version: 66.04
glider: 5
mission: 5
dive: 304
start: 1 10 109 16 0 3
data:
$ID,5
$MISSION,5
$DIVE,304
$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,-93334.133
$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,17
$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
$GPS1,155436,6019.252,-357.188,35,2.0,35,-6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-48.4
$GPS2,155944,6019.329,-356.983,13,1.9,13,-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,308.1,125106,-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,-146.6,0.0,0.0,0,139,0.00,0.00,-121.43,0.000,2,0.000,0.000,420,1987,3205
$GC,143,-0.97,-146.6,3.1,-2.4,6,165,10.27,2.53,-5.90,0.000,4,0.130,0.072,2406,585,3430
$GC,418,-0.50,-146.6,61.6,-23.2,18,423,0.50,2.53,0.00,0.000,6,0.087,0.050,2512,2002,3430
$GC,742,-0.34,-146.6,92.1,-8.5,34,747,0.17,2.60,0.00,0.000,4,0.084,0.061,2553,579,3430
$GC,837,-0.34,-146.6,99.2,-8.1,38,841,0.00,2.53,0.00,0.000,6,0.000,0.050,2553,2008,3430
$GC,1155,-0.34,-146.6,122.0,-8.8,53,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2009,3430
$GC,1463,-0.34,-146.6,144.8,-7.0,68,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2008,3430
$GC,1772,-0.34,-146.6,168.5,-6.8,83,1776,0.00,2.60,0.00,0.000,4,0.000,0.067,2553,584,3430
$GC,1844,-0.34,-146.6,174.2,-8.8,86,1849,0.00,2.53,0.00,0.000,6,0.000,0.051,2553,2011,3430
$GC,2161,-0.34,-146.6,198.8,-7.6,101,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2021,3430
$GC,2470,-0.34,-146.6,220.4,-7.7,116,2474,0.00,2.62,0.00,0.000,4,0.000,0.066,2553,580,3430
$GC,2509,-0.34,-146.6,223.9,-9.6,118,2513,0.00,2.50,0.00,0.000,6,0.000,0.051,2553,1998,3430
$GC,2836,-0.34,-146.6,249.7,-8.7,134,2840,0.00,2.53,0.00,0.000,4,0.000,0.062,2553,3411,3429
$GC,2876,-0.34,-146.6,253.2,-8.1,136,2880,0.00,2.53,0.00,0.000,6,0.000,0.050,2553,1987,3429
$GC,3202,-0.34,-146.6,278.4,-7.6,152,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1965,3429
$STATE,3364,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3365,begin apogee
$GC,3373,-0.33,0.0,289.8,6.8,160,3495,0.00,0.00,120.90,0.973,6,0.000,0.000,2553,2165,2832
$STATE,3496,end apogee,CONTROL_FINISHED_OK
$STATE,3496,begin climb
$GC,3499,0.97,146.6,299.0,0.0,166,3624,1.27,0.00,120.53,0.946,6,0.059,0.000,2833,2150,2234
$GC,3934,1.33,169.0,284.6,5.4,187,3959,0.32,2.67,19.50,0.890,4,0.051,0.063,2918,707,2142
$GC,4089,1.33,169.0,274.8,6.6,194,4094,0.00,2.50,0.00,0.000,6,0.000,0.049,2918,2113,2143
$GC,4417,1.37,169.0,256.5,6.4,210,4421,0.00,2.55,0.00,0.000,4,0.000,0.063,2919,3524,2143
$GC,4479,1.39,180.1,252.3,5.7,212,4495,0.00,2.53,10.62,0.836,6,0.000,0.051,2918,2115,2097
$GC,4811,1.49,243.5,232.2,4.3,229,4870,0.12,0.00,52.20,0.914,6,0.051,0.000,2957,2114,1839
$GC,5181,1.42,243.5,202.4,9.8,247,5183,0.12,0.00,0.00,0.000,6,0.083,0.000,2931,2114,1839
$GC,5489,1.42,243.5,184.5,7.5,262,5493,0.00,2.58,0.00,0.000,4,0.000,0.061,2931,3524,1839
$GC,5551,1.51,302.2,182.1,4.4,265,5607,0.08,2.50,48.45,0.887,6,0.061,0.049,2958,2123,1600
$GC,5924,1.51,302.2,145.5,9.9,283,5928,0.00,2.53,0.00,0.000,4,0.000,0.064,2958,717,1600
$GC,5951,1.51,302.2,143.2,7.6,284,5956,0.00,2.50,0.00,0.000,6,0.000,0.049,2958,2126,1600
$GC,6270,1.79,477.0,133.4,1.2,299,6414,0.25,0.00,140.25,0.854,6,0.043,0.000,3024,2145,887
$GC,6722,1.72,477.0,96.0,9.2,321,6723,0.12,0.00,0.00,0.000,6,0.082,0.000,3000,2138,888
$GC,7027,1.72,477.0,57.4,14.3,336,7032,0.00,2.60,0.00,0.000,4,0.000,0.066,3000,718,888
$GC,7078,1.72,477.0,50.0,13.6,338,7082,0.00,2.47,0.00,0.000,6,0.000,0.049,3000,2115,888
$GC,7399,1.72,477.0,14.3,8.0,354,7404,0.00,2.58,0.00,0.000,4,0.000,0.063,3000,714,889
$GC,7450,1.72,477.0,7.1,12.1,356,7455,0.00,2.45,0.00,0.000,6,0.000,0.048,3000,2096,889
$STATE,7475,end climb,SURFACE_DEPTH_REACHED
$STATE,7475,begin surface coast
$FINISH,0.8,1.027321
$STATE,7497,end surface coast,CONTROL_FINISHED_OK
$STATE,7497,begin surface
$SM_CCo,7581,0.00,0.000,0,0,889,476.62
$SM_GC,0.99,11.25,0.00,0.00,0.038,0.000,0.000,420,2001,889,-10.05,0.00,476.62
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1815
$TCM_TEMP,16.40
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,225.6,73.5
$24V_AH,24.0,52.958
$10V_AH,10.1,26.158
$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,24.500,56.450,512.450,0.000,0.000,37.757,26.993,139.975,4.500,0.000,0.000,13.014,685.089,5358.625,607.560,874.374,371.184,0.000,1080.858,0.000,858.560,0.000,12.274,0.000
$DEVICE_MAMPS,129.623,116.584,972.556,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,264.347,238.435,328.897,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16035,358
$CAP_FILE_SIZE,59927,0
$CFSIZE,254472192,233619456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,100109,180756,6020.948,-354.548,36,3.5,55,-6.2