version: 66.04
glider: 5
mission: 5
dive: 70
start: 11 16 108 13 18 18
data:
$ID,5
$MISSION,5
$DIVE,70
$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,-88635.672
$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,24
$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
$GPS1,125827,6214.245,-335.471,30,2.4,49,-6.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-62.6
$GPS2,131725,6214.317,-335.171,66,1.6,83,-6.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.156,-0.212
$KALMAN_X,49835.1,1361.9,832.0,70266.9,-13318.9
$KALMAN_Y,-15541.6,-685.7,-276.1,-142681.4,7126.7
$MHEAD_RNG_PITCHd_Wd,150.1,159219,-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,15,-1.44,-146.6,0.0,0.0,0,96,0.00,0.00,-77.60,0.000,6,0.000,0.000,422,1980,3430
$GC,100,-1.44,-146.6,6.0,-6.8,4,115,10.20,2.55,0.00,0.000,4,0.138,0.066,2377,587,3431
$GC,369,-1.21,-146.6,65.0,-20.2,15,374,0.30,2.55,0.00,0.000,6,0.097,0.054,2435,2010,3432
$GC,691,-1.16,-146.6,112.7,-14.2,31,695,0.00,2.60,0.00,0.000,4,0.000,0.067,2435,595,3431
$GC,821,-1.11,-146.6,130.7,-12.2,37,826,0.10,2.50,0.00,0.000,6,0.105,0.053,2455,1991,3432
$GC,1148,-1.11,-146.6,172.7,-12.8,53,1152,0.00,2.58,0.00,0.000,4,0.000,0.070,2455,595,3432
$GC,1214,-1.11,-146.6,181.6,-13.1,56,1219,0.00,2.47,0.00,0.000,6,0.000,0.054,2455,1975,3432
$GC,1535,-1.11,-146.6,219.0,-11.8,72,1539,0.00,2.58,0.00,0.000,4,0.000,0.066,2455,3405,3433
$GC,1586,-1.11,-146.6,225.1,-12.4,74,1590,0.00,2.58,0.00,0.000,6,0.000,0.052,2456,1968,3433
$GC,1901,-1.11,-146.6,263.2,-12.6,89,1906,0.00,2.50,0.00,0.000,4,0.000,0.071,2455,588,3433
$GC,2009,-1.15,-146.6,277.6,-14.4,94,2013,0.00,2.40,0.00,0.000,6,0.000,0.054,2455,1928,3433
$GC,2336,-1.15,-146.6,318.7,-13.2,110,2341,0.00,2.70,0.00,0.000,4,0.000,0.070,2456,3411,3434
$GC,2425,-1.15,-146.6,332.3,-15.4,114,2430,0.00,2.65,0.00,0.000,6,0.000,0.059,2456,1943,3434
$GC,2747,-1.15,-146.6,372.2,-11.5,130,2751,0.00,2.47,0.00,0.000,4,0.000,0.077,2455,590,3433
$GC,2813,-1.15,-146.6,380.0,-11.1,133,2817,0.00,2.45,0.00,0.000,6,0.000,0.061,2455,1942,3433
$GC,3135,-1.15,-146.6,412.7,-10.2,149,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1943,3433
$GC,3444,-1.15,-146.6,443.3,-9.9,164,3449,0.00,2.72,0.00,0.000,4,0.000,0.084,2455,3402,3432
$GC,3523,-1.21,-146.6,451.9,-10.5,167,3529,0.00,2.70,0.00,0.000,6,0.000,0.070,2455,1945,3432
$GC,3839,-1.25,-146.6,483.8,-10.0,183,3844,0.12,2.78,0.00,0.000,4,0.067,0.084,2425,3407,3431
$GC,3867,-1.25,-146.6,486.9,-10.9,184,3871,0.00,2.70,0.00,0.000,6,0.000,0.070,2425,1950,3430
$STATE,3994,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3994,begin apogee
$GC,4001,-0.33,0.0,503.3,13.1,190,4125,0.98,0.00,119.95,1.261,6,0.094,0.000,2625,2247,2832
$STATE,4126,end apogee,CONTROL_FINISHED_OK
$STATE,4126,begin climb
$GC,4129,1.44,146.6,507.1,0.0,196,4260,1.83,2.80,118.57,1.215,4,0.065,0.086,3017,842,2233
$GC,4311,1.39,146.6,494.3,10.3,205,4315,0.00,2.65,0.00,0.000,6,0.000,0.070,3017,2250,2232
$GC,4633,1.36,162.6,464.4,9.3,221,4651,0.00,0.00,13.98,1.124,6,0.000,0.000,3017,2251,2169
$GC,4961,1.39,179.5,432.7,9.2,237,4981,0.00,0.00,15.05,1.142,6,0.000,0.000,3016,2251,2100
$GC,5290,1.39,179.5,398.3,10.5,253,5295,0.00,2.70,0.00,0.000,4,0.000,0.085,3017,844,2098
$GC,5336,1.39,179.5,393.3,10.8,255,5340,0.00,2.62,0.00,0.000,6,0.000,0.073,3017,2240,2098
$GC,5657,1.41,189.2,361.9,9.6,271,5671,0.00,2.72,9.07,1.082,4,0.000,0.084,3017,841,2060
$GC,5694,1.41,189.2,357.9,10.2,272,5700,0.00,2.65,0.00,0.000,6,0.000,0.071,3017,2244,2060
$GC,6010,1.44,213.0,328.6,8.9,288,6036,0.00,2.78,20.70,1.151,4,0.000,0.083,3017,836,1962
$GC,6138,1.44,213.0,316.2,10.0,294,6143,0.00,2.55,0.00,0.000,6,0.000,0.071,3017,2207,1961
$GC,6466,1.46,222.4,285.9,9.6,310,6480,0.00,2.80,8.88,1.035,4,0.000,0.083,3017,3655,1925
$GC,6510,1.46,222.4,281.3,10.2,312,6514,0.00,2.72,0.00,0.000,6,0.000,0.068,3016,2197,1924
$GC,6836,1.49,242.9,250.9,9.1,328,6861,0.00,2.62,17.80,1.084,4,0.000,0.075,3017,840,1841
$GC,6947,1.49,242.9,239.0,11.6,333,6952,0.00,2.50,0.00,0.000,6,0.000,0.064,3017,2191,1841
$GC,7275,1.55,247.0,205.9,9.8,349,7285,0.00,2.75,5.15,0.839,4,0.000,0.077,3017,3661,1824
$GC,7360,1.59,247.0,197.4,10.2,353,7365,0.12,2.65,0.00,0.000,6,0.064,0.060,3048,2210,1824
$GC,7687,1.59,247.0,159.1,11.6,369,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2210,1825
$GC,7996,1.59,247.0,121.8,12.4,384,8001,0.00,2.47,0.00,0.000,4,0.000,0.067,3048,846,1825
$GC,8030,1.55,247.0,117.9,11.0,385,8037,0.00,2.50,0.00,0.000,6,0.000,0.057,3048,2230,1825
$GC,8347,1.55,247.0,76.6,13.3,401,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2231,1826
$GC,8655,1.55,247.0,37.8,11.7,416,8657,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2231,1827
$STATE,8962,end climb,SURFACE_DEPTH_REACHED
$STATE,8962,begin surface coast
$FINISH,0.6,1.005441
$STATE,8985,end surface coast,CONTROL_FINISHED_OK
$STATE,8985,begin surface
$SM_CCo,9008,1.88,0.142,0,0,1812,250.21
$SM_GC,2.51,0.00,0.00,1.88,0.000,0.000,0.142,426,1965,1812,-10.46,-0.99,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1815
$TCM_TEMP,16.50
$XPDR_PINGS,162
$ALTIM_TOP_PING,19.8,19.2
$ALTIM_BOTTOM_PING,427.0,84.7
$24V_AH,23.8,13.132
$10V_AH,10.1,5.669
$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,25.125,89.975,329.150,1.875,0.000,188.784,226.777,300.413,44.250,0.000,0.000,83.000,852.137,6825.873,429.371,1146.981,906.432,33.353,996.051,0.000,1051.673,0.000,26.334,0.000
$DEVICE_MAMPS,138.060,85.904,1260.948,141.895,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,318.187,290.369,292.118,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22321,432
$CAP_FILE_SIZE,85297,0
$CFSIZE,254472192,248832000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,161108,154937,6214.319,-332.108,29,1.5,29,-6.5