version: 66.04
glider: 5
mission: 5
dive: 58
start: 11 15 108 4 46 6
data:
$ID,5
$MISSION,5
$DIVE,58
$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,-88360.82
$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,28
$R_STBD_OVSHOOT,20
$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
$GPS1,043707,6228.851,-357.522,56,1.3,56,-6.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-58.1
$GPS2,044515,6228.779,-357.397,16,1.8,16,-6.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.140,-0.223
$KALMAN_X,66400.5,-141.2,-352.2,38172.9,2866.5
$KALMAN_Y,-21992.1,-824.4,-982.7,-108571.5,5833.6
$MHEAD_RNG_PITCHd_Wd,154.8,34776,-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,15,begin dive
$GC,18,-1.44,-146.6,0.0,0.0,0,98,0.00,0.00,-78.57,0.000,6,0.000,0.000,423,1981,3431
$GC,102,-1.44,-146.6,6.0,-7.8,4,117,10.07,2.65,0.00,0.000,4,0.135,0.067,2376,3414,3432
$GC,256,-1.20,-146.6,40.9,-14.1,10,261,0.30,2.53,0.00,0.000,6,0.096,0.051,2433,2004,3432
$GC,584,-1.12,-146.6,85.2,-12.8,26,589,0.10,2.55,0.00,0.000,4,0.104,0.067,2453,592,3432
$GC,606,-1.07,-146.6,88.3,-13.3,27,610,0.00,2.53,0.00,0.000,6,0.000,0.052,2453,2004,3433
$GC,928,-1.07,-146.6,125.3,-11.6,43,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2004,3433
$GC,1236,-1.07,-146.6,162.4,-11.8,58,1241,0.00,2.60,0.00,0.000,4,0.000,0.067,2453,584,3433
$GC,1269,-1.07,-146.6,166.6,-13.1,59,1275,0.00,2.53,0.00,0.000,6,0.000,0.053,2453,2005,3434
$GC,1585,-1.07,-146.6,202.4,-11.1,75,1589,0.00,2.55,0.00,0.000,4,0.000,0.067,2453,3415,3434
$GC,1603,-1.07,-146.6,204.5,-11.2,76,1607,0.00,2.53,0.00,0.000,6,0.000,0.052,2453,1996,3434
$GC,1935,-1.07,-146.6,241.6,-11.3,92,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1996,3434
$GC,2247,-1.07,-146.6,276.4,-11.4,107,2251,0.00,2.53,0.00,0.000,4,0.000,0.069,2453,595,3434
$GC,2297,-1.07,-146.6,282.7,-11.8,109,2301,0.00,2.55,0.00,0.000,6,0.000,0.054,2453,2021,3434
$GC,2613,-1.07,-146.6,319.3,-11.3,124,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2021,3434
$GC,2922,-1.07,-146.6,357.9,-13.3,139,2926,0.00,2.62,0.00,0.000,4,0.000,0.070,2454,593,3434
$GC,3006,-1.07,-146.6,370.0,-15.1,143,3010,0.00,2.55,0.00,0.000,6,0.000,0.056,2454,2016,3434
$GC,3333,-1.07,-146.6,416.3,-13.9,159,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2017,3434
$GC,3642,-1.07,-146.6,457.0,-12.2,174,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2017,3434
$GC,3951,-1.07,-146.6,493.1,-11.3,189,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2017,3433
$GC,4263,-1.07,-146.6,526.0,-10.3,204,4267,0.00,2.67,0.00,0.000,4,0.000,0.084,2453,591,3433
$GC,4335,-1.07,-146.6,534.2,-10.8,207,4340,0.00,2.62,0.00,0.000,6,0.000,0.067,2454,2023,3433
$GC,4651,-1.07,-146.6,565.3,-9.8,222,4656,0.00,2.67,0.00,0.000,4,0.000,0.083,2453,598,3432
$GC,4691,-1.07,-146.6,569.8,-12.0,224,4696,0.00,2.60,0.00,0.000,6,0.000,0.069,2453,2021,3432
$STATE,4912,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4913,begin apogee
$GC,4920,-0.33,0.0,593.4,10.7,235,5044,0.82,0.00,120.72,1.312,6,0.092,0.000,2625,2255,2832
$STATE,5045,end apogee,CONTROL_FINISHED_OK
$STATE,5045,begin climb
$GC,5048,1.44,146.6,598.6,0.0,241,5176,1.80,2.75,118.90,1.276,4,0.074,0.087,3010,3644,2234
$GC,5210,1.38,157.5,590.3,9.5,248,5226,0.00,2.65,10.55,1.112,6,0.000,0.073,3010,2246,2190
$GC,5542,1.40,169.3,558.9,9.5,265,5558,0.00,2.70,10.98,1.131,4,0.000,0.084,3010,844,2141
$GC,5627,1.35,169.3,550.5,10.4,268,5632,0.00,2.62,0.00,0.000,6,0.000,0.071,3010,2240,2140
$GC,5954,1.36,170.6,517.9,9.9,284,5959,0.00,2.67,0.00,0.000,4,0.000,0.083,3010,838,2140
$GC,5975,1.36,170.6,515.6,10.3,285,5980,0.00,2.60,0.00,0.000,6,0.000,0.071,3010,2224,2140
$GC,6298,1.40,197.9,486.4,8.8,301,6327,0.00,2.70,24.33,1.228,4,0.000,0.083,3010,846,2025
$GC,6368,1.40,197.9,479.3,10.2,304,6372,0.00,2.60,0.00,0.000,6,0.000,0.071,3010,2223,2024
$GC,6689,1.40,197.9,447.2,10.3,320,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2223,2023
$GC,6998,1.40,197.9,413.8,11.0,335,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2223,2022
$GC,7307,1.42,213.0,382.5,9.3,350,7329,0.00,2.70,13.10,1.141,4,0.000,0.081,3010,847,1963
$GC,7380,1.42,213.0,375.3,10.3,353,7384,0.00,2.53,0.00,0.000,6,0.000,0.069,3009,2200,1963
$GC,7700,1.42,213.0,343.2,10.8,369,7705,0.00,2.55,0.00,0.000,4,0.000,0.077,3010,845,1962
$GC,7763,1.42,213.0,336.0,11.5,372,7767,0.00,2.45,0.00,0.000,6,0.000,0.067,3010,2171,1962
$GC,8090,1.45,227.1,303.1,9.4,388,8108,0.00,0.00,12.70,1.075,6,0.000,0.000,3010,2171,1906
$GC,8419,1.51,235.3,271.6,9.6,404,8433,0.00,2.83,8.32,0.983,4,0.000,0.074,3010,3657,1872
$GC,8451,1.56,235.3,268.1,10.4,405,8456,0.12,2.75,0.00,0.000,6,0.064,0.059,3040,2160,1872
$GC,8767,1.56,235.3,232.5,11.5,420,8772,0.00,2.80,0.00,0.000,4,0.000,0.072,3040,3661,1872
$GC,8800,1.56,235.3,228.4,11.5,421,8806,0.00,2.70,0.00,0.000,6,0.000,0.056,3040,2169,1872
$GC,9115,1.56,235.3,195.2,10.2,437,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2169,1872
$GC,9425,1.56,235.3,161.7,12.1,452,9429,0.00,2.75,0.00,0.000,4,0.000,0.068,3041,3664,1873
$GC,9446,1.56,235.3,158.8,13.5,453,9451,0.00,2.67,0.00,0.000,6,0.000,0.054,3041,2174,1873
$GC,9768,1.51,235.3,121.6,12.1,469,9773,0.00,2.40,0.00,0.000,4,0.000,0.067,3040,838,1874
$GC,9809,1.54,287.7,118.8,7.6,471,9857,0.00,2.42,42.30,0.944,6,0.000,0.054,3041,2196,1659
$GC,10181,1.54,287.7,71.6,11.8,489,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2197,1660
$GC,10488,1.54,287.7,24.5,18.3,504,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2198,1661
$STATE,10630,end climb,SURFACE_DEPTH_REACHED
$STATE,10630,begin surface coast
$FINISH,0.6,1.027339
$STATE,10652,end surface coast,CONTROL_FINISHED_OK
$STATE,10652,begin surface
$SM_CCo,10735,0.00,0.000,0,0,1660,287.25
$SM_GC,1.26,11.52,0.00,0.00,0.042,0.000,0.000,422,1969,1660,-10.39,-0.88,287.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1787
$TCM_TEMP,16.80
$XPDR_PINGS,253
$ALTIM_TOP_PING,18.1,999.0
$ALTIM_BOTTOM_PING,526.0,76.6
$24V_AH,23.8,11.562
$10V_AH,10.1,5.075
$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,24.750,94.900,361.900,0.000,0.000,75.517,58.727,181.390,68.000,0.000,0.000,15.995,961.152,8169.122,446.029,1131.926,518.618,33.355,1051.709,0.000,1104.523,0.000,32.700,0.000
$DEVICE_MAMPS,134.992,87.438,1311.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,378.155,344.692,324.773,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25428,512
$CAP_FILE_SIZE,85021,0
$CFSIZE,254472192,249298944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
$GPS,151108,074709,6226.749,-356.942,78,2.0,92,-6.8