version: 66.04
glider: 5
mission: 5
dive: 449
start: 2 15 109 13 41 28
data:
$ID,5
$MISSION,5
$DIVE,449
$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,-96154.516
$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,33
$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,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
$GPS1,133636,6128.891,-803.535,35,1.5,36,-8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-61.1
$GPS2,134108,6128.894,-803.427,12,1.4,12,-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,167.1,27672,-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,-61.42,0.000,2,0.000,0.000,421,1995,2955
$GC,82,-0.97,-146.6,3.0,-3.9,3,115,10.93,2.53,-15.40,0.000,4,0.135,0.072,2528,597,3429
$GC,138,-0.87,-146.6,9.3,-10.1,5,145,0.12,2.53,0.00,0.000,6,0.087,0.052,2555,2008,3429
$GC,457,-0.87,-146.6,35.2,-7.9,21,461,0.00,2.58,0.00,0.000,4,0.000,0.062,2555,591,3429
$GC,478,-0.87,-146.6,37.2,-7.9,22,483,0.00,2.53,0.00,0.000,6,0.000,0.052,2554,2007,3429
$GC,800,-0.87,-146.6,59.9,-6.9,38,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2007,3429
$GC,1112,-0.87,-146.6,82.6,-8.3,53,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2007,3429
$GC,1419,-0.87,-146.6,105.0,-6.5,68,1423,0.00,2.55,0.00,0.000,4,0.000,0.063,2555,601,3429
$GC,1451,-0.87,-146.6,107.3,-6.8,69,1458,0.00,2.47,0.00,0.000,6,0.000,0.052,2555,1992,3429
$GC,1769,-0.87,-146.6,130.0,-7.5,85,1773,0.00,2.55,0.00,0.000,4,0.000,0.064,2555,3409,3429
$GC,1796,-0.87,-146.6,132.3,-7.9,86,1800,0.00,2.53,0.00,0.000,6,0.000,0.050,2554,1993,3429
$GC,2112,-0.87,-146.6,152.2,-5.8,101,2117,0.00,2.58,0.00,0.000,4,0.000,0.061,2555,3408,3429
$GC,2134,-0.87,-146.6,153.8,-7.0,102,2138,0.00,2.53,0.00,0.000,6,0.000,0.049,2554,1990,3429
$GC,2456,-0.87,-146.6,177.0,-7.4,118,2460,0.00,2.58,0.00,0.000,4,0.000,0.062,2554,3405,3429
$GC,2518,-0.87,-146.6,181.9,-7.5,121,2523,0.00,2.47,0.00,0.000,4,0.000,0.049,2555,2012,3429
$STATE,2523,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2523,begin apogee
$GC,2532,-0.33,0.0,182.4,7.7,121,2658,0.50,0.00,123.43,0.913,6,0.073,0.000,2666,2121,2832
$STATE,2659,end apogee,CONTROL_FINISHED_OK
$STATE,2659,begin climb
$GC,2662,0.97,146.6,186.9,0.0,127,2790,1.30,0.00,123.38,0.876,6,0.058,0.000,2954,2127,2234
$GC,3103,0.85,146.6,166.3,6.1,149,3108,0.12,2.58,0.00,0.000,4,0.083,0.061,2930,3539,2234
$GC,3216,0.80,146.6,158.7,6.3,154,3221,0.00,2.47,0.00,0.000,6,0.000,0.049,2930,2158,2234
$GC,3538,0.80,146.6,138.9,6.1,170,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2157,2234
$GC,3848,0.84,173.1,122.0,5.3,185,3873,0.00,0.00,23.33,0.835,6,0.000,0.000,2930,2156,2126
$GC,4178,0.88,196.0,103.8,5.4,201,4205,0.00,2.67,20.52,0.826,4,0.000,0.062,2930,718,2032
$GC,4218,0.88,196.0,101.5,6.1,203,4223,0.00,2.62,0.00,0.000,6,0.000,0.051,2930,2173,2032
$GC,4546,0.91,212.1,83.6,5.6,219,4569,0.00,2.70,14.65,0.799,4,0.000,0.061,2930,718,1967
$GC,4593,0.91,212.1,80.8,6.3,221,4597,0.00,2.60,0.00,0.000,6,0.000,0.051,2930,2162,1967
$GC,4919,0.91,212.1,60.2,6.5,237,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2163,1967
$GC,5230,0.91,212.1,40.6,6.6,252,5234,0.00,2.62,0.00,0.000,4,0.000,0.062,2930,718,1967
$GC,5257,0.91,212.1,38.6,7.0,253,5261,0.00,2.58,0.00,0.000,6,0.000,0.052,2930,2157,1967
$GC,5574,0.91,212.1,18.3,6.3,268,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2156,1967
$STATE,5817,end climb,SURFACE_DEPTH_REACHED
$STATE,5817,begin surface coast
$FINISH,0.5,1.017530
$STATE,5880,end surface coast,CONTROL_FINISHED_OK
$STATE,5881,begin surface
$SM_CCo,5904,21.40,0.773,0,0,1812,250.21
$SM_GC,1.30,0.00,0.00,21.40,0.000,0.000,0.773,424,1985,1812,-10.68,-0.48,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1834
$TCM_TEMP,16.90
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,125.4,66.5
$24V_AH,23.8,79.801
$10V_AH,10.1,39.443
$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,23.850,51.700,305.300,21.400,0.000,37.758,28.379,100.648,5.500,0.000,0.000,14.904,551.904,4271.949,413.011,648.944,325.082,0.000,751.166,0.000,644.027,0.000,5.587,0.000
$DEVICE_MAMPS,134.992,72.098,912.730,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,211.060,189.646,403.158,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12885,283
$CAP_FILE_SIZE,47462,0
$CFSIZE,254472192,223866880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,150209,152102,6127.893,-800.989,8,1.8,9,-8.7