version: 66.04
glider: 5
mission: 5
dive: 64
start: 11 15 108 21 50 7
data:
$ID,5
$MISSION,5
$DIVE,64
$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,-88474.992
$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,57
$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
$GPS1,213809,6217.372,-351.518,14,1.8,14,-6.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-55.5
$GPS2,214915,6217.362,-351.319,14,1.6,14,-6.7
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.184,-0.189
$KALMAN_X,60431.2,533.8,-34.1,48146.5,-4957.4
$KALMAN_Y,-19438.5,-505.6,239.9,-133846.4,4075.9
$MHEAD_RNG_PITCHd_Wd,142.6,18897,-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,-61.22,0.000,2,0.000,0.000,423,1967,2935
$GC,82,-1.44,-146.6,3.1,-4.3,3,115,10.00,2.42,-16.58,0.000,4,0.133,0.076,2377,628,3430
$GC,369,-1.19,-146.6,49.7,-16.2,16,374,0.30,2.47,0.00,0.000,6,0.097,0.053,2436,2002,3430
$GC,696,-1.12,-146.6,98.2,-14.5,32,701,0.00,2.53,0.00,0.000,4,0.000,0.066,2436,625,3430
$GC,884,-1.07,-146.6,122.5,-11.7,40,889,0.15,2.47,0.00,0.000,6,0.097,0.052,2466,2009,3430
$GC,1200,-1.07,-146.6,155.2,-10.6,55,1204,0.00,2.55,0.00,0.000,4,0.000,0.068,2467,622,3430
$GC,1227,-1.07,-146.6,158.3,-11.6,56,1231,0.00,2.45,0.00,0.000,6,0.000,0.054,2467,1990,3431
$GC,1543,-1.07,-146.6,196.1,-12.4,71,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1991,3430
$GC,1852,-1.07,-146.6,230.3,-10.6,86,1857,0.00,2.50,0.00,0.000,4,0.000,0.070,2467,629,3430
$GC,1893,-1.12,-146.6,235.0,-11.9,88,1897,0.00,2.40,0.00,0.000,6,0.000,0.055,2467,1969,3431
$GC,2220,-1.12,-146.6,273.1,-11.0,104,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1970,3431
$GC,2530,-1.12,-146.6,301.7,-9.2,119,2534,0.00,2.47,0.00,0.000,4,0.000,0.073,2467,629,3431
$GC,2558,-1.12,-146.6,304.6,-10.9,120,2562,0.00,2.45,0.00,0.000,6,0.000,0.057,2467,1989,3431
$GC,2874,-1.16,-146.6,335.9,-9.8,135,2879,0.00,2.58,0.00,0.000,4,0.000,0.071,2467,3410,3431
$GC,2919,-1.23,-146.6,340.6,-10.1,137,2924,0.17,2.55,0.00,0.000,6,0.055,0.060,2424,2005,3431
$GC,3243,-1.17,-146.6,378.2,-12.0,153,3248,0.10,2.55,0.00,0.000,4,0.109,0.074,2443,596,3431
$GC,3276,-1.17,-146.6,382.7,-11.9,154,3282,0.00,2.47,0.00,0.000,6,0.000,0.058,2443,1969,3431
$GC,3592,-1.17,-146.6,417.5,-11.1,170,3596,0.00,2.65,0.00,0.000,4,0.000,0.077,2443,3406,3431
$GC,3659,-1.17,-146.6,425.2,-11.8,173,3663,0.00,2.62,0.00,0.000,6,0.000,0.064,2443,1970,3431
$GC,3980,-1.17,-146.6,460.2,-11.2,189,3984,0.00,2.70,0.00,0.000,4,0.000,0.081,2442,3405,3430
$GC,4001,-1.17,-146.6,463.0,-12.0,190,4006,0.00,2.60,0.00,0.000,6,0.000,0.067,2443,1983,3430
$STATE,4133,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4133,begin apogee
$GC,4141,-0.33,0.0,478.2,11.6,197,4264,0.88,0.00,119.32,1.207,6,0.090,0.000,2626,2256,2832
$STATE,4264,end apogee,CONTROL_FINISHED_OK
$STATE,4264,begin climb
$GC,4267,1.44,146.6,483.7,0.0,203,4393,1.77,2.75,117.57,1.170,4,0.069,0.081,3009,3653,2234
$GC,4450,1.41,162.9,473.2,9.3,211,4470,0.00,2.62,14.65,1.068,6,0.000,0.068,3009,2249,2167
$GC,4787,1.44,182.7,441.8,9.1,228,4809,0.00,2.75,17.05,1.096,4,0.000,0.079,3009,841,2086
$GC,4826,1.46,193.6,438.1,9.5,229,4842,0.00,2.62,10.68,1.031,6,0.000,0.065,3009,2242,2042
$GC,5159,1.50,218.9,408.4,8.8,246,5187,0.00,2.72,21.67,1.115,4,0.000,0.078,3009,846,1938
$GC,5211,1.50,218.9,403.0,10.2,248,5216,0.00,2.60,0.00,0.000,6,0.000,0.067,3009,2234,1938
$GC,5527,1.50,218.9,371.3,10.4,263,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2234,1937
$GC,5837,1.55,218.9,339.3,10.0,278,5842,0.12,2.67,0.00,0.000,4,0.064,0.083,3040,3658,1937
$GC,5887,1.49,218.9,333.2,12.4,280,5892,0.00,2.67,0.00,0.000,6,0.000,0.066,3040,2211,1936
$GC,6204,1.44,218.9,297.8,11.0,295,6205,0.15,0.00,0.00,0.000,6,0.107,0.000,3013,2211,1935
$GC,6512,1.44,218.9,266.5,10.3,310,6516,0.00,2.72,0.00,0.000,4,0.000,0.077,3013,3658,1935
$GC,6556,1.44,218.9,261.7,10.9,312,6560,0.00,2.65,0.00,0.000,6,0.000,0.060,3014,2195,1935
$GC,6877,1.48,218.9,225.9,11.4,328,6881,0.00,2.47,0.00,0.000,4,0.000,0.071,3014,842,1935
$GC,6943,1.48,218.9,218.1,11.4,331,6948,0.00,2.47,0.00,0.000,6,0.000,0.059,3013,2200,1934
$GC,7265,1.52,218.9,184.2,10.2,347,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2200,1934
$GC,7574,1.57,218.9,149.9,10.9,362,7579,0.12,2.65,0.00,0.000,4,0.061,0.071,3046,3656,1935
$GC,7602,1.57,218.9,146.2,14.2,363,7606,0.00,2.65,0.00,0.000,6,0.000,0.056,3046,2178,1935
$GC,7918,1.57,218.9,106.4,12.6,378,7922,0.00,2.42,0.00,0.000,4,0.000,0.067,3046,839,1935
$GC,7958,1.51,218.9,100.7,14.9,380,7963,0.00,2.42,0.00,0.000,6,0.000,0.054,3046,2185,1935
$GC,8286,1.46,218.9,57.9,11.9,396,8291,0.15,2.67,0.00,0.000,4,0.099,0.067,3018,3661,1936
$GC,8326,1.46,218.9,52.9,13.3,398,8331,0.00,2.65,0.00,0.000,6,0.000,0.054,3017,2182,1936
$GC,8654,1.46,218.9,16.5,11.1,414,8658,0.00,2.72,0.00,0.000,4,0.000,0.067,3018,3659,1936
$GC,8698,1.47,224.3,11.5,9.8,416,8709,0.00,2.62,5.57,0.700,6,0.000,0.052,3018,2192,1917
$STATE,8789,end climb,SURFACE_DEPTH_REACHED
$STATE,8789,begin surface coast
$FINISH,0.5,1.014065
$STATE,8834,end surface coast,CONTROL_FINISHED_OK
$STATE,8834,begin surface
$SM_CCo,8857,14.50,0.828,0,0,1812,250.21
$SM_GC,2.19,0.00,0.00,14.50,0.000,0.000,0.828,423,1979,1812,-10.47,-0.59,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1798
$TCM_TEMP,16.70
$XPDR_PINGS,234
$ALTIM_TOP_PING,18.8,999.0
$ALTIM_BOTTOM_PING,475.8,11.5
$24V_AH,23.9,12.347
$10V_AH,10.1,5.376
$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,25.300,98.875,306.525,14.500,0.000,113.279,86.004,238.753,62.750,0.000,0.000,16.904,838.839,6631.774,410.443,1035.070,632.684,33.356,961.860,0.000,1005.012,0.000,29.342,0.000
$DEVICE_MAMPS,132.691,82.836,1207.258,828.360,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,309.375,283.975,300.731,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22272,422
$CAP_FILE_SIZE,83840,0
$CFSIZE,254472192,249057280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,161108,001908,6216.936,-348.225,30,1.0,30,-6.7