version: 66.04
glider: 5
mission: 5
dive: 67
start: 11 16 108 5 32 30
data:
$ID,5
$MISSION,5
$DIVE,67
$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,-88518.586
$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,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
$GPS1,052702,6213.721,-342.923,41,1.2,41,-6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-60.4
$GPS2,053139,6213.658,-342.997,13,1.2,13,-6.6
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.176,-0.196
$KALMAN_X,56616.6,-269.8,-66.5,59619.5,-6958.6
$KALMAN_Y,-19263.4,-221.1,-650.8,-140244.3,3089.1
$MHEAD_RNG_PITCHd_Wd,144.7,11480,-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,-61.12,0.000,2,0.000,0.000,425,1974,3041
$GC,82,-1.44,-146.6,3.4,-4.2,3,109,10.10,2.53,-10.80,0.000,4,0.137,0.075,2377,590,3429
$GC,348,-1.21,-146.6,51.8,-18.2,15,353,0.30,2.55,0.00,0.000,6,0.096,0.052,2435,2011,3429
$GC,677,-1.15,-146.6,98.4,-13.4,31,681,0.00,2.60,0.00,0.000,4,0.000,0.068,2435,595,3430
$GC,733,-1.10,-146.6,107.1,-15.4,33,740,0.12,2.47,0.00,0.000,6,0.099,0.054,2460,1987,3430
$GC,1049,-1.10,-146.6,147.7,-12.4,49,1053,0.00,2.58,0.00,0.000,4,0.000,0.067,2460,3408,3430
$GC,1076,-1.10,-146.6,151.2,-12.3,50,1080,0.00,2.55,0.00,0.000,6,0.000,0.052,2460,1983,3430
$GC,1392,-1.10,-146.6,185.7,-10.5,65,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1982,3431
$GC,1701,-1.10,-146.6,218.9,-10.6,80,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1982,3431
$GC,2010,-1.10,-146.6,252.4,-10.6,95,2014,0.00,2.50,0.00,0.000,4,0.000,0.069,2460,593,3432
$GC,2140,-1.10,-146.6,266.4,-10.8,101,2144,0.00,2.47,0.00,0.000,6,0.000,0.054,2460,1992,3432
$GC,2467,-1.10,-146.6,300.5,-10.5,117,2471,0.00,2.58,0.00,0.000,4,0.000,0.073,2461,597,3432
$GC,2500,-1.10,-146.6,304.0,-10.5,118,2506,0.00,2.47,0.00,0.000,6,0.000,0.057,2460,1974,3432
$GC,2815,-1.10,-146.6,337.1,-10.2,134,2820,0.00,2.55,0.00,0.000,4,0.000,0.074,2460,598,3432
$GC,2848,-1.10,-146.6,340.8,-11.2,135,2855,0.00,2.47,0.00,0.000,6,0.000,0.058,2460,1975,3432
$GC,3165,-1.10,-146.6,371.7,-10.0,151,3169,0.00,2.55,0.00,0.000,4,0.000,0.077,2460,599,3432
$GC,3277,-1.14,-146.6,383.8,-11.0,156,3281,0.00,2.42,0.00,0.000,6,0.000,0.061,2460,1945,3432
$GC,3598,-1.19,-146.6,417.5,-10.4,172,3603,0.00,2.53,0.00,0.000,4,0.000,0.081,2461,599,3432
$GC,3666,-1.23,-146.6,425.2,-11.5,175,3671,0.12,2.42,0.00,0.000,6,0.062,0.064,2430,1931,3431
$GC,3988,-1.23,-146.6,464.4,-12.0,191,3992,0.00,2.53,0.00,0.000,6,0.000,0.081,2429,589,3431
$STATE,3993,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3993,begin apogee
$GC,4003,-0.33,0.0,465.5,12.2,191,4126,0.90,0.00,119.25,1.210,6,0.094,0.000,2620,2245,2832
$STATE,4126,end apogee,CONTROL_FINISHED_OK
$STATE,4126,begin climb
$GC,4129,1.44,146.6,472.0,0.0,197,4255,1.83,2.80,117.70,1.169,4,0.068,0.085,3012,3657,2234
$GC,4306,1.40,166.8,462.1,9.1,205,4331,0.00,2.62,17.73,1.084,6,0.000,0.071,3013,2250,2151
$GC,4653,1.43,184.1,430.1,9.2,222,4675,0.00,2.70,15.30,1.086,4,0.000,0.082,3012,845,2080
$GC,4754,1.43,184.1,419.9,10.3,226,4758,0.00,2.62,0.00,0.000,6,0.000,0.067,3012,2248,2080
$GC,5071,1.44,188.6,389.4,9.8,241,5081,0.00,2.70,5.20,0.874,4,0.000,0.078,3012,846,2062
$GC,5178,1.44,188.6,377.7,11.2,246,5182,0.00,2.55,0.00,0.000,6,0.000,0.067,3012,2224,2062
$GC,5504,1.44,188.6,343.8,10.3,262,5509,0.00,2.62,0.00,0.000,4,0.000,0.080,3012,840,2060
$GC,5583,1.44,188.6,335.2,10.6,265,5589,0.00,2.53,0.00,0.000,6,0.000,0.067,3012,2208,2060
$GC,5899,1.46,205.5,306.2,9.2,281,5921,0.00,2.78,14.60,1.077,4,0.000,0.084,3012,3655,1994
$GC,5944,1.46,205.5,301.5,10.5,283,5949,0.00,2.70,0.00,0.000,6,0.000,0.066,3012,2205,1994
$GC,6271,1.47,209.2,268.3,9.8,299,6281,0.00,2.55,4.78,0.833,4,0.000,0.077,3012,843,1978
$GC,6320,1.47,209.2,263.3,10.3,301,6324,0.00,2.50,0.00,0.000,6,0.000,0.064,3012,2204,1978
$GC,6636,1.49,220.6,234.9,9.5,316,6652,0.00,2.75,10.85,1.009,4,0.000,0.077,3012,3663,1931
$GC,6716,1.49,220.6,226.2,12.2,318,6722,0.00,2.67,0.00,0.000,6,0.000,0.061,3012,2205,1931
$GC,7032,1.54,220.6,191.3,10.5,334,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2205,1931
$GC,7341,1.59,220.6,159.5,10.3,349,7346,0.15,2.50,0.00,0.000,4,0.060,0.071,3050,839,1931
$GC,7369,1.54,220.6,155.9,13.6,350,7373,0.00,2.53,0.00,0.000,6,0.000,0.058,3050,2229,1930
$GC,7685,1.48,220.6,116.1,13.8,365,7690,0.15,2.60,0.00,0.000,4,0.099,0.070,3023,3656,1931
$GC,7741,1.48,220.6,109.9,10.9,367,7747,0.00,2.58,0.00,0.000,6,0.000,0.055,3023,2226,1931
$GC,8057,1.55,262.5,80.2,8.1,383,8100,0.00,2.60,33.67,0.930,4,0.000,0.066,3022,846,1760
$GC,8128,1.61,269.6,73.2,9.7,386,8146,0.12,2.53,7.45,0.795,6,0.061,0.054,3054,2233,1732
$GC,8456,1.61,269.6,27.9,15.6,402,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2233,1732
$STATE,8617,end climb,SURFACE_DEPTH_REACHED
$STATE,8617,begin surface coast
$FINISH,1.3,1.027337
$STATE,8639,end surface coast,CONTROL_FINISHED_OK
$STATE,8639,begin surface
$SM_CCo,8722,0.00,0.000,0,0,1732,269.83
$SM_GC,1.56,11.57,0.00,0.00,0.042,0.000,0.000,424,1976,1732,-10.40,-0.68,269.83
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1799
$TCM_TEMP,16.50
$XPDR_PINGS,220
$ALTIM_TOP_PING,18.4,999.0
$ALTIM_BOTTOM_PING,400.2,74.9
$24V_AH,23.8,12.728
$10V_AH,10.1,5.518
$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,25.375,98.725,346.525,0.000,0.000,37.755,37.252,101.494,58.500,0.000,0.000,13.372,820.557,6352.131,431.127,1051.473,350.258,33.356,1004.538,0.000,1025.044,0.000,24.737,0.000
$DEVICE_MAMPS,136.526,85.137,1209.559,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,301.223,275.632,290.492,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22314,411
$CAP_FILE_SIZE,75600,0
$CFSIZE,254472192,248950784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,161108,075911,6212.154,-341.647,39,1.7,42,-6.6