version: 66.04
glider: 5
mission: 5
dive: 27
start: 11 10 108 16 44 27
data:
$ID,5
$MISSION,5
$DIVE,27
$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,-87734.297
$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,22
$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
$GPS1,163853,6242.448,-603.476,10,3.2,30,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-61.4
$GPS2,164337,6242.431,-603.417,32,1.3,32,-8.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.261,-0.039
$KALMAN_X,63325.6,-1694.2,-1388.1,-59624.9,36145.5
$KALMAN_Y,-22802.4,-776.5,-47.9,-83491.8,4691.0
$MHEAD_RNG_PITCHd_Wd,106.4,92220,-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,13,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,99,0.00,0.00,-81.00,0.000,2,0.000,0.000,425,1959,3408
$GC,102,-1.44,-146.6,4.5,-5.3,4,119,10.12,2.47,-0.52,0.000,4,0.140,0.076,2377,604,3430
$GC,204,-1.22,-146.6,31.0,-20.4,7,211,0.28,2.50,0.00,0.000,6,0.096,0.051,2430,2001,3431
$GC,520,-1.15,-146.6,80.4,-13.2,23,525,0.00,2.58,0.00,0.000,4,0.000,0.065,2431,600,3431
$GC,599,-1.09,-146.6,91.5,-13.1,26,606,0.15,2.45,0.00,0.000,6,0.098,0.051,2460,1984,3431
$GC,915,-1.09,-146.6,128.6,-12.1,42,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1984,3431
$GC,1224,-1.09,-146.6,164.5,-11.4,57,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1984,3431
$GC,1533,-1.09,-146.6,199.9,-11.6,72,1538,0.00,2.53,0.00,0.000,4,0.000,0.067,2460,602,3430
$GC,1566,-1.09,-146.6,204.0,-12.1,73,1570,0.00,2.45,0.00,0.000,6,0.000,0.052,2460,1979,3430
$GC,1881,-1.09,-146.6,240.8,-11.4,88,1886,0.00,2.53,0.00,0.000,4,0.000,0.067,2460,594,3431
$GC,1960,-1.09,-146.6,250.2,-11.5,91,1966,0.00,2.42,0.00,0.000,6,0.000,0.052,2460,1960,3431
$GC,2276,-1.09,-146.6,285.5,-10.9,107,2280,0.00,2.47,0.00,0.000,4,0.000,0.068,2460,604,3431
$GC,2325,-1.09,-146.6,291.5,-11.5,109,2330,0.00,2.42,0.00,0.000,6,0.000,0.053,2460,1958,3430
$GC,2642,-1.36,-146.6,324.3,-8.4,124,2647,0.22,2.60,0.00,0.000,4,0.047,0.067,2399,3407,3430
$GC,2901,-1.93,-146.6,324.3,-0.0,135,2909,0.55,2.47,0.00,0.000,6,0.050,0.055,2271,2023,3431
$STATE,2967,end dive,NO_VERTICAL_VELOCITY
$STATE,2967,begin apogee
$GC,2974,-0.33,0.0,324.2,0.0,139,3095,1.60,0.00,116.82,1.026,6,0.054,0.000,2628,2257,2832
$STATE,3096,end apogee,CONTROL_FINISHED_OK
$STATE,3096,begin climb
$GC,3099,1.44,146.6,324.2,0.0,145,3224,1.73,2.67,115.38,0.992,4,0.053,0.063,3015,845,2234
$GC,3479,1.48,168.8,295.8,9.0,162,3504,0.00,2.53,19.05,0.917,6,0.000,0.052,3015,2243,2141
$GC,3827,1.49,177.2,261.8,9.6,179,3841,0.00,2.62,8.10,0.821,4,0.000,0.064,3015,848,2108
$GC,3916,1.49,177.2,251.6,11.6,183,3920,0.00,2.53,0.00,0.000,6,0.000,0.054,3015,2246,2109
$GC,4242,1.49,177.2,215.6,11.3,199,4246,0.00,2.58,0.00,0.000,4,0.000,0.064,3015,844,2108
$GC,4309,1.49,177.2,207.6,11.8,202,4313,0.00,2.45,0.00,0.000,6,0.000,0.053,3015,2213,2108
$GC,4636,1.50,181.8,174.7,9.8,218,4643,0.00,0.00,5.45,0.716,6,0.000,0.000,3015,2213,2089
$GC,4945,1.51,190.0,144.6,9.6,233,4959,0.00,2.58,8.02,0.786,4,0.000,0.064,3015,845,2057
$GC,4978,1.51,190.0,141.1,10.5,234,4982,0.00,2.45,0.00,0.000,6,0.000,0.053,3015,2202,2057
$GC,5294,1.58,234.2,111.7,8.0,249,5337,0.12,2.70,35.25,0.869,4,0.054,0.066,3050,3655,1876
$GC,5349,1.54,234.2,104.1,15.1,251,5354,0.00,2.62,0.00,0.000,6,0.000,0.052,3050,2206,1876
$GC,5666,1.49,234.2,64.8,11.7,266,5671,0.15,2.67,0.00,0.000,4,0.099,0.064,3023,3660,1876
$GC,5688,1.49,234.2,61.3,14.8,267,5692,0.00,2.60,0.00,0.000,6,0.000,0.051,3023,2209,1876
$GC,6010,1.56,234.2,21.4,13.1,283,6014,0.00,2.45,0.00,0.000,4,0.000,0.064,3023,844,1876
$GC,6054,1.56,234.2,15.9,12.7,285,6058,0.00,2.45,0.00,0.000,6,0.000,0.052,3023,2215,1876
$STATE,6167,end climb,SURFACE_DEPTH_REACHED
$STATE,6167,begin surface coast
$FINISH,0.6,1.027306
$STATE,6188,end surface coast,CONTROL_FINISHED_OK
$STATE,6188,begin surface
$SM_CCo,6211,8.43,0.723,0,0,1812,250.21
$SM_GC,2.33,0.00,0.00,8.43,0.000,0.000,0.723,424,1979,1812,-10.47,-0.59,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1767
$TCM_TEMP,17.20
$XPDR_PINGS,167
$ALTIM_TOP_PING,20.0,20.2
$24V_AH,24.0,7.129
$10V_AH,10.1,3.235
$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,26.200,66.600,308.075,8.425,0.000,39.295,27.686,104.353,44.000,0.000,0.000,32.161,607.415,4373.509,399.826,823.172,312.771,33.342,837.129,0.000,787.964,0.000,15.350,0.000
$DEVICE_MAMPS,140.361,75.933,1026.246,723.281,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,213.956,195.264,254.207,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12851,292
$CAP_FILE_SIZE,57934,0
$CFSIZE,254472192,250839040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,101108,182925,6242.202,-559.613,39,1.1,40,-8.0