version: 66.04
glider: 5
mission: 5
dive: 350
start: 1 20 109 10 30 2
data:
$ID,5
$MISSION,5
$DIVE,350
$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,-94287.414
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,102206,6054.549,-545.908,26,1.1,26,-7.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-67.0
$GPS2,102943,6054.547,-546.009,12,2.0,12,-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,145.2,111252,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.95,0.000,2,0.000,0.000,421,1986,3407
$GC,123,-0.97,-146.6,4.5,-4.2,5,145,11.02,2.60,-0.52,0.000,4,0.137,0.074,2525,585,3433
$GC,215,-0.87,-146.6,22.3,-8.7,9,220,0.12,2.53,0.00,0.000,6,0.091,0.053,2552,1998,3433
$GC,542,-0.87,-146.6,43.7,-7.3,25,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1999,3433
$GC,852,-0.87,-146.6,69.9,-9.3,40,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1999,3433
$GC,1160,-0.87,-146.6,98.9,-10.0,55,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1999,3434
$GC,1472,-0.87,-146.6,120.2,-5.9,70,1476,0.00,2.58,0.00,0.000,4,0.000,0.065,2552,588,3433
$GC,1495,-0.87,-146.6,121.9,-6.2,71,1499,0.00,2.53,0.00,0.000,6,0.000,0.053,2552,2004,3433
$GC,1818,-0.87,-146.6,144.6,-7.2,87,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2005,3433
$GC,2125,-0.87,-146.6,170.9,-8.4,102,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2005,3433
$GC,2435,-0.87,-146.6,195.4,-7.8,117,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2005,3433
$GC,2744,-0.87,-146.6,217.6,-7.1,132,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2005,3433
$GC,3053,-0.87,-146.6,242.6,-8.6,147,3057,0.00,2.53,0.00,0.000,4,0.000,0.065,2552,3412,3433
$GC,3126,-0.87,-146.6,249.9,-10.7,150,3131,0.00,2.55,0.00,0.000,6,0.000,0.054,2552,1992,3433
$GC,3447,-0.87,-146.6,278.0,-8.2,166,3452,0.00,2.58,0.00,0.000,4,0.000,0.064,2552,3405,3433
$GC,3520,-0.87,-146.6,284.8,-9.1,169,3525,0.00,2.50,0.00,0.000,6,0.000,0.052,2552,2003,3433
$GC,3837,-0.87,-146.6,310.8,-7.5,184,3841,0.00,2.58,0.00,0.000,4,0.000,0.065,2552,3412,3433
$GC,3881,-0.87,-146.6,314.5,-7.9,186,3885,0.00,2.50,0.00,0.000,6,0.000,0.054,2552,2017,3433
$STATE,4076,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4076,begin apogee
$GC,4084,-0.33,0.0,328.9,7.2,196,4212,0.55,0.00,125.28,1.027,6,0.073,0.000,2669,2129,2832
$STATE,4213,end apogee,CONTROL_FINISHED_OK
$STATE,4213,begin climb
$GC,4216,0.97,146.6,333.5,0.0,202,4348,1.27,2.70,123.62,0.995,4,0.058,0.069,2951,725,2233
$GC,4373,0.82,146.6,329.6,6.1,210,4378,0.15,2.55,0.00,0.000,6,0.085,0.054,2922,2128,2234
$GC,4696,0.82,146.6,310.3,6.9,226,4700,0.00,2.62,0.00,0.000,4,0.000,0.071,2922,718,2233
$GC,4729,0.82,146.6,307.7,7.3,227,4735,0.00,2.50,0.00,0.000,6,0.000,0.055,2922,2102,2233
$GC,5045,0.88,181.1,290.5,5.1,243,5077,0.00,0.00,29.88,0.971,6,0.000,0.000,2922,2102,2093
$GC,5374,0.94,223.0,273.7,4.9,259,5415,0.12,0.00,36.45,0.976,6,0.057,0.000,2957,2102,1922
$GC,5724,0.88,223.0,251.0,6.4,276,5728,0.00,2.58,0.00,0.000,4,0.000,0.071,2957,719,1921
$GC,5752,0.80,223.0,249.0,7.9,277,5758,0.20,2.53,0.00,0.000,6,0.080,0.056,2916,2114,1921
$GC,6069,0.86,223.0,230.6,6.1,292,6073,0.00,2.58,0.00,0.000,4,0.000,0.070,2916,720,1921
$GC,6102,0.91,223.0,228.5,6.7,293,6109,0.12,2.47,0.00,0.000,6,0.055,0.054,2951,2095,1921
$GC,6419,0.87,223.0,204.6,7.7,309,6423,0.00,2.55,0.00,0.000,4,0.000,0.069,2951,711,1921
$GC,6446,0.81,223.0,202.2,8.1,310,6451,0.15,2.47,0.00,0.000,6,0.086,0.054,2921,2084,1921
$GC,6763,0.91,249.2,184.3,5.3,325,6788,0.00,0.00,22.75,0.923,6,0.000,0.000,2921,2084,1816
$GC,7092,0.98,249.2,164.1,6.8,341,7097,0.17,2.55,0.00,0.000,4,0.050,0.068,2975,718,1816
$GC,7114,0.94,249.2,162.0,8.7,342,7119,0.12,2.45,0.00,0.000,6,0.084,0.054,2949,2079,1816
$GC,7436,0.94,249.2,137.0,7.4,358,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2079,1816
$GC,7745,0.94,249.2,115.4,7.3,373,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2079,1816
$GC,8054,0.94,249.2,92.4,7.9,388,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2080,1816
$GC,8364,0.94,249.2,69.5,8.3,403,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2080,1816
$GC,8672,0.94,249.2,48.9,6.0,418,8677,0.00,2.53,0.00,0.000,4,0.000,0.070,2949,713,1816
$GC,8694,0.94,249.2,47.1,7.5,419,8699,0.00,2.45,0.00,0.000,6,0.000,0.053,2949,2083,1816
$GC,9017,0.94,249.2,24.5,8.2,435,9022,0.00,2.60,0.00,0.000,4,0.000,0.064,2949,3527,1816
$GC,9040,0.94,249.2,22.5,8.4,436,9044,0.00,2.60,0.00,0.000,6,0.000,0.052,2949,2075,1817
$STATE,9275,end climb,SURFACE_DEPTH_REACHED
$STATE,9275,begin surface coast
$FINISH,0.8,1.027460
$STATE,9318,end surface coast,CONTROL_FINISHED_OK
$STATE,9318,begin surface
$SM_CCo,9341,1.20,0.143,0,0,1812,250.21
$SM_GC,1.91,0.00,0.00,1.20,0.000,0.000,0.143,423,1976,1812,-10.68,-0.71,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1823
$TCM_TEMP,15.60
$XPDR_PINGS,56
$ALTIM_BOTTOM_PING,276.2,62.5
$24V_AH,23.9,60.552
$10V_AH,10.1,29.848
$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,25.075,66.500,337.975,1.200,0.000,75.515,54.867,149.886,16.000,0.000,0.000,12.950,829.639,7103.433,470.373,928.725,477.091,0.000,940.277,0.000,916.467,0.000,15.726,0.000
$DEVICE_MAMPS,136.526,73.632,1027.013,143.429,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,328.535,301.500,415.378,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22210,450
$CAP_FILE_SIZE,69952,0
$CFSIZE,254472192,230944768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,200109,130706,6053.787,-545.078,40,0.8,40,-7.3