version: 66.04
glider: 5
mission: 5
dive: 23
start: 11 10 108 8 59 24
data:
$ID,5
$MISSION,5
$DIVE,23
$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,-87659.211
$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,27
$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
$GPS1,085408,6245.500,-602.232,39,1.0,39,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-61.7
$GPS2,085833,6245.483,-602.137,16,1.4,16,-8.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.231,-0.127
$KALMAN_X,54480.2,-696.2,-739.3,-51398.2,21445.2
$KALMAN_Y,-23716.7,250.6,-67.9,-77935.6,2971.3
$MHEAD_RNG_PITCHd_Wd,249.1,10442,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,98,0.00,0.00,-80.60,0.000,6,0.000,0.000,425,1979,3431
$GC,102,-1.44,-146.6,4.9,-5.8,4,117,10.15,2.50,0.00,0.000,4,0.140,0.061,2378,599,3432
$GC,370,-1.23,-146.6,61.6,-16.3,15,375,0.28,2.50,0.00,0.000,6,0.095,0.051,2432,2003,3433
$GC,692,-1.16,-146.6,107.3,-14.1,31,696,0.00,2.58,0.00,0.000,4,0.000,0.065,2432,593,3433
$GC,759,-1.11,-146.6,117.1,-14.3,34,764,0.12,2.50,0.00,0.000,6,0.099,0.052,2456,2000,3433
$GC,1080,-1.11,-146.6,154.5,-11.0,50,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2001,3433
$GC,1389,-1.11,-146.6,189.4,-11.7,65,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2001,3433
$GC,1701,-1.11,-146.6,226.3,-11.9,80,1705,0.00,2.58,0.00,0.000,4,0.000,0.067,2457,592,3433
$GC,1767,-1.11,-146.6,234.9,-12.6,83,1771,0.00,2.50,0.00,0.000,6,0.000,0.053,2456,1995,3433
$GC,2088,-1.11,-146.6,270.7,-10.3,99,2092,0.00,2.55,0.00,0.000,4,0.000,0.067,2456,599,3433
$GC,2131,-1.11,-146.6,275.6,-11.1,101,2136,0.00,2.47,0.00,0.000,6,0.000,0.054,2457,1985,3433
$GC,2453,-1.11,-146.6,310.2,-11.0,117,2457,0.00,2.55,0.00,0.000,4,0.000,0.070,2457,596,3433
$GC,2485,-1.11,-146.6,314.2,-11.4,118,2491,0.00,2.47,0.00,0.000,6,0.000,0.055,2457,1980,3433
$GC,2801,-1.11,-146.6,349.7,-10.9,134,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1980,3433
$GC,3110,-1.11,-146.6,385.6,-11.7,149,3115,0.00,2.60,0.00,0.000,4,0.000,0.071,2457,3412,3433
$STATE,3158,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3158,begin apogee
$GC,3167,-0.33,0.0,392.1,13.4,151,3288,0.75,0.00,118.15,1.094,6,0.081,0.000,2622,2223,2832
$STATE,3289,end apogee,CONTROL_FINISHED_OK
$STATE,3289,begin climb
$GC,3292,1.44,146.6,397.8,0.0,157,3417,1.75,2.58,116.40,1.058,4,0.055,0.064,3011,849,2233
$GC,3464,1.41,155.5,387.4,9.6,165,3478,0.00,2.55,8.88,0.890,6,0.000,0.054,3010,2259,2196
$GC,3796,1.45,180.1,357.3,8.9,181,3822,0.00,2.62,20.55,0.986,4,0.000,0.071,3011,3652,2097
$GC,3867,1.45,180.1,350.3,10.1,184,3871,0.00,2.55,0.00,0.000,6,0.000,0.056,3011,2251,2097
$GC,4183,1.46,188.5,319.8,9.6,199,4193,0.00,0.00,8.35,0.884,6,0.000,0.000,3011,2251,2064
$GC,4492,1.48,200.2,290.7,9.5,214,4505,0.00,0.00,11.20,0.923,6,0.000,0.000,3011,2251,2015
$GC,4801,1.52,200.2,259.7,10.0,229,4805,0.00,2.55,0.00,0.000,4,0.000,0.067,3011,844,2014
$GC,4885,1.52,200.2,251.0,10.8,233,4890,0.00,2.53,0.00,0.000,6,0.000,0.054,3011,2250,2014
$GC,5213,1.59,213.6,219.8,9.4,249,5235,0.15,2.65,11.85,0.901,4,0.052,0.069,3051,3653,1961
$GC,5259,1.51,213.6,214.6,12.4,251,5264,0.12,2.55,0.00,0.000,6,0.104,0.054,3030,2243,1961
$GC,5586,1.51,213.6,178.9,11.1,267,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2243,1960
$GC,5895,1.51,213.6,145.1,10.8,282,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2243,1960
$GC,6205,1.51,213.6,112.5,11.0,297,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2242,1961
$GC,6514,1.51,213.6,76.1,12.3,312,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2243,1961
$GC,6825,1.51,217.6,44.0,9.8,327,6835,0.00,2.55,4.90,0.657,4,0.000,0.065,3030,840,1944
$GC,6869,1.52,219.7,39.1,9.9,329,6873,0.00,2.55,0.00,0.000,6,0.000,0.052,3030,2259,1944
$STATE,7187,end climb,SURFACE_DEPTH_REACHED
$STATE,7187,begin surface coast
$FINISH,0.4,1.002358
$STATE,7211,end surface coast,CONTROL_FINISHED_OK
$STATE,7211,begin surface
$SM_CCo,7234,17.17,0.802,0,0,1811,250.21
$SM_GC,1.18,0.00,0.00,17.17,0.000,0.000,0.802,421,1978,1811,-10.48,-0.62,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1776
$TCM_TEMP,16.30
$XPDR_PINGS,190
$ALTIM_TOP_PING,19.0,999.0
$ALTIM_BOTTOM_PING,326.7,74.9
$24V_AH,23.9,6.708
$10V_AH,10.1,3.084
$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,24.700,56.125,300.275,17.175,0.000,37.758,27.156,101.986,50.250,0.000,0.000,16.125,674.067,5328.212,396.692,818.419,311.634,33.350,826.371,0.000,798.981,0.000,19.978,0.000
$DEVICE_MAMPS,140.361,71.331,1093.742,802.282,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,253.780,232.553,274.660,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16034,346
$CAP_FILE_SIZE,58129,0
$CFSIZE,254472192,250966016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,101108,110131,6244.211,-601.569,36,1.6,36,-8.0