version: 66.04
glider: 5
mission: 5
dive: 447
start: 2 15 109 9 51 14
data:
$ID,5
$MISSION,5
$DIVE,447
$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,-96122
$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,47
$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
$GPS1,094606,6129.463,-807.531,10,1.3,26,-8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-63.9
$GPS2,095055,6129.488,-807.528,11,1.3,16,-8.7
$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,161.4,30188,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.53,0.000,2,0.000,0.000,423,1970,3032
$GC,82,-0.97,-146.6,3.2,-4.0,3,113,11.10,2.62,-12.20,0.000,4,0.136,0.073,2528,3401,3430
$GC,218,-0.88,-146.6,17.2,-9.3,9,223,0.12,2.47,0.00,0.000,6,0.094,0.049,2553,2017,3430
$GC,546,-0.88,-146.6,42.2,-7.4,25,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2017,3430
$GC,855,-0.88,-146.6,68.0,-7.6,40,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2017,3430
$GC,1165,-0.88,-146.6,87.4,-6.7,55,1169,0.00,2.55,0.00,0.000,4,0.000,0.063,2553,3414,3430
$GC,1187,-0.88,-146.6,89.0,-6.2,56,1191,0.00,2.53,0.00,0.000,6,0.000,0.049,2553,1996,3430
$GC,1509,-0.88,-146.6,111.2,-7.2,72,1513,0.00,2.58,0.00,0.000,4,0.000,0.062,2553,3406,3430
$GC,1530,-0.88,-146.6,112.7,-6.6,73,1534,0.00,2.50,0.00,0.000,6,0.000,0.049,2553,2002,3430
$GC,1854,-0.88,-146.6,132.7,-5.5,89,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2001,3430
$GC,2160,-0.88,-146.6,155.6,-7.7,104,2164,0.00,2.58,0.00,0.000,4,0.000,0.062,2554,3415,3430
$GC,2187,-0.88,-146.6,157.6,-7.1,105,2192,0.00,2.50,0.00,0.000,6,0.000,0.048,2553,2004,3430
$GC,2504,-0.88,-146.6,183.5,-7.7,120,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2004,3430
$GC,2812,-0.88,-146.6,207.2,-7.8,135,2817,0.00,2.55,0.00,0.000,4,0.000,0.062,2553,3405,3430
$GC,2846,-0.88,-146.6,210.0,-7.9,136,2852,0.00,2.47,0.00,0.000,6,0.000,0.049,2553,2012,3430
$STATE,3035,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3035,begin apogee
$GC,3044,-0.33,0.0,224.4,7.6,146,3171,0.55,0.00,124.15,0.943,6,0.073,0.000,2671,2137,2832
$STATE,3172,end apogee,CONTROL_FINISHED_OK
$STATE,3172,begin climb
$GC,3175,0.97,146.6,228.6,0.0,152,3305,1.27,2.62,123.18,0.907,4,0.059,0.061,2953,3521,2234
$GC,3326,0.83,146.6,224.2,6.3,159,3333,0.15,2.53,0.00,0.000,6,0.087,0.050,2924,2129,2234
$GC,3642,0.91,194.5,208.2,4.7,175,3686,0.00,0.00,41.28,0.883,6,0.000,0.000,2923,2127,2038
$GC,3991,0.95,222.6,190.2,5.2,192,4022,0.12,2.62,24.75,0.869,4,0.053,0.061,2959,3528,1923
$GC,4063,0.88,222.6,185.0,8.1,195,4068,0.12,2.53,0.00,0.000,6,0.082,0.049,2935,2125,1924
$GC,4379,0.88,222.6,164.6,6.5,210,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2126,1925
$GC,4689,0.88,225.4,145.9,5.9,225,4699,0.00,2.60,4.47,0.637,4,0.000,0.062,2936,3531,1913
$GC,4728,0.88,225.4,143.2,6.4,226,4734,0.00,2.50,0.00,0.000,6,0.000,0.049,2935,2136,1913
$GC,5046,0.93,253.3,124.9,5.2,242,5076,0.00,2.62,24.30,0.848,4,0.000,0.061,2935,722,1799
$GC,5100,0.96,275.3,121.8,5.4,244,5127,0.00,2.55,19.50,0.831,6,0.000,0.051,2935,2138,1709
$GC,5447,1.03,287.4,100.7,5.7,261,5469,0.15,2.67,11.65,0.789,4,0.050,0.061,2978,706,1660
$GC,5487,0.95,287.4,97.5,8.2,262,5494,0.12,2.58,0.00,0.000,6,0.079,0.052,2952,2134,1659
$GC,5805,0.95,287.4,72.5,8.4,278,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2134,1660
$GC,6113,0.95,287.4,48.5,8.5,293,6117,0.00,2.60,0.00,0.000,4,0.000,0.062,2952,707,1660
$GC,6135,0.95,287.4,46.5,8.6,294,6139,0.00,2.53,0.00,0.000,6,0.000,0.051,2951,2121,1660
$GC,6458,0.95,287.4,23.5,7.8,310,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2124,1660
$STATE,6743,end climb,SURFACE_DEPTH_REACHED
$STATE,6743,begin surface coast
$FINISH,0.6,1.027423
$STATE,6784,end surface coast,CONTROL_FINISHED_OK
$STATE,6785,begin surface
$SM_CCo,6867,0.00,0.000,0,0,1659,287.74
$SM_GC,1.64,11.02,0.00,0.00,0.038,0.000,0.000,419,1982,1659,-10.61,-0.51,287.74
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1829
$TCM_TEMP,16.80
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,150.8,83.0
$24V_AH,23.8,79.615
$10V_AH,10.1,39.365
$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,24.750,56.700,373.275,0.000,0.000,37.757,29.640,107.521,6.750,0.000,0.000,16.268,619.967,5019.523,442.296,735.450,346.001,0.000,838.241,0.000,723.783,0.000,7.222,0.000
$DEVICE_MAMPS,135.759,72.865,942.643,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,242.794,217.759,392.910,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15978,326
$CAP_FILE_SIZE,53634,0
$CFSIZE,254472192,223924224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,150209,114654,6129.300,-805.788,35,1.9,35,-8.7