version: 66.04
glider: 5
mission: 5
dive: 305
start: 1 10 109 18 13 25
data:
$ID,5
$MISSION,5
$DIVE,305
$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,-93368.594
$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,7
$R_STBD_OVSHOOT,28
$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
$GPS1,180756,6020.948,-354.548,36,3.5,55,-6.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-52.1
$GPS2,181307,6021.021,-354.250,16,1.7,33,-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,306.3,125604,-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,-146.6,0.0,0.0,0,138,0.00,0.00,-120.75,0.000,2,0.000,0.000,420,1998,3329
$GC,142,-0.97,-146.6,3.8,-3.5,6,164,10.35,2.60,-2.53,0.000,4,0.135,0.071,2406,579,3431
$GC,416,-0.53,-146.6,65.6,-19.3,18,422,0.47,2.53,0.00,0.000,6,0.088,0.049,2506,2006,3431
$GC,740,-0.38,-146.6,103.8,-12.2,34,745,0.17,2.62,0.00,0.000,4,0.086,0.062,2548,573,3431
$GC,864,-0.34,-146.6,116.0,-8.6,39,871,0.00,2.50,0.00,0.000,6,0.000,0.049,2548,1992,3432
$GC,1181,-0.29,-146.6,145.6,-8.2,55,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2000,3431
$GC,1491,-0.24,-146.6,165.3,-7.3,70,1495,0.12,2.60,0.00,0.000,4,0.087,0.064,2575,574,3431
$GC,1519,-0.28,-146.6,166.9,-4.4,71,1524,0.00,2.47,0.00,0.000,6,0.000,0.051,2574,1974,3431
$GC,1836,-0.28,-146.6,198.2,-11.3,86,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1979,3431
$GC,2146,-0.33,-146.6,230.9,-9.6,101,2150,0.00,2.58,0.00,0.000,4,0.000,0.065,2575,570,3431
$GC,2202,-0.38,-146.6,234.4,-6.0,103,2209,0.15,2.45,0.00,0.000,6,0.051,0.050,2531,1960,3431
$GC,2521,-0.31,-146.6,259.5,-8.9,119,2526,0.12,2.58,0.00,0.000,4,0.089,0.061,2557,3401,3431
$GC,2554,-0.31,-146.6,262.6,-8.4,120,2562,0.00,2.60,0.00,0.000,6,0.000,0.052,2557,1933,3431
$GC,2870,-0.31,-146.6,287.9,-8.0,136,2875,0.00,2.65,0.00,0.000,4,0.000,0.061,2557,3401,3431
$GC,2893,-0.31,-146.6,289.9,-8.8,137,2897,0.00,2.60,0.00,0.000,6,0.000,0.052,2557,1941,3431
$GC,3214,-0.31,-146.6,313.9,-7.2,153,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1927,3431
$STATE,3273,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3273,begin apogee
$GC,3281,-0.33,0.0,318.3,7.2,156,3404,0.00,0.00,121.50,0.992,6,0.000,0.000,2557,2141,2832
$STATE,3405,end apogee,CONTROL_FINISHED_OK
$STATE,3405,begin climb
$GC,3408,0.97,146.6,328.6,0.0,162,3533,1.30,0.00,120.32,0.965,6,0.072,0.000,2832,2140,2234
$GC,3841,1.29,153.3,312.9,5.8,183,3856,0.30,2.67,7.10,0.779,4,0.049,0.061,2913,702,2207
$GC,3994,1.29,153.3,307.2,6.1,189,4000,0.00,2.53,0.00,0.000,6,0.000,0.048,2913,2129,2207
$GC,4310,1.56,321.9,292.9,1.4,205,4453,0.20,0.00,137.55,0.949,6,0.045,0.000,2975,2140,1519
$GC,4762,1.52,321.9,256.3,8.1,227,4767,0.00,2.62,0.00,0.000,4,0.000,0.065,2976,701,1521
$GC,4790,1.52,321.9,254.3,7.3,228,4794,0.00,2.53,0.00,0.000,6,0.000,0.050,2975,2120,1521
$GC,5105,1.52,321.9,228.6,10.3,243,5110,0.00,2.55,0.00,0.000,4,0.000,0.062,2976,3526,1521
$GC,5130,1.52,321.9,226.1,10.9,244,5134,0.00,2.58,0.00,0.000,6,0.000,0.052,2975,2097,1521
$GC,5450,1.52,321.9,192.2,9.9,260,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2097,1521
$GC,5760,1.48,321.9,161.0,7.8,275,5765,0.15,2.62,0.00,0.000,4,0.079,0.060,2945,3524,1521
$GC,5788,1.48,321.9,158.8,8.0,276,5793,0.00,2.53,0.00,0.000,6,0.000,0.050,2945,2112,1521
$GC,6105,1.51,345.7,143.0,5.3,291,6131,0.00,2.55,21.27,0.841,4,0.000,0.064,2945,713,1421
$GC,6177,1.75,444.6,139.3,3.3,294,6265,0.28,2.53,79.93,0.858,6,0.039,0.048,3017,2148,1018
$GC,6582,1.68,444.6,93.9,15.3,314,6587,0.15,2.62,0.00,0.000,4,0.080,0.066,2986,715,1020
$GC,6603,1.68,444.6,90.5,14.8,315,6608,0.00,2.50,0.00,0.000,6,0.000,0.050,2986,2117,1019
$GC,6926,1.68,444.6,47.4,14.6,331,6930,0.00,2.58,0.00,0.000,4,0.000,0.064,2986,718,1019
$GC,6958,1.68,444.6,42.7,14.0,332,6965,0.00,2.50,0.00,0.000,6,0.000,0.050,2986,2129,1019
$GC,7275,1.68,444.6,6.4,10.9,348,7279,0.00,2.60,0.00,0.000,4,0.000,0.063,2986,712,1020
$STATE,7289,end climb,SURFACE_DEPTH_REACHED
$STATE,7289,begin surface coast
$FINISH,3.8,1.027320
$STATE,7294,end surface coast,CONTROL_FINISHED_OK
$STATE,7294,begin surface
$SM_CCo,7380,0.00,0.000,0,0,1018,444.97
$SM_GC,1.06,11.30,0.00,0.00,0.043,0.000,0.000,427,2029,1018,-10.04,0.88,444.97
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1801
$TCM_TEMP,19.30
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,250.4,77.8
$24V_AH,24.0,53.097
$10V_AH,10.1,26.202
$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,25.075,71.975,487.675,0.000,0.000,37.760,26.679,122.782,5.500,0.000,0.000,33.837,669.955,5195.696,581.930,890.449,359.447,0.000,1073.652,0.000,851.103,0.000,13.874,0.000
$DEVICE_MAMPS,134.992,70.564,991.731,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,252.707,232.128,292.675,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16011,349
$CAP_FILE_SIZE,63359,0
$CFSIZE,254472192,233582592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,100109,201806,6022.703,-350.519,64,1.5,64,-6.2