version: 66.04
glider: 5
mission: 5
dive: 261
start: 12 31 108 12 9 46
data:
$ID,5
$MISSION,5
$DIVE,261
$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,-92391.172
$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,31
$R_STBD_OVSHOOT,19
$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
$GPS1,120408,6050.667,-536.523,40,1.1,40,-7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-64.8
$GPS2,120927,6050.663,-536.406,13,1.0,13,-7.2
$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,146.1,99997,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.60,0.000,2,0.000,0.000,424,1963,3331
$GC,102,-0.97,-146.6,4.1,-4.6,4,125,10.82,2.65,-2.42,0.000,4,0.141,0.074,2482,3405,3432
$GC,377,-0.78,-146.6,41.7,-11.2,16,383,0.22,2.50,0.00,0.000,6,0.091,0.049,2528,2005,3432
$GC,701,-0.70,-146.6,69.9,-8.2,32,705,0.00,2.58,0.00,0.000,4,0.000,0.063,2528,3415,3432
$GC,725,-0.61,-146.6,72.1,-8.4,33,730,0.17,2.53,0.00,0.000,6,0.088,0.050,2566,1998,3432
$GC,1046,-0.61,-146.6,97.0,-8.4,49,1051,0.00,2.58,0.00,0.000,4,0.000,0.062,2566,3411,3432
$GC,1074,-0.61,-146.6,99.2,-8.0,50,1078,0.00,2.50,0.00,0.000,6,0.000,0.050,2566,2008,3432
$GC,1393,-0.61,-146.6,125.2,-8.4,65,1397,0.00,2.58,0.00,0.000,4,0.000,0.062,2566,3419,3432
$GC,1433,-0.66,-146.6,128.9,-9.2,67,1437,0.00,2.47,0.00,0.000,6,0.000,0.050,2566,2029,3432
$GC,1759,-0.66,-146.6,155.2,-7.7,83,1764,0.00,2.58,0.00,0.000,4,0.000,0.067,2566,597,3432
$GC,1793,-0.66,-146.6,157.9,-7.9,84,1800,0.00,2.58,0.00,0.000,6,0.000,0.053,2566,2041,3432
$GC,2109,-0.66,-146.6,182.0,-7.2,100,2113,0.00,2.65,0.00,0.000,4,0.000,0.067,2566,595,3432
$GC,2142,-0.66,-146.6,184.5,-7.5,101,2148,0.00,2.55,0.00,0.000,6,0.000,0.053,2567,2024,3432
$GC,2458,-0.66,-146.6,205.7,-6.5,117,2462,0.00,2.62,0.00,0.000,4,0.000,0.067,2566,591,3432
$GC,2485,-0.66,-146.6,207.7,-6.9,118,2489,0.00,2.53,0.00,0.000,6,0.000,0.054,2566,2008,3432
$GC,2801,-0.66,-146.6,227.4,-6.2,133,2805,0.00,2.53,0.00,0.000,4,0.000,0.065,2566,3409,3432
$GC,2829,-0.66,-146.6,229.1,-5.8,134,2833,0.00,2.50,0.00,0.000,6,0.000,0.053,2566,2008,3432
$GC,3145,-0.66,-146.6,248.4,-6.0,149,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2008,3432
$GC,3454,-0.66,-146.6,267.2,-6.2,164,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2009,3432
$GC,3764,-0.66,-146.6,287.5,-6.5,179,3768,0.00,2.55,0.00,0.000,4,0.000,0.064,2566,3405,3432
$STATE,3778,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3778,begin apogee
$GC,3787,-0.33,0.0,288.8,6.4,180,3913,0.28,0.00,123.57,1.006,6,0.075,0.000,2625,2181,2832
$STATE,3914,end apogee,CONTROL_FINISHED_OK
$STATE,3914,begin climb
$GC,3917,0.97,146.6,293.8,0.0,186,4047,1.30,2.67,121.82,0.976,4,0.063,0.064,2909,3610,2233
$GC,4062,0.97,146.6,289.4,6.4,193,4067,0.00,2.55,0.00,0.000,6,0.000,0.052,2909,2202,2234
$GC,4388,0.97,146.6,270.1,6.2,209,4393,0.00,2.58,0.00,0.000,4,0.000,0.067,2908,785,2233
$GC,4452,0.97,146.6,265.9,7.1,212,4456,0.00,2.55,0.00,0.000,6,0.000,0.051,2908,2208,2233
$GC,4778,1.00,167.7,247.7,5.4,228,4803,0.00,2.67,18.55,0.920,4,0.000,0.064,2909,800,2148
$GC,4826,1.00,167.7,244.8,6.3,230,4830,0.00,2.53,0.00,0.000,6,0.000,0.052,2909,2198,2148
$GC,5149,1.04,189.6,227.4,5.4,246,5174,0.00,2.67,19.27,0.923,4,0.000,0.066,2909,793,2059
$GC,5197,1.04,189.6,224.4,6.3,248,5201,0.00,2.50,0.00,0.000,6,0.000,0.053,2909,2175,2059
$GC,5519,1.11,209.2,206.5,5.5,264,5539,0.12,0.00,17.60,0.910,6,0.054,0.000,2948,2176,1978
$GC,5847,1.06,209.2,183.6,7.1,280,5852,0.00,2.55,0.00,0.000,4,0.000,0.067,2948,793,1978
$GC,5898,0.99,209.2,179.6,8.2,282,5903,0.17,2.50,0.00,0.000,6,0.082,0.054,2913,2184,1979
$GC,6215,1.05,211.5,161.6,5.9,297,6224,0.00,2.60,3.83,0.606,4,0.000,0.067,2913,793,1969
$GC,6247,1.10,211.5,159.2,7.0,298,6252,0.12,2.47,0.00,0.000,6,0.054,0.053,2949,2172,1969
$GC,6564,1.05,211.5,138.0,6.6,313,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2171,1969
$GC,6875,1.01,211.5,118.0,6.5,328,6879,0.15,2.55,0.00,0.000,4,0.080,0.066,2918,793,1969
$GC,6902,1.02,214.4,115.9,5.9,329,6914,0.00,2.45,4.28,0.634,6,0.000,0.054,2917,2161,1956
$GC,7226,1.09,226.5,98.0,5.7,345,7248,0.00,2.60,11.48,0.821,4,0.000,0.066,2917,793,1907
$GC,7265,1.14,226.5,95.4,7.2,346,7272,0.12,2.45,0.00,0.000,6,0.054,0.053,2955,2152,1908
$GC,7583,1.10,226.5,73.2,7.4,362,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2152,1907
$GC,7891,1.05,226.5,50.4,7.3,377,7893,0.15,0.00,0.00,0.000,6,0.081,0.000,2924,2152,1908
$GC,8200,1.11,226.5,31.2,6.2,392,8204,0.00,2.50,0.00,0.000,4,0.000,0.067,2923,791,1908
$GC,8228,1.15,226.5,29.2,7.3,393,8233,0.10,2.40,0.00,0.000,6,0.057,0.053,2955,2138,1908
$GC,8545,1.15,226.5,6.8,7.0,408,8549,0.00,2.50,0.00,0.000,4,0.000,0.067,2955,785,1908
$STATE,8592,end climb,SURFACE_DEPTH_REACHED
$STATE,8592,begin surface coast
$FINISH,0.5,1.027450
$STATE,8638,end surface coast,CONTROL_FINISHED_OK
$STATE,8638,begin surface
$SM_CCo,8663,16.23,0.719,1,0,1812,250.21
$SM_GC,1.03,0.00,0.00,16.23,0.000,0.000,0.719,420,2033,1812,-10.49,0.79,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1794
$TCM_TEMP,18.80
$XPDR_PINGS,333
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,275.4,22.9
$24V_AH,23.9,45.478
$10V_AH,10.1,22.352
$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,24.825,96.175,320.400,16.225,0.000,37.762,45.595,123.612,85.500,0.000,0.000,13.450,813.086,6367.728,447.941,980.960,400.881,0.000,970.244,0.000,960.214,0.000,16.654,0.000
$DEVICE_MAMPS,141.128,74.399,1006.304,718.679,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,300.633,275.904,398.336,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19205,412
$CAP_FILE_SIZE,74932,0
$CFSIZE,254472192,236449792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,1,0
$GPS,311208,143538,6049.590,-533.979,26,1.7,26,-7.2