version: 66.04
glider: 5
mission: 5
dive: 71
start: 11 16 108 15 58 39
data:
$ID,5
$MISSION,5
$DIVE,71
$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,-88649.062
$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,33
$R_STBD_OVSHOOT,21
$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
$GPS1,154937,6214.319,-332.108,29,1.5,29,-6.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-65.3
$GPS2,155745,6214.336,-332.074,12,1.5,12,-6.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.251,-0.081
$KALMAN_X,50984.4,1391.7,832.6,71627.4,-10355.6
$KALMAN_Y,-12510.0,158.0,-299.1,-146493.5,9848.3
$MHEAD_RNG_PITCHd_Wd,114.4,157622,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.95,0.000,2,0.000,0.000,425,1977,3011
$GC,81,-1.44,-146.6,3.1,-3.4,3,112,10.18,2.55,-12.82,0.000,4,0.139,0.076,2378,600,3431
$GC,365,-1.22,-146.6,53.7,-17.5,15,372,0.28,2.53,0.00,0.000,6,0.098,0.054,2431,2012,3432
$GC,683,-1.15,-146.6,98.4,-13.8,31,688,0.00,2.60,0.00,0.000,4,0.000,0.069,2431,600,3432
$GC,796,-1.08,-146.6,115.5,-15.2,36,801,0.15,2.50,0.00,0.000,6,0.096,0.053,2461,1999,3433
$GC,1117,-1.08,-146.6,153.9,-11.8,52,1121,0.00,2.58,0.00,0.000,4,0.000,0.067,2461,600,3433
$GC,1156,-1.08,-146.6,159.0,-12.7,54,1160,0.00,2.47,0.00,0.000,6,0.000,0.053,2460,1987,3433
$GC,1485,-1.08,-146.6,201.3,-13.9,70,1489,0.00,2.55,0.00,0.000,4,0.000,0.071,2461,604,3434
$GC,1534,-1.08,-146.6,208.9,-14.4,72,1539,0.00,2.45,0.00,0.000,6,0.000,0.054,2461,1973,3434
$GC,1851,-1.08,-146.6,250.9,-12.6,87,1855,0.00,2.60,0.00,0.000,4,0.000,0.065,2461,3415,3434
$GC,1906,-1.08,-146.6,258.0,-12.5,89,1912,0.00,2.55,0.00,0.000,6,0.000,0.053,2461,1993,3434
$GC,2222,-1.08,-146.6,294.5,-11.6,105,2226,0.00,2.55,0.00,0.000,4,0.000,0.071,2461,587,3434
$GC,2345,-1.08,-146.6,308.4,-10.9,110,2351,0.00,2.45,0.00,0.000,6,0.000,0.055,2461,1960,3434
$GC,2661,-1.08,-146.6,340.0,-9.3,126,2666,0.00,2.65,0.00,0.000,4,0.000,0.073,2461,3409,3434
$GC,2746,-1.14,-146.6,348.2,-9.7,130,2751,0.00,2.62,0.00,0.000,6,0.000,0.060,2460,1963,3434
$GC,3074,-1.14,-146.6,378.6,-9.3,146,3079,0.00,2.53,0.00,0.000,4,0.000,0.077,2461,587,3434
$GC,3115,-1.18,-146.6,382.7,-10.4,148,3119,0.00,2.47,0.00,0.000,6,0.000,0.061,2461,1954,3434
$GC,3442,-1.22,-146.6,415.5,-10.5,164,3447,0.15,2.70,0.00,0.000,4,0.062,0.079,2425,3411,3434
$GC,3487,-1.18,-146.6,421.1,-12.7,166,3491,0.00,2.70,0.00,0.000,6,0.000,0.067,2425,1945,3434
$GC,3808,-1.12,-146.6,461.3,-12.5,182,3813,0.15,2.50,0.00,0.000,4,0.108,0.082,2453,595,3433
$GC,3908,-1.12,-146.6,473.3,-11.7,186,3914,0.00,2.45,0.00,0.000,6,0.000,0.066,2453,1934,3433
$STATE,4221,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4222,begin apogee
$GC,4229,-0.33,0.0,507.7,11.0,202,4352,0.82,0.00,120.12,1.253,6,0.090,0.000,2624,2248,2832
$STATE,4353,end apogee,CONTROL_FINISHED_OK
$STATE,4353,begin climb
$GC,4356,1.44,146.6,511.2,0.0,208,4480,1.80,0.00,118.75,1.215,6,0.067,0.000,3013,2248,2233
$GC,4790,1.50,184.8,481.4,8.3,229,4828,0.00,0.00,31.83,1.184,6,0.000,0.000,3012,2248,2078
$GC,5139,1.55,216.1,450.6,8.6,246,5173,0.12,2.78,26.50,1.181,4,0.069,0.085,3043,847,1951
$GC,5272,1.48,216.1,436.2,11.5,252,5277,0.00,2.65,0.00,0.000,6,0.000,0.074,3043,2250,1951
$GC,5599,1.48,216.1,402.1,10.6,268,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2250,1949
$GC,5908,1.48,216.1,368.6,11.1,283,5912,0.00,2.70,0.00,0.000,4,0.000,0.084,3043,845,1948
$GC,5958,1.41,216.1,362.5,12.2,285,5963,0.20,2.62,0.00,0.000,6,0.104,0.071,3007,2248,1948
$GC,6274,1.47,216.1,328.0,11.0,300,6278,0.00,2.65,0.00,0.000,4,0.000,0.088,3007,3659,1947
$GC,6313,1.47,216.1,323.5,11.1,302,6318,0.00,2.62,0.00,0.000,6,0.000,0.070,3007,2247,1947
$GC,6640,1.53,216.1,289.3,10.9,318,6645,0.12,2.62,0.00,0.000,4,0.070,0.081,3035,841,1946
$GC,6691,1.48,216.1,282.8,13.4,320,6695,0.00,2.60,0.00,0.000,6,0.000,0.067,3035,2243,1946
$GC,7006,1.48,216.1,244.4,12.0,335,7011,0.00,2.62,0.00,0.000,4,0.000,0.076,3035,843,1946
$GC,7039,1.48,216.1,240.2,13.0,336,7045,0.00,2.58,0.00,0.000,6,0.000,0.067,3035,2239,1946
$GC,7355,1.48,216.1,204.8,10.9,352,7359,0.00,2.62,0.00,0.000,4,0.000,0.077,3035,3658,1946
$GC,7449,1.48,216.1,193.8,11.8,356,7454,0.00,2.55,0.00,0.000,6,0.000,0.058,3035,2251,1945
$GC,7765,1.48,216.1,157.2,12.1,371,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2251,1946
$GC,8074,1.48,216.1,120.3,11.5,386,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2251,1946
$GC,8384,1.48,216.1,86.1,11.0,401,8388,0.00,2.55,0.00,0.000,4,0.000,0.068,3035,845,1947
$GC,8411,1.48,216.1,82.8,12.7,402,8415,0.00,2.55,0.00,0.000,6,0.000,0.055,3035,2260,1947
$GC,8728,1.48,216.1,48.8,10.3,417,8733,0.00,2.53,0.00,0.000,4,0.000,0.068,3035,3654,1948
$GC,8762,1.48,216.1,44.5,12.1,418,8768,0.00,2.50,0.00,0.000,6,0.000,0.052,3035,2249,1949
$GC,9079,1.48,216.1,8.9,10.3,434,9083,0.00,2.50,0.00,0.000,4,0.000,0.067,3035,846,1949
$GC,9103,1.43,216.1,6.3,10.5,435,9108,0.12,2.53,0.00,0.000,6,0.103,0.054,3013,2256,1949
$STATE,9133,end climb,SURFACE_DEPTH_REACHED
$STATE,9133,begin surface coast
$FINISH,0.6,1.027325
$STATE,9155,end surface coast,CONTROL_FINISHED_OK
$STATE,9155,begin surface
$SM_CCo,9178,18.75,0.848,0,0,1812,250.21
$SM_GC,1.17,0.00,0.00,18.75,0.000,0.000,0.848,427,1962,1812,-10.46,-1.07,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1798
$TCM_TEMP,16.80
$XPDR_PINGS,214
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,425.1,91.2
$24V_AH,23.8,13.263
$10V_AH,10.1,5.719
$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,25.425,98.825,297.200,18.750,0.000,75.517,52.747,195.122,57.250,0.000,0.000,12.765,874.489,6798.517,432.980,1078.566,512.271,33.355,997.279,0.000,1055.523,0.000,28.496,0.000
$DEVICE_MAMPS,138.827,88.205,1253.278,847.535,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,323.243,294.492,307.612,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22240,438
$CAP_FILE_SIZE,81865,0
$CFSIZE,254472192,248795136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,161108,183308,6214.307,-329.056,33,1.0,33,-6.5