version: 66.04
glider: 5
mission: 5
dive: 303
start: 1 10 109 13 57 19
data:
$ID,5
$MISSION,5
$DIVE,303
$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,-93320.492
$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,25
$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,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
$GPS1,134828,6017.656,-358.003,45,1.2,46,-6.2
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-48.4
$GPS2,135701,6017.769,-357.742,35,1.3,35,-6.2
$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,309.4,126083,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-80.72,0.000,2,0.000,0.000,424,1984,3030
$GC,102,-0.97,-146.6,3.6,-4.2,4,129,10.32,2.55,-10.32,0.000,4,0.135,0.072,2407,587,3431
$GC,277,-0.51,-146.6,36.2,-19.2,12,282,0.50,2.53,0.00,0.000,6,0.089,0.049,2511,2008,3431
$GC,606,-0.39,-146.6,83.1,-11.1,28,608,0.15,0.00,0.00,0.000,6,0.086,0.000,2543,2012,3431
$GC,915,-0.32,-146.6,96.3,-4.8,43,919,0.00,2.60,0.00,0.000,4,0.000,0.062,2543,583,3431
$GC,1033,-0.25,-146.6,104.3,-8.4,48,1038,0.12,2.50,0.00,0.000,6,0.087,0.050,2570,1991,3431
$GC,1350,-0.25,-146.6,126.0,-7.1,63,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2010,3431
$GC,1659,-0.25,-146.6,146.1,-8.3,78,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2004,3431
$GC,1968,-0.25,-146.6,171.7,-8.8,93,1972,0.00,2.53,0.00,0.000,4,0.000,0.061,2570,3404,3431
$GC,1990,-0.25,-146.6,173.4,-7.0,94,1994,0.00,2.50,0.00,0.000,6,0.000,0.049,2570,1994,3431
$GC,2311,-0.29,-146.6,199.2,-7.5,110,2315,0.00,2.50,0.00,0.000,4,0.000,0.064,2570,588,3431
$GC,2369,-0.34,-146.6,204.2,-8.8,112,2375,0.00,2.47,0.00,0.000,6,0.000,0.049,2570,1986,3431
$GC,2684,-0.34,-146.6,225.4,-7.7,128,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2008,3431
$GC,2994,-0.34,-146.6,246.9,-5.2,143,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2006,3431
$STATE,3094,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3094,begin apogee
$GC,3102,-0.33,0.0,254.2,6.9,148,3225,0.00,0.00,120.93,0.950,6,0.000,0.000,2570,2128,2832
$STATE,3226,end apogee,CONTROL_FINISHED_OK
$STATE,3226,begin climb
$GC,3229,0.97,146.6,262.6,0.0,154,3353,1.23,0.00,120.40,0.920,6,0.069,0.000,2831,2128,2234
$GC,3665,1.41,227.6,249.7,3.8,175,3735,0.43,0.00,66.53,0.902,6,0.047,0.000,2942,2128,1903
$GC,4041,1.41,227.6,225.5,6.6,193,4046,0.00,2.60,0.00,0.000,4,0.000,0.065,2942,716,1904
$GC,4108,1.43,239.0,221.2,5.7,196,4125,0.00,2.50,10.85,0.808,6,0.000,0.050,2942,2121,1857
$GC,4435,1.46,260.6,205.2,5.4,212,4460,0.00,2.60,19.00,0.861,4,0.000,0.061,2942,3522,1769
$GC,4495,1.46,260.6,201.8,6.5,214,4501,0.00,2.55,0.00,0.000,6,0.000,0.051,2942,2108,1769
$GC,4811,1.64,370.8,190.4,3.0,230,4911,0.17,2.65,89.03,0.888,4,0.048,0.058,2991,3529,1320
$GC,4923,1.58,370.8,181.5,10.2,235,4928,0.10,2.55,0.00,0.000,6,0.084,0.053,2971,2129,1321
$GC,5239,1.58,370.8,153.3,6.9,250,5243,0.00,2.55,0.00,0.000,4,0.000,0.065,2971,716,1322
$GC,5267,1.58,371.5,151.7,6.0,251,5271,0.00,2.53,0.00,0.000,6,0.000,0.049,2971,2133,1322
$GC,5583,1.58,371.5,123.5,8.4,266,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2134,1322
$GC,5894,1.78,491.7,107.3,2.7,281,6000,0.17,2.67,98.15,0.838,4,0.046,0.064,3024,717,826
$GC,6032,1.69,491.7,90.5,15.0,287,6037,0.15,2.55,0.00,0.000,6,0.080,0.050,2994,2137,826
$GC,6353,1.69,491.7,63.6,7.3,303,6358,0.00,2.62,0.00,0.000,4,0.000,0.064,2993,715,826
$GC,6381,1.69,491.7,60.8,9.8,304,6386,0.00,2.53,0.00,0.000,6,0.000,0.050,2993,2128,827
$GC,6698,1.69,491.7,18.4,14.8,319,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2148,827
$STATE,6839,end climb,SURFACE_DEPTH_REACHED
$STATE,6839,begin surface coast
$FINISH,0.9,1.027308
$STATE,6882,end surface coast,CONTROL_FINISHED_OK
$STATE,6882,begin surface
$SM_CCo,6966,0.00,0.000,0,0,826,492.07
$SM_GC,0.74,11.20,0.00,0.00,0.037,0.000,0.000,420,1998,826,-10.04,-0.06,492.07
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1802
$TCM_TEMP,17.50
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,175.5,87.9
$24V_AH,24.0,52.815
$10V_AH,10.1,26.114
$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,24.550,51.550,524.875,0.000,0.000,75.516,59.196,196.203,4.250,0.000,0.000,35.841,619.168,5008.841,573.147,800.172,487.841,0.000,1009.724,0.000,763.174,0.000,9.427,0.000
$DEVICE_MAMPS,134.992,78.234,950.313,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,241.704,218.032,328.840,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16003,328
$CAP_FILE_SIZE,57965,0
$CFSIZE,254472192,233652224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,100109,155436,6019.252,-357.188,35,2.0,35,-6.2