317.375,10.000,0.000,37.752,26.977,110.248,76.250,0.000,0.000,35.381,911.261,7390.990,436.570,1094.130,357.299,33.339,999.113,0.000,1049.072,0.000,31.052,0.000
$DEVICE_MAMPS,136.526,93.574,1257.113,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,348.516,317.366,300.684,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25425,471
$CAP_FILE_SIZE,80108,0
$CFSIZE,254472192,250425344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,111108,185208,6240.101,-514.938,32,1.1,32,-7.6