version: 66.04
glider: 5
mission: 5
dive: 21
start: 11 10 108 4 22 6
data:
$ID,5
$MISSION,5
$DIVE,21
$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,330
$T_MISSION,360
$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,1
$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,-87628.961
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,22
$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,20
$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,0
$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
$GPS1,041608,6248.466,-606.005,38,1.0,38,-8.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-65.3
$GPS2,042115,6248.436,-605.965,13,1.6,13,-8.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.134,-0.227
$KALMAN_X,45066.5,-145.3,-132.8,-46310.1,8723.4
$KALMAN_Y,-27003.4,332.7,293.1,-69636.9,-2228.8
$MHEAD_RNG_PITCHd_Wd,218.8,15644,-18.1,-10.000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.44,-146.6,0.0,0.0,0,101,0.00,0.00,-81.10,0.000,2,0.000,0.000,426,1978,3422
$GC,104,-1.44,-146.6,5.1,-6.0,4,119,10.15,2.50,0.00,0.000,4,0.140,0.061,2377,595,3423
$GC,288,-1.23,-146.6,48.5,-16.2,11,293,0.28,2.53,0.00,0.000,6,0.095,0.053,2429,2008,3424
$GC,604,-1.23,-146.6,97.4,-14.6,26,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2008,3424
$GC,914,-1.18,-146.6,141.9,-14.1,41,918,0.00,2.58,0.00,0.000,4,0.000,0.067,2429,601,3424
$GC,977,-1.13,-146.6,151.1,-15.1,44,982,0.12,2.50,0.00,0.000,6,0.103,0.053,2453,2001,3425
$GC,1303,-1.13,-146.6,190.2,-11.5,60,1308,0.00,2.58,0.00,0.000,4,0.000,0.067,2453,601,3425
$GC,1354,-1.13,-146.6,196.3,-11.8,62,1358,0.00,2.47,0.00,0.000,6,0.000,0.054,2453,1987,3424
$GC,1669,-1.13,-146.6,232.2,-11.8,77,1674,0.00,2.55,0.00,0.000,4,0.000,0.069,2453,601,3425
$GC,1702,-1.13,-146.6,236.2,-11.7,78,1709,0.00,2.47,0.00,0.000,6,0.000,0.054,2453,1985,3425
$GC,2018,-1.13,-146.6,274.7,-12.8,94,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1987,3425
$GC,2327,-1.13,-146.6,311.2,-10.8,109,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1986,3425
$GC,2637,-1.13,-146.6,345.6,-10.6,124,2641,0.00,2.55,0.00,0.000,4,0.000,0.072,2453,600,3425
$GC,2776,-1.13,-146.6,362.1,-12.5,130,2780,0.00,2.47,0.00,0.000,6,0.000,0.055,2453,1983,3425
$GC,3092,-1.13,-146.6,399.0,-11.7,145,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1984,3425
$GC,3401,-1.13,-146.6,435.6,-11.1,160,3406,0.00,2.58,0.00,0.000,4,0.000,0.074,2453,3405,3425
$STATE,3494,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3494,begin apogee
$GC,3503,-0.33,0.0,447.0,11.7,164,3623,0.77,0.00,117.10,1.151,6,0.085,0.000,2622,2236,2832
$STATE,3624,end apogee,CONTROL_FINISHED_OK
$STATE,3624,begin climb
$GC,3627,1.44,146.6,452.1,0.0,170,3756,1.77,2.70,117.00,1.118,4,0.064,0.072,3009,3652,2233
$GC,3819,1.38,146.6,440.7,10.1,179,3825,0.00,2.58,0.00,0.000,6,0.000,0.059,3009,2247,2233
$GC,4135,1.42,170.1,413.2,8.9,195,4160,0.00,2.70,20.00,1.044,4,0.000,0.074,3009,3652,2138
$GC,4256,1.42,170.1,401.8,10.5,200,4261,0.00,2.53,0.00,0.000,6,0.000,0.060,3009,2270,2137
$GC,4572,1.44,187.7,372.1,9.2,215,4592,0.00,0.00,15.38,1.024,6,0.000,0.000,3009,2267,2066
$GC,4902,1.47,201.2,340.7,9.4,231,4923,0.00,2.65,12.35,0.996,4,0.000,0.068,3009,852,2011
$GC,4974,1.47,201.2,333.0,10.9,234,4979,0.00,2.58,0.00,0.000,6,0.000,0.057,3009,2261,2011
$GC,5295,1.47,203.4,302.7,9.9,250,5304,0.00,2.67,3.60,0.651,4,0.000,0.067,3009,844,2002
$GC,5327,1.47,203.4,299.2,10.0,251,5331,0.00,2.58,0.00,0.000,6,0.000,0.058,3009,2254,2002
$GC,5644,1.53,210.1,268.6,9.7,266,5653,0.12,0.00,6.95,0.871,6,0.057,0.000,3043,2256,1975
$GC,5953,1.49,210.1,234.2,11.3,281,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2256,1974
$GC,6262,1.49,210.1,197.4,12.3,296,6266,0.00,2.60,0.00,0.000,4,0.000,0.067,3043,841,1975
$GC,6295,1.42,210.1,193.3,12.5,297,6301,0.17,2.55,0.00,0.000,6,0.095,0.056,3011,2249,1974
$GC,6611,1.48,210.3,162.2,10.0,313,6616,0.00,2.60,0.00,0.000,4,0.000,0.065,3011,835,1974
$GC,6644,1.48,210.3,158.5,10.5,314,6650,0.00,2.55,0.00,0.000,6,0.000,0.055,3011,2246,1974
$GC,6960,1.58,233.1,129.7,9.0,330,6982,0.15,0.00,19.23,0.903,6,0.054,0.000,3049,2246,1881
$GC,7291,1.58,233.1,92.1,11.7,346,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2246,1881
$GC,7598,1.58,233.1,52.0,12.1,361,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2246,1881
$GC,7908,1.58,233.1,16.3,12.1,376,7912,0.00,2.58,0.00,0.000,4,0.000,0.069,3048,3662,1881
$GC,7936,1.54,233.1,12.9,12.4,377,7940,0.00,2.55,0.00,0.000,6,0.000,0.052,3049,2238,1881
$STATE,8003,end climb,SURFACE_DEPTH_REACHED
$STATE,8003,begin surface coast
$FINISH,0.8,1.027309
$STATE,8024,end surface coast,CONTROL_FINISHED_OK
$STATE,8024,begin surface
$SM_CCo,8047,9.07,0.767,0,0,1812,250.21
$SM_GC,2.12,0.00,0.00,9.07,0.000,0.000,0.767,422,1980,1812,-10.48,-0.57,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1758
$TCM_TEMP,17.00
$XPDR_PINGS,246
$ALTIM_TOP_PING,18.9,18.6
$ALTIM_BOTTOM_PING,377.2,79.5
$24V_AH,23.8,6.494
$10V_AH,10.1,3.002
$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,25.100,66.725,311.600,9.075,0.000,37.750,31.138,143.186,64.750,0.000,0.000,13.575,739.722,5960.592,425.250,881.228,366.527,33.354,888.882,0.000,863.025,0.000,23.142,0.000
$DEVICE_MAMPS,140.361,74.399,1150.500,767.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,281.316,255.388,274.844,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19222,381
$CAP_FILE_SIZE,65362,0
$CFSIZE,254472192,251019264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,101108,063735,6246.866,-603.981,13,4.3,32,-8.1