version: 66.04
glider: 5
mission: 5
dive: 69
start: 11 16 108 10 38 7
data:
$ID,5
$MISSION,5
$DIVE,69
$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,-88552.047
$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,25
$R_STBD_OVSHOOT,17
$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
$GPS1,103238,6212.922,-339.067,31,1.4,31,-6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-60.0
$GPS2,103716,6212.934,-339.047,15,2.0,16,-6.6
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.264,0.001
$KALMAN_X,50525.4,1141.7,754.7,66706.7,-14072.1
$KALMAN_Y,-17966.9,-1053.3,147.0,-142872.2,3698.8
$MHEAD_RNG_PITCHd_Wd,96.3,8690,-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,-146.6,0.0,0.0,0,94,0.00,0.00,-76.10,0.000,2,0.000,0.000,423,1973,3318
$GC,97,-1.44,-146.6,4.3,-4.2,4,120,10.20,2.53,-2.78,0.000,4,0.140,0.076,2378,599,3431
$GC,373,-1.19,-146.6,64.5,-20.3,16,378,0.32,2.53,0.00,0.000,6,0.097,0.054,2442,2006,3432
$GC,694,-1.19,-146.6,114.1,-13.2,32,699,0.00,2.60,0.00,0.000,4,0.000,0.067,2442,590,3432
$GC,812,-1.19,-146.6,130.9,-15.2,37,817,0.00,2.53,0.00,0.000,6,0.000,0.054,2441,2001,3432
$GC,1129,-1.19,-146.6,175.3,-14.0,52,1133,0.00,2.58,0.00,0.000,4,0.000,0.067,2442,596,3433
$GC,1263,-1.19,-146.6,194.4,-13.3,58,1267,0.00,2.40,0.00,0.000,6,0.000,0.053,2442,1939,3433
$GC,1584,-1.19,-146.6,238.2,-13.3,74,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1940,3434
$GC,1893,-1.19,-146.6,281.6,-13.4,89,1897,0.00,2.50,0.00,0.000,4,0.000,0.074,2442,595,3434
$GC,1942,-1.19,-146.6,288.5,-13.6,91,1946,0.00,2.40,0.00,0.000,6,0.000,0.057,2442,1926,3434
$GC,2264,-1.19,-146.6,325.8,-11.5,107,2269,0.00,2.70,0.00,0.000,4,0.000,0.072,2442,3405,3434
$GC,2292,-1.19,-146.6,329.1,-12.1,108,2296,0.00,2.70,0.00,0.000,6,0.000,0.059,2442,1917,3435
$GC,2608,-1.19,-146.6,365.3,-11.8,123,2612,0.00,2.78,0.00,0.000,4,0.000,0.074,2442,3411,3434
$GC,2657,-1.19,-146.6,371.7,-12.3,125,2662,0.00,2.70,0.00,0.000,6,0.000,0.061,2442,1926,3434
$GC,2973,-1.19,-146.6,406.4,-10.9,140,2977,0.00,2.45,0.00,0.000,4,0.000,0.081,2442,599,3434
$GC,3035,-1.19,-146.6,413.6,-11.9,143,3039,0.00,2.40,0.00,0.000,6,0.000,0.064,2442,1914,3434
$GC,3362,-1.19,-146.6,451.9,-12.2,159,3366,0.00,2.78,0.00,0.000,4,0.000,0.082,2442,3405,3433
$GC,3456,-1.19,-146.6,463.7,-11.8,163,3460,0.00,2.72,0.00,0.000,6,0.000,0.069,2442,1929,3433
$STATE,3604,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3604,begin apogee
$GC,3611,-0.33,0.0,482.5,12.6,170,3735,0.88,0.00,120.38,1.235,6,0.094,0.000,2623,2255,2833
$STATE,3736,end apogee,CONTROL_FINISHED_OK
$STATE,3736,begin climb
$GC,3739,1.44,146.6,487.9,0.0,176,3865,1.83,2.78,118.25,1.191,4,0.074,0.084,3010,3654,2234
$GC,3944,1.40,168.6,475.8,9.0,185,3969,0.00,2.62,19.10,1.119,6,0.000,0.067,3010,2247,2144
$GC,4286,1.45,199.4,445.1,8.6,202,4318,0.00,2.78,26.25,1.157,4,0.000,0.085,3010,3654,2018
$GC,4374,1.45,199.4,436.6,10.3,206,4379,0.00,2.62,0.00,0.000,6,0.000,0.072,3010,2261,2017
$GC,4695,1.45,199.4,404.5,10.1,222,4699,0.00,2.67,0.00,0.000,4,0.000,0.083,3010,839,2016
$GC,4795,1.45,199.4,393.4,11.2,226,4801,0.00,2.60,0.00,0.000,6,0.000,0.069,3010,2230,2016
$GC,5111,1.46,201.1,361.3,9.9,242,5115,0.00,2.62,0.00,0.000,4,0.000,0.081,3010,845,2016
$GC,5161,1.46,201.1,355.9,10.2,244,5165,0.00,2.55,0.00,0.000,6,0.000,0.069,3010,2212,2015
$GC,5477,1.46,201.1,324.5,10.2,259,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2213,2014
$GC,5786,1.52,211.4,294.1,9.5,274,5802,0.00,2.65,10.20,1.070,4,0.000,0.079,3010,840,1969
$GC,5835,1.52,211.5,289.2,10.0,275,5840,0.00,2.55,0.00,0.000,6,0.000,0.067,3010,2202,1970
$GC,6152,1.56,238.4,261.0,8.8,290,6182,0.12,2.85,22.67,1.107,4,0.066,0.081,3041,3657,1860
$GC,6211,1.51,238.4,254.6,11.2,292,6217,0.00,2.72,0.00,0.000,6,0.000,0.066,3041,2191,1860
$GC,6527,1.51,238.4,218.8,11.6,308,6531,0.00,2.47,0.00,0.000,4,0.000,0.077,3041,845,1859
$GC,6588,1.51,238.4,211.0,12.6,310,6594,0.00,2.42,0.00,0.000,6,0.000,0.064,3041,2157,1859
$GC,6904,1.51,238.4,175.1,10.7,326,6909,0.00,2.78,0.00,0.000,4,0.000,0.076,3041,3663,1860
$GC,6950,1.51,238.4,169.5,12.2,328,6955,0.00,2.78,0.00,0.000,6,0.000,0.061,3041,2144,1859
$GC,7272,1.51,238.4,130.4,12.5,344,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2143,1859
$GC,7581,1.51,238.4,92.1,12.4,359,7586,0.00,2.83,0.00,0.000,4,0.000,0.070,3041,3665,1860
$GC,7631,1.51,238.4,85.2,14.1,361,7635,0.00,2.70,0.00,0.000,6,0.000,0.054,3041,2167,1860
$GC,7947,1.51,238.4,49.6,11.1,376,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2167,1860
$GC,8258,1.51,238.4,7.3,13.5,391,8262,0.00,2.75,0.00,0.000,4,0.000,0.067,3041,3660,1861
$STATE,8278,end climb,SURFACE_DEPTH_REACHED
$STATE,8278,begin surface coast
$FINISH,1.9,1.027347
$STATE,8296,end surface coast,CONTROL_FINISHED_OK
$STATE,8296,begin surface
$SM_CCo,8322,7.90,0.792,0,0,1812,250.21
$SM_GC,2.96,0.00,0.00,7.90,0.000,0.000,0.792,422,1979,1812,-10.48,-0.57,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1813
$TCM_TEMP,16.40
$XPDR_PINGS,179
$ALTIM_TOP_PING,18.4,18.3
$ALTIM_BOTTOM_PING,427.2,63.2
$24V_AH,23.8,12.980
$10V_AH,10.1,5.612
$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,24.925,95.675,316.850,7.900,0.000,37.753,33.630,104.214,48.500,0.000,0.000,16.313,788.187,6040.726,413.512,1030.408,345.196,33.349,964.189,0.000,999.703,0.000,26.273,0.000
$DEVICE_MAMPS,139.594,85.137,1234.870,791.544,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,286.859,263.930,273.254,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19172,393
$CAP_FILE_SIZE,71106,0
$CFSIZE,254472192,248885248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,161108,125827,6214.245,-335.471,30,2.4,49,-6.5