version: 66.04
glider: 5
mission: 5
dive: 257
start: 12 30 108 23 47 34
data:
$ID,5
$MISSION,5
$DIVE,257
$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,-92335.945
$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,30
$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
$GPS1,234008,6055.919,-540.679,30,1.1,30,-7.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-65.2
$GPS2,234715,6055.933,-540.524,15,1.2,15,-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,148.0,109900,-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,-146.6,0.0,0.0,0,97,0.00,0.00,-77.30,0.000,6,0.000,0.000,422,1978,3429
$GC,101,-0.97,-146.6,5.9,-6.8,4,117,10.70,2.62,0.00,0.000,4,0.135,0.061,2481,3416,3431
$GC,298,-0.78,-146.6,37.2,-11.5,12,303,0.22,2.53,0.00,0.000,6,0.083,0.051,2528,2005,3432
$GC,626,-0.68,-146.6,68.6,-10.0,28,631,0.10,2.55,0.00,0.000,4,0.094,0.067,2549,591,3432
$GC,654,-0.64,-146.6,71.6,-9.9,29,658,0.00,2.53,0.00,0.000,6,0.000,0.052,2549,2006,3432
$GC,970,-0.64,-146.6,100.2,-8.6,44,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2007,3432
$GC,1279,-0.64,-146.6,127.7,-8.8,59,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2020,3432
$GC,1589,-0.64,-146.6,151.7,-7.4,74,1593,0.00,2.62,0.00,0.000,4,0.000,0.070,2549,587,3432
$GC,1629,-0.64,-146.6,154.8,-8.2,76,1633,0.00,2.53,0.00,0.000,6,0.000,0.054,2549,2005,3432
$GC,1955,-0.64,-146.6,181.3,-8.2,92,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2005,3432
$GC,2265,-0.64,-146.6,203.1,-6.5,107,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2005,3432
$GC,2574,-0.64,-146.6,222.8,-6.4,122,2578,0.00,2.60,0.00,0.000,4,0.000,0.070,2549,589,3431
$GC,2601,-0.64,-146.6,224.7,-7.0,123,2606,0.00,2.50,0.00,0.000,6,0.000,0.053,2549,1993,3431
$GC,2922,-0.64,-146.6,247.4,-7.7,139,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1994,3432
$GC,3231,-0.64,-146.6,273.3,-8.8,154,3235,0.00,2.55,0.00,0.000,4,0.000,0.066,2549,3409,3432
$GC,3252,-0.64,-146.6,275.4,-9.4,155,3257,0.00,2.55,0.00,0.000,6,0.000,0.054,2549,1983,3431
$GC,3574,-0.64,-146.6,301.1,-7.6,171,3578,0.00,2.53,0.00,0.000,4,0.000,0.070,2549,584,3431
$GC,3613,-0.64,-146.6,304.5,-8.7,172,3619,0.00,2.50,0.00,0.000,6,0.000,0.054,2549,1992,3432
$GC,3929,-0.64,-146.6,329.6,-7.9,188,3933,0.00,2.58,0.00,0.000,4,0.000,0.073,2549,594,3432
$STATE,3959,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3959,begin apogee
$GC,3970,-0.33,0.0,332.4,8.2,189,4097,0.32,0.00,122.82,1.042,6,0.076,0.000,2622,2208,2832
$STATE,4098,end apogee,CONTROL_FINISHED_OK
$STATE,4098,begin climb
$GC,4101,0.97,146.6,337.7,0.0,196,4230,1.30,2.62,121.70,1.012,4,0.059,0.067,2908,3613,2233
$GC,4306,1.08,220.3,330.7,4.0,205,4375,0.12,2.55,61.45,0.986,6,0.055,0.055,2945,2195,1934
$GC,4686,1.04,220.3,304.8,7.4,224,4690,0.00,2.58,0.00,0.000,4,0.000,0.071,2945,792,1934
$GC,4776,0.98,220.3,297.3,7.7,228,4781,0.15,2.55,0.00,0.000,6,0.081,0.054,2914,2206,1934
$GC,5097,1.07,239.5,278.3,5.5,244,5120,0.00,2.72,17.33,0.947,4,0.000,0.067,2914,790,1855
$GC,5166,1.13,239.5,274.0,6.4,247,5171,0.15,2.53,0.00,0.000,6,0.051,0.055,2956,2183,1855
$GC,5494,1.07,239.5,247.3,8.6,263,5499,0.12,2.58,0.00,0.000,4,0.086,0.067,2930,798,1855
$GC,5516,1.07,239.5,245.3,8.0,264,5520,0.00,2.47,0.00,0.000,6,0.000,0.054,2931,2170,1855
$GC,5837,1.10,257.1,224.8,5.5,280,5857,0.00,0.00,16.23,0.929,6,0.000,0.000,2931,2169,1783
$GC,6166,1.12,270.7,207.2,5.6,296,6188,0.00,2.62,12.62,0.894,4,0.000,0.068,2931,793,1727
$GC,6227,1.12,270.7,203.2,6.9,298,6233,0.00,2.47,0.00,0.000,6,0.000,0.054,2930,2163,1728
$GC,6544,1.17,270.7,182.8,6.6,314,6549,0.10,2.55,0.00,0.000,4,0.058,0.068,2962,790,1728
$GC,6571,1.17,270.7,180.5,8.4,315,6575,0.00,2.42,0.00,0.000,6,0.000,0.054,2962,2143,1728
$GC,6887,1.13,270.7,153.9,8.7,330,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2143,1728
$GC,7197,1.13,270.7,126.2,8.7,345,7198,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2143,1728
$GC,7506,1.13,270.7,101.3,8.1,360,7510,0.00,2.47,0.00,0.000,4,0.000,0.069,2962,796,1728
$GC,7539,1.08,270.7,98.4,8.2,361,7547,0.12,2.42,0.00,0.000,6,0.083,0.054,2936,2148,1728
$GC,7857,1.08,270.7,78.2,6.1,377,7862,0.00,2.50,0.00,0.000,4,0.000,0.067,2936,788,1728
$GC,7885,1.08,270.7,76.0,7.2,378,7890,0.00,2.40,0.00,0.000,6,0.000,0.054,2936,2131,1728
$GC,8202,1.12,293.7,57.2,5.4,393,8227,0.00,2.53,19.75,0.836,4,0.000,0.067,2936,789,1634
$GC,8247,1.18,293.7,54.2,6.7,395,8251,0.00,2.40,0.00,0.000,6,0.000,0.053,2936,2119,1633
$GC,8575,1.23,293.7,34.2,6.2,411,8580,0.15,2.45,0.00,0.000,4,0.049,0.067,2979,795,1633
$GC,8597,1.23,293.7,32.4,7.7,412,8601,0.00,2.35,0.00,0.000,6,0.000,0.053,2978,2108,1634
$STATE,8917,end climb,SURFACE_DEPTH_REACHED
$STATE,8917,begin surface coast
$FINISH,0.5,1.014823
$STATE,8961,end surface coast,CONTROL_FINISHED_OK
$STATE,8961,begin surface
$SM_CCo,9044,0.00,0.000,0,0,1633,294.36
$SM_GC,1.47,11.20,0.00,0.00,0.040,0.000,0.000,423,2002,1633,-10.40,-0.34,294.36
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1797
$TCM_TEMP,16.70
$XPDR_PINGS,314
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,250.7,91.4
$24V_AH,23.9,44.949
$10V_AH,10.1,22.130
$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,24.775,86.475,371.900,0.000,0.000,75.518,71.940,112.960,80.500,0.000,0.000,15.495,818.793,6759.265,452.431,997.296,449.253,0.000,986.341,0.000,977.327,0.000,15.259,0.000
$DEVICE_MAMPS,134.992,72.865,1041.586,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,314.471,287.557,381.170,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22305,430
$CAP_FILE_SIZE,72366,0
$CFSIZE,254472192,236613632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,311208,021937,6054.874,-538.297,37,1.1,42,-7.2