version: 66.04
glider: 5
mission: 5
dive: 61
start: 11 15 108 13 51 54
data:
$ID,5
$MISSION,5
$DIVE,61
$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,-88407.062
$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,54
$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
$GPS1,134607,6223.107,-354.681,42,1.5,42,-6.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-58.7
$GPS2,135103,6223.052,-354.625,13,1.6,13,-6.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.051,-0.259
$KALMAN_X,63799.0,-383.1,401.6,42532.3,-254.1
$KALMAN_Y,-19895.3,-334.5,-601.2,-122165.0,6055.8
$MHEAD_RNG_PITCHd_Wd,198.0,25948,-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,13,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,98,0.00,0.00,-79.93,0.000,6,0.000,0.000,424,1953,3431
$GC,102,-1.44,-146.6,5.3,-6.1,4,117,10.10,2.65,0.00,0.000,4,0.135,0.064,2377,3411,3432
$GC,367,-1.25,-146.6,65.5,-17.9,15,372,0.25,2.47,0.00,0.000,6,0.097,0.052,2426,2030,3433
$GC,696,-1.15,-146.6,113.9,-14.4,31,701,0.12,2.60,0.00,0.000,4,0.099,0.066,2450,588,3434
$GC,761,-1.15,-146.6,122.6,-13.1,34,765,0.00,2.50,0.00,0.000,6,0.000,0.053,2451,1994,3433
$GC,1087,-1.15,-146.6,161.6,-11.4,50,1091,0.00,2.60,0.00,0.000,4,0.000,0.067,2451,587,3434
$GC,1149,-1.15,-146.6,169.4,-12.7,53,1153,0.00,2.47,0.00,0.000,6,0.000,0.053,2451,1975,3434
$GC,1475,-1.15,-146.6,209.6,-12.6,69,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1977,3434
$GC,1784,-1.15,-146.6,249.0,-12.4,84,1789,0.00,2.55,0.00,0.000,4,0.000,0.068,2450,586,3434
$GC,1829,-1.15,-146.6,254.4,-11.4,86,1833,0.00,2.45,0.00,0.000,6,0.000,0.054,2450,1956,3434
$GC,2155,-1.15,-146.6,291.9,-11.9,102,2160,0.00,2.62,0.00,0.000,4,0.000,0.068,2451,3405,3435
$GC,2195,-1.15,-146.6,296.6,-11.6,104,2200,0.00,2.60,0.00,0.000,6,0.000,0.055,2451,1957,3434
$GC,2522,-1.15,-146.6,335.7,-11.8,120,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1956,3434
$GC,2831,-1.15,-146.6,372.4,-12.3,135,2836,0.00,2.67,0.00,0.000,4,0.000,0.071,2451,3408,3435
$GC,2909,-1.19,-146.6,382.6,-13.3,138,2916,0.00,2.60,0.00,0.000,6,0.000,0.057,2451,1965,3435
$GC,3225,-1.19,-146.6,423.4,-13.1,154,3230,0.00,2.50,0.00,0.000,4,0.000,0.073,2450,587,3435
$GC,3310,-1.19,-146.6,434.8,-13.7,158,3315,0.00,2.47,0.00,0.000,6,0.000,0.059,2451,1962,3434
$GC,3637,-1.19,-146.6,473.8,-11.7,174,3642,0.00,2.67,0.00,0.000,4,0.000,0.081,2451,3403,3434
$GC,3659,-1.19,-146.6,476.6,-12.4,175,3664,0.00,2.65,0.00,0.000,6,0.000,0.066,2450,1961,3434
$GC,3981,-1.19,-146.6,513.0,-10.8,191,3985,0.00,2.72,0.00,0.000,4,0.000,0.080,2451,3405,3433
$STATE,3995,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3995,begin apogee
$GC,4004,-0.33,0.0,515.0,11.0,192,4128,0.82,0.00,120.20,1.243,6,0.089,0.000,2623,2231,2832
$STATE,4128,end apogee,CONTROL_FINISHED_OK
$STATE,4128,begin climb
$GC,4131,1.44,146.6,520.6,0.0,198,4258,1.80,0.00,118.82,1.201,6,0.073,0.000,3013,2226,2234
$GC,4568,1.48,169.3,488.8,9.0,220,4593,0.00,2.78,19.55,1.134,4,0.000,0.084,3013,3651,2141
$GC,4634,1.44,169.3,482.0,10.8,223,4639,0.00,2.62,0.00,0.000,6,0.000,0.070,3013,2249,2140
$GC,4961,1.44,169.3,448.8,10.4,239,4965,0.00,2.62,0.00,0.000,4,0.000,0.081,3013,845,2139
$GC,5023,1.44,169.3,441.8,11.6,242,5028,0.00,2.60,0.00,0.000,6,0.000,0.067,3014,2243,2139
$GC,5350,1.44,169.3,406.9,10.8,258,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2243,2138
$GC,5659,1.44,169.3,374.6,10.2,273,5663,0.00,2.65,0.00,0.000,4,0.000,0.078,3013,840,2137
$GC,5731,1.38,169.3,367.0,10.6,276,5736,0.00,2.58,0.00,0.000,6,0.000,0.067,3013,2230,2137
$GC,6048,1.40,180.7,336.4,9.5,291,6059,0.00,0.00,9.90,1.055,6,0.000,0.000,3013,2230,2095
$GC,6357,1.44,206.1,308.7,8.8,306,6381,0.00,0.00,21.92,1.110,6,0.000,0.000,3013,2230,1991
$GC,6686,1.44,206.1,277.2,10.5,322,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2230,1990
$GC,6995,1.44,206.1,245.1,10.5,337,6999,0.00,2.58,0.00,0.000,4,0.000,0.069,3014,838,1990
$GC,7034,1.44,206.1,241.0,10.7,339,7039,0.00,2.55,0.00,0.000,6,0.000,0.061,3013,2237,1990
$GC,7361,1.45,212.9,208.3,9.7,355,7374,0.00,2.67,6.85,0.889,4,0.000,0.071,3013,3653,1964
$GC,7405,1.45,212.9,203.7,10.4,357,7409,0.00,2.58,0.00,0.000,6,0.000,0.056,3013,2233,1964
$GC,7732,1.50,212.9,172.1,10.3,373,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2234,1964
$GC,8042,1.58,234.6,142.4,9.0,388,8063,0.12,0.00,18.85,0.943,6,0.061,0.000,3047,2233,1875
$GC,8372,1.58,234.6,106.5,10.5,404,8376,0.00,2.62,0.00,0.000,4,0.000,0.067,3047,3655,1875
$GC,8399,1.58,234.6,103.1,11.6,405,8403,0.00,2.55,0.00,0.000,6,0.000,0.053,3047,2236,1875
$GC,8716,1.54,234.6,64.3,15.2,420,8720,0.00,2.53,0.00,0.000,4,0.000,0.066,3046,840,1875
$GC,8760,1.54,234.6,57.1,14.3,422,8764,0.00,2.53,0.00,0.000,6,0.000,0.052,3047,2244,1875
$GC,9082,1.48,234.6,15.7,14.1,438,9084,0.15,0.00,0.00,0.000,6,0.097,0.000,3020,2245,1876
$STATE,9203,end climb,SURFACE_DEPTH_REACHED
$STATE,9203,begin surface coast
$FINISH,0.7,1.010979
$STATE,9245,end surface coast,CONTROL_FINISHED_OK
$STATE,9245,begin surface
$SM_CCo,9268,8.40,0.765,0,0,1812,250.21
$SM_GC,1.79,0.00,0.00,8.40,0.000,0.000,0.765,421,1974,1812,-10.48,-0.71,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1794
$TCM_TEMP,16.70
$XPDR_PINGS,237
$ALTIM_TOP_PING,18.9,999.0
$ALTIM_BOTTOM_PING,501.8,22.9
$24V_AH,23.8,11.950
$10V_AH,10.1,5.228
$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,24.700,82.925,316.100,8.400,0.000,37.762,30.156,126.125,63.750,0.000,0.000,13.411,862.376,6907.668,450.558,992.781,368.178,33.363,955.513,0.000,970.716,0.000,30.958,0.000
$DEVICE_MAMPS,134.992,83.603,1243.307,765.466,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,333.154,300.303,300.800,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22243,446
$CAP_FILE_SIZE,73576,0
$CFSIZE,254472192,249180160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,151108,162738,6220.277,-354.721,27,1.0,27,-6.7