version: 66.04
glider: 5
mission: 5
dive: 443
start: 2 15 109 1 8 8
data:
$ID,5
$MISSION,5
$DIVE,443
$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,-96059.711
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$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,55
$R_STBD_OVSHOOT,24
$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,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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
$GPS1,010253,6136.713,-811.630,29,1.6,45,-8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-65.5
$GPS2,010749,6136.669,-811.503,14,1.5,14,-8.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_2
$TGT_LATLONG,6115.000,-752.000
$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,165.4,43730,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.57,0.000,2,0.000,0.000,422,1964,3289
$GC,102,-0.97,-146.6,4.6,-5.2,4,125,11.00,2.60,-3.45,0.000,4,0.134,0.074,2526,3406,3431
$GC,329,-0.89,-146.6,31.7,-8.9,14,334,0.12,2.45,0.00,0.000,6,0.097,0.047,2552,2027,3431
$GC,656,-0.89,-146.6,54.9,-6.4,30,660,0.00,2.58,0.00,0.000,4,0.000,0.063,2552,584,3431
$GC,700,-0.89,-146.6,58.4,-7.5,32,704,0.00,2.50,0.00,0.000,6,0.000,0.052,2552,1990,3431
$GC,1022,-0.89,-146.6,83.1,-6.5,48,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1991,3431
$GC,1332,-0.89,-146.6,103.4,-7.2,63,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1992,3431
$GC,1640,-0.89,-146.6,128.0,-7.4,78,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1991,3431
$GC,1949,-0.89,-146.6,153.2,-8.5,93,1954,0.00,2.55,0.00,0.000,4,0.000,0.065,2552,589,3431
$GC,1971,-0.89,-146.6,155.1,-8.2,94,1975,0.00,2.47,0.00,0.000,6,0.000,0.053,2552,1980,3431
$GC,2292,-0.89,-146.6,180.0,-8.4,110,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1980,3431
$GC,2601,-0.89,-146.6,210.5,-9.9,125,2605,0.00,2.58,0.00,0.000,4,0.000,0.064,2552,3412,3431
$GC,2622,-0.89,-146.6,212.8,-9.8,126,2627,0.00,2.58,0.00,0.000,6,0.000,0.051,2552,1972,3431
$GC,2943,-0.89,-146.6,243.0,-9.1,142,2948,0.00,2.62,0.00,0.000,4,0.000,0.063,2552,3412,3431
$STATE,2952,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2952,begin apogee
$GC,2962,-0.33,0.0,244.1,9.4,142,3090,0.52,0.00,124.65,0.959,6,0.073,0.000,2668,2121,2832
$STATE,3091,end apogee,CONTROL_FINISHED_OK
$STATE,3091,begin climb
$GC,3094,0.97,146.6,249.3,0.0,149,3226,1.27,2.62,123.15,0.929,4,0.059,0.061,2949,718,2234
$GC,3258,0.82,146.6,244.4,6.0,156,3265,0.15,2.55,0.00,0.000,6,0.084,0.051,2920,2131,2234
$GC,3574,0.96,230.8,231.6,3.7,172,3652,0.15,2.60,71.05,0.916,4,0.050,0.062,2964,3534,1890
$GC,3731,0.88,230.8,221.2,7.3,178,3736,0.15,2.50,0.00,0.000,6,0.081,0.051,2933,2150,1891
$GC,4047,0.94,272.5,203.9,4.9,193,4089,0.00,2.65,36.28,0.893,4,0.000,0.061,2933,706,1720
$GC,4118,0.94,272.5,199.8,6.6,196,4123,0.00,2.62,0.00,0.000,6,0.000,0.051,2933,2162,1720
$GC,4440,1.06,308.5,182.1,5.0,212,4482,0.17,2.72,31.30,0.881,4,0.048,0.063,2985,714,1573
$GC,4506,0.98,308.5,177.4,7.7,215,4511,0.15,2.58,0.00,0.000,6,0.080,0.052,2955,2140,1573
$GC,4834,0.98,308.5,155.5,6.9,231,4839,0.00,2.62,0.00,0.000,4,0.000,0.064,2955,707,1573
$GC,4864,0.98,308.5,153.2,7.7,232,4868,0.00,2.55,0.00,0.000,6,0.000,0.052,2955,2129,1573
$GC,5181,0.98,308.5,130.5,8.3,247,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2130,1573
$GC,5490,0.98,308.5,104.8,6.9,262,5494,0.00,2.60,0.00,0.000,4,0.000,0.064,2955,708,1573
$GC,5530,0.98,308.5,101.7,8.0,264,5534,0.00,2.53,0.00,0.000,6,0.000,0.053,2955,2122,1573
$GC,5857,0.98,308.5,74.8,7.5,280,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2122,1573
$GC,6167,0.98,308.5,51.3,7.8,295,6171,0.00,2.58,0.00,0.000,4,0.000,0.066,2955,715,1573
$GC,6200,0.98,308.5,48.8,7.5,296,6206,0.00,2.47,0.00,0.000,6,0.000,0.052,2955,2103,1573
$GC,6517,0.98,308.5,25.3,7.8,312,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2121,1573
$STATE,6822,end climb,SURFACE_DEPTH_REACHED
$STATE,6822,begin surface coast
$FINISH,0.7,1.008243
$STATE,6866,end surface coast,CONTROL_FINISHED_OK
$STATE,6866,begin surface
$SM_CCo,6950,0.00,0.000,0,0,1572,309.08
$SM_GC,1.63,11.00,0.00,0.00,0.035,0.000,0.000,419,1973,1572,-10.61,-0.76,309.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1819
$TCM_TEMP,16.80
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,176.6,77.3
$24V_AH,23.8,79.212
$10V_AH,10.1,39.190
$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,24.700,61.675,386.425,0.000,0.000,37.758,32.752,110.493,7.750,0.000,0.000,14.822,633.184,5018.387,446.371,800.851,351.153,0.000,883.790,0.000,785.557,0.000,8.798,0.000
$DEVICE_MAMPS,134.225,73.632,958.750,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,242.639,219.575,367.225,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15931,329
$CAP_FILE_SIZE,55552,0
$CFSIZE,254472192,224051200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,150209,030506,6134.739,-808.807,31,1.3,31,-8.8