version: 66.04
glider: 5
mission: 5
dive: 306
start: 1 10 109 20 23 21
data:
$ID,5
$MISSION,5
$DIVE,306
$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,-93384.297
$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,26
$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
$GPS1,201806,6022.703,-350.519,64,1.5,64,-6.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-44.0
$GPS2,202302,6022.744,-350.230,15,1.8,15,-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,304.2,127218,-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,-146.6,0.0,0.0,0,134,0.00,0.00,-116.78,0.000,2,0.000,0.000,426,2026,3427
$GC,138,-0.97,-146.6,5.3,-4.5,6,154,10.23,2.60,0.00,0.000,4,0.132,0.061,2407,587,3427
$GC,380,-0.54,-146.6,48.4,-12.4,16,385,0.47,2.53,0.00,0.000,6,0.088,0.049,2507,2008,3427
$GC,708,-0.36,-146.6,76.8,-9.5,32,713,0.17,2.60,0.00,0.000,4,0.089,0.063,2548,589,3427
$GC,771,-0.36,-146.6,83.4,-9.6,35,776,0.00,2.47,0.00,0.000,6,0.000,0.051,2548,1992,3427
$GC,1099,-0.36,-146.6,111.4,-6.7,51,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2006,3427
$GC,1408,-0.32,-146.6,142.8,-10.8,66,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1999,3426
$GC,1718,-0.28,-146.6,168.6,-6.7,81,1722,0.00,2.58,0.00,0.000,4,0.000,0.068,2548,594,3426
$GC,1780,-0.23,-146.6,174.6,-10.8,84,1786,0.12,2.45,0.00,0.000,6,0.090,0.051,2574,1987,3426
$GC,2117,-0.29,-146.6,192.5,-5.4,100,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1988,3426
$GC,2423,-0.29,-146.6,212.2,-6.6,115,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2006,3426
$GC,2732,-0.29,-146.6,229.0,-5.0,130,2737,0.00,2.55,0.00,0.000,4,0.000,0.067,2574,594,3426
$GC,2783,-0.33,-146.6,232.3,-6.5,132,2788,0.00,2.45,0.00,0.000,6,0.000,0.051,2574,1985,3426
$GC,3105,-0.38,-146.6,253.9,-6.4,148,3110,0.15,2.55,0.00,0.000,4,0.053,0.063,2532,3408,3426
$GC,3145,-0.31,-146.6,257.1,-9.0,150,3150,0.12,2.55,0.00,0.000,6,0.089,0.051,2558,1973,3426
$GC,3476,-0.31,-146.6,279.7,-5.2,166,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1973,3426
$GC,3782,-0.31,-146.6,301.2,-7.1,181,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1972,3426
$GC,4092,-0.31,-146.6,325.4,-7.3,196,4096,0.00,2.60,0.00,0.000,4,0.000,0.063,2558,3406,3426
$GC,4141,-0.31,-146.6,328.7,-6.6,198,4146,0.00,2.53,0.00,0.000,6,0.000,0.051,2558,1984,3426
$GC,4457,-0.31,-146.6,354.5,-7.5,213,4461,0.00,2.50,0.00,0.000,4,0.000,0.070,2558,596,3426
$STATE,4505,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4505,begin apogee
$GC,4515,-0.33,0.0,358.8,8.4,215,4639,0.00,0.00,122.10,1.018,6,0.000,0.000,2558,2132,2832
$STATE,4640,end apogee,CONTROL_FINISHED_OK
$STATE,4640,begin climb
$GC,4643,0.97,146.6,366.1,0.0,221,4774,1.27,2.67,121.55,0.992,4,0.066,0.064,2832,3545,2234
$GC,4811,1.24,164.7,361.0,5.5,229,4834,0.28,2.58,16.45,0.910,6,0.047,0.052,2906,2106,2160
$GC,5144,1.24,164.7,341.8,7.1,245,5149,0.00,2.50,0.00,0.000,4,0.000,0.064,2906,739,2159
$GC,5276,1.24,164.7,333.0,6.2,251,5281,0.00,2.47,0.00,0.000,6,0.000,0.048,2905,2133,2159
$GC,5604,1.30,205.0,319.3,4.9,267,5646,0.00,2.60,33.95,0.953,4,0.000,0.062,2906,3517,1996
$GC,5675,1.39,221.8,315.7,5.5,270,5697,0.10,2.50,15.75,0.906,6,0.057,0.051,2938,2134,1927
$GC,6021,1.39,221.8,293.2,6.6,287,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2134,1927
$GC,6328,1.39,221.8,270.3,7.7,302,6332,0.00,2.55,0.00,0.000,4,0.000,0.061,2938,3526,1927
$GC,6355,1.39,221.8,267.9,8.9,303,6359,0.00,2.50,0.00,0.000,6,0.000,0.050,2939,2127,1927
$GC,6671,1.39,221.8,245.0,7.2,318,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2126,1927
$GC,6980,1.39,221.8,218.8,8.4,333,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2126,1927
$GC,7289,1.39,221.8,191.4,8.6,348,7293,0.00,2.55,0.00,0.000,4,0.000,0.061,2939,3526,1927
$GC,7329,1.39,221.8,187.7,9.7,350,7333,0.00,2.47,0.00,0.000,6,0.000,0.048,2938,2131,1927
$GC,7656,1.39,221.8,157.1,9.3,366,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2131,1927
$GC,7965,1.55,319.6,141.0,3.3,381,8047,0.10,0.00,78.93,0.874,6,0.058,0.000,2972,2131,1529
$GC,8357,1.55,319.6,101.1,7.6,400,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2131,1529
$GC,8664,1.55,319.6,73.3,8.7,415,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2130,1529
$GC,8974,1.80,511.6,48.9,0.7,430,9134,0.20,0.00,153.30,0.798,6,0.047,0.000,3025,2120,745
$STATE,9338,end climb,SURFACE_DEPTH_REACHED
$STATE,9338,begin surface coast
$FINISH,0.5,1.017670
$STATE,9362,end surface coast,CONTROL_FINISHED_OK
$STATE,9363,begin surface
$SM_CCo,9446,0.00,0.000,0,0,746,511.70
$SM_GC,0.84,11.43,0.00,0.00,0.038,0.000,0.000,420,1999,746,-10.04,0.00,511.70
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1814
$TCM_TEMP,17.50
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,275.4,93.1
$24V_AH,24.0,53.248
$10V_AH,10.1,26.253
$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,24.650,61.300,542.025,0.000,0.000,37.757,26.935,126.199,7.500,0.000,0.000,15.077,825.094,6902.604,640.309,1003.157,378.120,0.000,1167.414,0.000,983.900,0.000,15.517,0.000
$DEVICE_MAMPS,131.924,71.331,1017.809,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,328.219,300.071,359.485,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22218,449
$CAP_FILE_SIZE,68569,0
$CFSIZE,254472192,233533440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,100109,230157,6024.383,-347.246,13,2.1,32,-6.1