version: 66.04
glider: 5
mission: 5
dive: 32
start: 11 11 108 2 22 33
data:
$ID,5
$MISSION,5
$DIVE,32
$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,-87827.898
$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,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,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
$GPS1,020611,6239.656,-543.479,113,3.0,132,-7.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-60.7
$GPS2,022141,6239.552,-543.451,14,2.2,33,-7.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.253,0.075
$KALMAN_X,44150.7,-2334.1,-581.0,-24261.0,-3219.9
$KALMAN_Y,-29904.6,-449.9,192.6,-82302.4,-8564.9
$MHEAD_RNG_PITCHd_Wd,81.4,76179,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.28,0.000,2,0.000,0.000,420,1977,3416
$GC,102,-1.44,-146.6,5.3,-6.4,4,119,10.05,2.50,-0.30,0.000,4,0.133,0.073,2379,590,3431
$GC,245,-1.20,-146.6,42.1,-19.6,9,250,0.28,2.53,0.00,0.000,6,0.094,0.051,2433,2008,3431
$GC,562,-1.14,-146.6,86.0,-13.6,24,566,0.00,2.58,0.00,0.000,4,0.000,0.066,2433,597,3431
$GC,634,-1.09,-146.6,96.3,-11.9,27,639,0.12,2.50,0.00,0.000,6,0.100,0.052,2458,2000,3431
$GC,950,-1.09,-146.6,136.7,-13.4,42,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2020,3431
$GC,1259,-1.09,-146.6,178.2,-13.1,57,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2015,3431
$GC,1568,-1.09,-146.6,214.7,-11.9,72,1572,0.00,2.58,0.00,0.000,4,0.000,0.066,2458,597,3432
$GC,1720,-1.09,-146.6,233.7,-12.3,79,1724,0.00,2.47,0.00,0.000,6,0.000,0.052,2458,1992,3431
$GC,2046,-1.09,-146.6,273.4,-11.8,95,2051,0.00,2.58,0.00,0.000,4,0.000,0.070,2458,590,3432
$GC,2164,-1.09,-146.6,287.2,-12.1,100,2168,0.00,2.40,0.00,0.000,6,0.000,0.052,2458,1953,3431
$GC,2485,-1.09,-146.6,322.6,-10.0,116,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1970,3432
$STATE,2626,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2626,begin apogee
$GC,2634,-0.33,0.0,340.7,12.3,123,2754,0.77,0.00,116.70,1.035,6,0.081,0.000,2624,2260,2832
$STATE,2754,end apogee,CONTROL_FINISHED_OK
$STATE,2754,begin climb
$GC,2757,1.44,146.6,346.5,0.0,129,2882,1.77,2.62,115.60,1.002,4,0.064,0.071,3012,3655,2233
$GC,2944,1.46,155.8,334.6,9.6,137,2959,0.00,2.55,9.10,0.850,6,0.000,0.055,3011,2250,2196
$GC,3282,1.53,203.0,305.6,7.9,154,3328,0.10,2.70,38.12,0.962,4,0.062,0.068,3039,3648,2003
$GC,3340,1.49,217.6,300.5,9.3,156,3359,0.00,2.53,13.15,0.886,6,0.000,0.054,3039,2260,1943
$GC,3677,1.49,217.6,263.7,11.4,173,3681,0.00,2.58,0.00,0.000,4,0.000,0.067,3039,845,1943
$GC,3761,1.49,217.6,253.7,12.2,177,3765,0.00,2.50,0.00,0.000,6,0.000,0.054,3039,2230,1943
$GC,4087,1.49,217.6,216.3,11.7,193,4092,0.00,2.55,0.00,0.000,4,0.000,0.065,3039,845,1943
$GC,4115,1.49,217.6,212.6,13.5,194,4119,0.00,2.47,0.00,0.000,6,0.000,0.054,3039,2215,1943
$GC,4431,1.49,217.6,176.2,10.9,209,4435,0.00,2.62,0.00,0.000,4,0.000,0.069,3039,3658,1942
$GC,4480,1.49,217.6,169.8,13.2,211,4485,0.00,2.58,0.00,0.000,6,0.000,0.053,3039,2220,1942
$GC,4798,1.49,217.6,132.5,11.3,226,4802,0.00,2.65,0.00,0.000,4,0.000,0.067,3039,3659,1942
$GC,4847,1.49,217.6,126.1,12.5,228,4852,0.00,2.58,0.00,0.000,6,0.000,0.052,3039,2218,1942
$GC,5165,1.49,217.6,90.9,10.7,243,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2218,1942
$GC,5472,1.49,217.6,50.6,11.6,258,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2218,1942
$GC,5782,1.49,217.6,11.1,12.9,273,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2218,1942
$STATE,5841,end climb,SURFACE_DEPTH_REACHED
$STATE,5841,begin surface coast
$FINISH,0.5,1.017047
$STATE,5863,end surface coast,CONTROL_FINISHED_OK
$STATE,5863,begin surface
$SM_CCo,5886,17.52,0.780,0,0,1812,250.21
$SM_GC,0.94,0.00,0.00,17.52,0.000,0.000,0.780,426,1983,1812,-10.46,-0.48,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1780
$TCM_TEMP,16.20
$XPDR_PINGS,138
$ALTIM_TOP_PING,19.2,18.1
$ALTIM_BOTTOM_PING,302.2,48.3
$24V_AH,24.0,7.672
$10V_AH,10.1,3.435
$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,24.625,51.925,292.675,17.525,0.000,151.034,260.768,207.879,37.000,0.000,0.000,34.706,559.860,4410.044,382.028,728.975,766.787,33.338,767.534,0.000,692.475,0.000,18.300,0.000
$DEVICE_MAMPS,133.458,72.865,1034.683,780.039,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,205.129,185.488,238.680,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12847,277
$CAP_FILE_SIZE,54486,0
$CFSIZE,254472192,250679296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,111108,040205,6239.718,-541.121,8,4.2,27,-7.8