version: 66.04
glider: 5
mission: 5
dive: 308
start: 1 11 109 2 15 50
data:
$ID,5
$MISSION,5
$DIVE,308
$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,-93451.078
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2625
$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,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,34
$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,0
$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,6
$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
$GPS1,020806,6025.794,-347.113,34,1.5,34,-6.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-53.7
$GPS2,021532,6025.808,-346.956,15,1.5,33,-6.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$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,301.2,127317,-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,-146.6,0.0,0.0,0,137,0.00,0.00,-117.55,0.000,6,0.000,0.000,421,1967,3431
$GC,140,-0.97,-146.6,6.1,-5.8,6,156,10.38,2.47,0.00,0.000,4,0.136,0.059,2407,601,3431
$GC,311,-0.57,-146.6,47.9,-16.3,12,318,0.45,2.50,0.00,0.000,6,0.087,0.051,2501,2000,3431
$GC,630,-0.39,-146.6,86.0,-11.4,28,635,0.17,2.58,0.00,0.000,4,0.089,0.063,2542,594,3431
$GC,720,-0.34,-146.6,94.6,-7.6,32,724,0.00,2.47,0.00,0.000,6,0.000,0.049,2543,1999,3431
$GC,1041,-0.28,-146.6,121.9,-8.3,48,1043,0.10,0.00,0.00,0.000,6,0.094,0.000,2563,2001,3431
$GC,1350,-0.28,-146.6,144.8,-8.0,63,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2012,3431
$GC,1660,-0.32,-146.6,170.4,-10.3,78,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2007,3431
$GC,1968,-0.32,-146.6,197.6,-6.8,93,1973,0.00,2.55,0.00,0.000,4,0.000,0.064,2563,602,3431
$GC,2010,-0.32,-146.6,200.1,-5.9,95,2014,0.00,2.45,0.00,0.000,6,0.000,0.051,2563,1989,3430
$GC,2338,-0.32,-146.6,226.1,-9.1,111,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1989,3431
$GC,2646,-0.32,-146.6,252.1,-6.9,126,2650,0.00,2.55,0.00,0.000,4,0.000,0.065,2563,593,3431
$GC,2701,-0.32,-146.6,256.9,-9.6,128,2707,0.00,2.45,0.00,0.000,6,0.000,0.051,2563,1981,3431
$GC,3017,-0.32,-146.6,283.6,-11.7,144,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2001,3431
$GC,3325,-0.32,-146.6,311.6,-9.3,159,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1990,3430
$GC,3636,-0.32,-146.6,329.0,-4.6,174,3640,0.00,2.55,0.00,0.000,4,0.000,0.064,2563,3402,3430
$GC,3686,-0.32,-146.6,332.1,-5.4,176,3690,0.00,2.55,0.00,0.000,6,0.000,0.051,2563,1967,3430
$GC,4002,-0.32,-146.6,353.4,-5.6,191,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1953,3430
$GC,4312,-0.32,-146.6,375.5,-8.2,206,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1944,3430
$GC,4620,-0.32,-146.6,398.6,-6.2,221,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1954,3430
$GC,4930,-0.32,-146.6,419.8,-6.7,236,4931,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1954,3430
$STATE,4947,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4947,begin apogee
$GC,4955,-0.33,0.0,421.5,6.5,237,5080,0.00,0.00,123.22,1.066,6,0.000,0.000,2563,2125,2832
$STATE,5081,end apogee,CONTROL_FINISHED_OK
$STATE,5081,begin climb
$GC,5084,0.97,146.6,428.5,0.0,243,5212,1.27,0.00,122.62,1.036,6,0.071,0.000,2833,2125,2233
$GC,5524,1.53,285.5,418.8,2.2,265,5649,0.50,2.65,114.97,1.019,4,0.046,0.064,2960,727,1667
$GC,5733,1.53,285.5,402.5,7.7,274,5739,0.00,2.50,0.00,0.000,6,0.000,0.050,2960,2125,1668
$GC,6048,1.53,285.5,370.1,12.3,290,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2125,1669
$GC,6358,1.53,285.5,331.5,10.7,305,6363,0.00,2.58,0.00,0.000,4,0.000,0.064,2960,715,1669
$GC,6386,1.53,285.5,328.6,10.5,306,6390,0.00,2.50,0.00,0.000,6,0.000,0.051,2960,2120,1669
$GC,6703,1.56,307.2,309.2,5.4,321,6727,0.00,2.60,19.67,0.930,4,0.000,0.061,2960,3525,1579
$GC,6762,1.56,307.2,304.3,8.8,323,6768,0.00,2.55,0.00,0.000,6,0.000,0.052,2960,2116,1579
$GC,7078,1.56,307.2,282.2,9.0,339,7079,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2116,1579
$GC,7387,1.56,307.2,254.1,10.9,354,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2116,1579
$GC,7699,1.66,365.0,231.8,4.4,369,7749,0.10,0.00,47.97,0.928,6,0.054,0.000,2992,2116,1343
$GC,8046,1.59,365.0,204.8,8.2,386,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2116,1343
$GC,8356,1.53,365.0,179.3,8.3,401,8358,0.17,0.00,0.00,0.000,6,0.076,0.000,2956,2115,1342
$GC,8664,1.58,365.0,150.6,9.7,416,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2115,1343
$GC,8974,1.62,365.0,123.9,7.7,431,8977,0.00,2.53,0.00,0.000,4,0.000,0.064,2956,706,1343
$GC,9008,1.67,365.0,121.3,8.0,432,9013,0.15,2.53,0.00,0.000,6,0.049,0.051,3000,2126,1343
$GC,9324,1.60,365.0,93.5,7.7,447,9326,0.12,0.00,0.00,0.000,6,0.084,0.000,2975,2131,1343
$GC,9633,1.60,365.0,64.0,9.0,462,9635,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2141,1343
$GC,9943,1.60,365.0,36.7,6.7,477,9948,0.00,2.60,0.00,0.000,4,0.000,0.065,2975,713,1343
$GC,9984,1.56,365.0,34.4,6.0,479,9989,0.00,2.50,0.00,0.000,6,0.000,0.050,2975,2131,1343
$GC,10311,1.56,365.0,13.5,8.5,495,10312,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2150,1343
$STATE,10452,end climb,SURFACE_DEPTH_REACHED
$STATE,10453,begin surface coast
$FINISH,0.7,1.027320
$STATE,10495,end surface coast,CONTROL_FINISHED_OK
$STATE,10495,begin surface
$SM_CCo,10578,0.00,0.000,0,0,1342,365.50
$SM_GC,0.88,11.02,0.00,0.00,0.035,0.000,0.000,418,1987,1342,-10.05,-0.34,365.50
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1809
$TCM_TEMP,17.50
$XPDR_PINGS,41
$ALTIM_BOTTOM_PING,351.2,78.9
$24V_AH,23.9,53.528
$10V_AH,10.1,26.362
$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,24.450,51.175,428.475,0.000,0.000,75.523,62.200,119.179,13.000,0.000,0.000,33.696,899.549,8080.000,539.406,1056.989,451.988,0.000,1073.081,0.000,1019.796,0.000,20.239,0.000
$DEVICE_MAMPS,135.759,65.195,1066.130,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,372.056,337.230,384.816,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25412,504
$CAP_FILE_SIZE,71584,0
$CFSIZE,254472192,233451520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,110109,051325,6027.207,-348.052,40,1.4,40,-6.2