version: 66.04
glider: 5
mission: 5
dive: 256
start: 12 30 108 20 57 27
data:
$ID,5
$MISSION,5
$DIVE,256
$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,550
$T_MISSION,580
$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,2
$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,-92319.828
$T_RSLEEP,27
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,23
$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
$GPS1,204908,6056.043,-544.453,36,1.0,36,-7.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-65.9
$GPS2,205708,6056.077,-544.385,17,1.3,17,-7.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCS_SE
$TGT_LATLONG,6010.000,-425.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.132,-0.177
$KALMAN_X,220775.9,-921.1,-1644.0,-80717.6,25183.1
$KALMAN_Y,135954.9,-405.3,-1430.2,-453990.2,21805.5
$MHEAD_RNG_PITCHd_Wd,146.7,112390,-11.0,-6.000
$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,-0.97,-146.6,0.0,0.0,0,79,0.00,0.00,-61.22,0.000,2,0.000,0.000,422,1990,3037
$GC,82,-0.97,-146.6,3.3,-4.9,3,113,10.60,2.62,-11.88,0.000,4,0.132,0.073,2481,3408,3431
$GC,248,-0.76,-146.6,24.1,-12.8,10,253,0.25,2.53,0.00,0.000,6,0.086,0.050,2533,1994,3432
$GC,565,-0.68,-146.6,54.0,-9.5,25,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1995,3432
$GC,875,-0.61,-146.6,80.7,-8.9,40,880,0.15,2.53,0.00,0.000,4,0.089,0.066,2566,591,3432
$GC,903,-0.61,-146.6,83.7,-10.4,41,907,0.00,2.50,0.00,0.000,6,0.000,0.053,2566,1993,3432
$GC,1220,-0.61,-146.6,108.3,-7.7,56,1224,0.00,2.60,0.00,0.000,4,0.000,0.070,2566,591,3432
$GC,1247,-0.61,-146.6,110.6,-8.2,57,1251,0.00,2.50,0.00,0.000,6,0.000,0.054,2566,1991,3431
$GC,1563,-0.61,-146.6,132.4,-6.9,72,1567,0.00,2.55,0.00,0.000,4,0.000,0.064,2566,3410,3432
$GC,1596,-0.61,-146.6,134.7,-7.2,73,1602,0.00,2.55,0.00,0.000,6,0.000,0.051,2566,1980,3431
$GC,1912,-0.61,-146.6,155.1,-6.5,89,1917,0.00,2.60,0.00,0.000,4,0.000,0.062,2566,3410,3431
$GC,2013,-0.66,-146.6,161.6,-6.6,93,2019,0.00,2.53,0.00,0.000,6,0.000,0.051,2566,1994,3431
$GC,2330,-0.66,-146.6,180.7,-5.9,109,2334,0.00,2.58,0.00,0.000,4,0.000,0.062,2566,3408,3431
$GC,2385,-0.66,-146.6,184.4,-6.5,111,2391,0.00,2.47,0.00,0.000,6,0.000,0.050,2566,2018,3431
$GC,2701,-0.66,-146.6,203.7,-6.2,127,2705,0.00,2.53,0.00,0.000,4,0.000,0.062,2566,3414,3431
$GC,2734,-0.66,-146.6,205.9,-6.8,128,2740,0.00,2.47,0.00,0.000,6,0.000,0.051,2565,2025,3431
$GC,3051,-0.66,-146.6,226.4,-6.6,144,3055,0.00,2.53,0.00,0.000,4,0.000,0.063,2566,3410,3431
$GC,3091,-0.70,-146.6,229.1,-6.8,146,3095,0.00,2.45,0.00,0.000,6,0.000,0.051,2566,2036,3431
$GC,3418,-0.70,-146.6,249.1,-5.7,162,3423,0.00,2.50,0.00,0.000,4,0.000,0.064,2565,3408,3431
$GC,3459,-0.75,-146.6,251.7,-6.7,164,3464,0.15,2.42,0.00,0.000,6,0.055,0.051,2524,2048,3431
$GC,3789,-0.66,-146.6,276.2,-7.5,180,3791,0.15,0.00,0.00,0.000,6,0.086,0.000,2556,2047,3431
$GC,4095,-0.66,-146.6,295.6,-6.4,195,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2047,3431
$GC,4404,-0.66,-146.6,316.5,-6.9,210,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2048,3431
$STATE,4526,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4526,begin apogee
$GC,4533,-0.33,0.0,325.7,7.4,216,4659,0.32,0.00,122.93,1.030,6,0.072,0.000,2626,2212,2832
$STATE,4660,end apogee,CONTROL_FINISHED_OK
$STATE,4660,begin climb
$GC,4663,0.97,146.6,330.8,0.0,222,4793,1.30,2.58,121.70,1.004,4,0.066,0.065,2909,3595,2233
$GC,4812,1.00,164.5,326.5,5.5,229,4833,0.00,2.55,15.90,0.921,6,0.000,0.054,2908,2193,2161
$GC,5156,1.03,184.4,309.0,5.5,246,5180,0.00,2.65,17.80,0.940,4,0.000,0.067,2909,792,2080
$GC,5222,1.03,184.4,305.0,6.9,249,5226,0.00,2.55,0.00,0.000,6,0.000,0.053,2909,2206,2080
$GC,5549,1.03,184.4,284.3,6.2,265,5553,0.00,2.62,0.00,0.000,4,0.000,0.067,2908,784,2080
$GC,5576,1.03,184.4,282.4,7.1,266,5580,0.00,2.55,0.00,0.000,6,0.000,0.053,2909,2202,2080
$GC,5892,1.07,184.4,261.3,6.5,281,5894,0.10,0.00,0.00,0.000,6,0.058,0.000,2942,2203,2080
$GC,6202,1.02,186.6,243.4,5.9,296,6208,0.00,0.00,3.72,0.619,6,0.000,0.000,2942,2203,2071
$GC,6511,0.97,186.6,221.1,7.4,311,6516,0.15,2.62,0.00,0.000,4,0.084,0.066,2910,787,2071
$GC,6557,0.97,186.6,217.8,7.3,313,6562,0.00,2.50,0.00,0.000,6,0.000,0.054,2910,2180,2071
$GC,6878,1.01,186.6,197.5,6.3,329,6883,0.00,2.55,0.00,0.000,4,0.000,0.067,2910,791,2071
$GC,6912,1.01,186.6,195.3,6.6,330,6918,0.00,2.47,0.00,0.000,6,0.000,0.054,2911,2176,2071
$GC,7229,1.03,195.8,176.2,5.7,346,7243,0.00,2.58,9.05,0.835,4,0.000,0.066,2910,792,2033
$GC,7273,1.07,195.8,173.2,6.7,348,7279,0.10,2.45,0.00,0.000,6,0.059,0.054,2943,2156,2033
$GC,7600,1.07,195.8,150.5,6.1,364,7604,0.00,2.62,0.00,0.000,4,0.000,0.066,2943,3607,2033
$GC,7628,1.07,195.8,148.4,7.4,365,7632,0.00,2.60,0.00,0.000,6,0.000,0.053,2943,2155,2033
$GC,7944,1.07,195.8,125.3,7.6,380,7948,0.00,2.47,0.00,0.000,4,0.000,0.067,2943,785,2033
$GC,7966,1.02,195.8,123.4,8.2,381,7970,0.00,2.45,0.00,0.000,6,0.000,0.051,2942,2157,2033
$GC,8289,1.02,195.8,98.7,7.8,397,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2158,2033
$GC,8596,1.02,195.8,75.4,7.5,412,8601,0.00,2.50,0.00,0.000,4,0.000,0.065,2943,791,2033
$GC,8614,1.02,195.8,74.0,7.9,413,8619,0.00,2.42,0.00,0.000,6,0.000,0.053,2943,2148,2033
$GC,8944,1.02,195.8,49.6,7.4,429,8948,0.00,2.62,0.00,0.000,4,0.000,0.064,2943,3606,2033
$GC,8977,1.02,195.8,46.5,8.3,430,8983,0.00,2.60,0.00,0.000,6,0.000,0.051,2943,2144,2033
$GC,9293,1.02,195.8,23.5,6.8,446,9294,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2143,2033
$STATE,9578,end climb,SURFACE_DEPTH_REACHED
$STATE,9578,begin surface coast
$FINISH,0.8,1.027452
$STATE,9621,end surface coast,CONTROL_FINISHED_OK
$STATE,9621,begin surface
$SM_CCo,9645,34.88,0.752,2,0,1811,250.21
$SM_GC,1.35,0.00,0.00,34.88,0.000,0.000,0.752,422,1973,1811,-10.48,-0.88,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1790
$TCM_TEMP,16.70
$XPDR_PINGS,340
$ALTIM_TOP_PING,18.6,18.2
$ALTIM_BOTTOM_PING,301.0,33.6
$24V_AH,23.9,44.823
$10V_AH,10.1,22.081
$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,24.300,96.950,291.100,34.875,0.000,75.514,60.753,169.969,87.500,0.000,0.000,17.306,887.329,7295.294,437.265,1047.856,512.531,0.000,983.997,0.000,1023.167,0.000,18.251,0.000
$DEVICE_MAMPS,131.924,72.865,1030.081,751.660,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,338.954,309.757,408.808,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22235,462
$CAP_FILE_SIZE,80067,0
$CFSIZE,254472192,236642304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,2,0
$GPS,301208,234008,6055.919,-540.679,30,1.1,30,-7.3