version: 66.04
glider: 5
mission: 5
dive: 110
start: 11 24 108 16 7 16
data:
$ID,5
$MISSION,5
$DIVE,110
$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,412.5
$T_MISSION,440
$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,-89407.719
$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,34
$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
$GPS1,160132,6106.295,-153.773,40,1.0,40,-5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-55.8
$GPS2,160627,6106.284,-153.785,11,1.2,11,-5.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.209,0.129
$KALMAN_X,25499.2,751.0,1019.4,178300.5,-27366.9
$KALMAN_Y,-19017.2,-116.5,71.3,-266119.9,2110.0
$MHEAD_RNG_PITCHd_Wd,307.2,103837,-14.8,-8.000
$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,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-61.60,0.000,2,0.000,0.000,422,1979,3050
$GC,82,-1.22,-146.6,3.5,-5.0,3,109,10.35,2.60,-10.70,0.000,4,0.139,0.071,2427,3412,3430
$GC,149,-0.98,-146.6,17.1,-22.0,6,154,0.28,2.47,0.00,0.000,6,0.082,0.044,2484,2002,3430
$GC,471,-0.91,-146.6,49.7,-8.7,22,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2002,3430
$GC,782,-0.85,-146.6,83.0,-9.9,37,787,0.15,2.50,0.00,0.000,4,0.092,0.063,2516,601,3430
$GC,822,-0.91,-146.6,87.8,-11.3,39,827,0.00,2.45,0.00,0.000,6,0.000,0.049,2516,1991,3430
$GC,1150,-0.91,-146.6,114.9,-8.3,55,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1992,3430
$GC,1459,-0.91,-146.6,143.7,-9.5,70,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1992,3430
$GC,1768,-0.91,-146.6,172.0,-9.2,85,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1992,3430
$GC,2078,-0.91,-146.6,200.8,-8.6,100,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1992,3429
$GC,2387,-0.91,-146.6,227.8,-7.6,115,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1992,3429
$GC,2696,-0.95,-146.6,254.7,-9.0,130,2698,0.10,0.00,0.00,0.000,6,0.058,0.000,2484,1992,3429
$GC,3005,-0.90,-146.6,287.5,-10.8,145,3010,0.00,2.53,0.00,0.000,4,0.000,0.067,2484,603,3429
$GC,3068,-0.86,-146.6,294.8,-11.4,148,3073,0.12,2.45,0.00,0.000,6,0.091,0.051,2511,1992,3429
$GC,3395,-0.86,-146.6,327.2,-9.9,164,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1992,3429
$GC,3704,-0.86,-146.6,356.9,-9.7,179,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1992,3429
$STATE,3928,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3928,begin apogee
$GC,3935,-0.33,0.0,377.7,9.3,190,4056,0.52,0.00,117.82,1.045,6,0.076,0.000,2624,2255,2832
$STATE,4057,end apogee,CONTROL_FINISHED_OK
$STATE,4057,begin climb
$GC,4060,1.22,146.6,383.5,0.0,196,4186,1.55,2.65,117.07,1.016,4,0.062,0.064,2965,3656,2234
$GC,4225,1.27,175.6,377.7,6.9,203,4255,0.00,2.53,24.40,0.962,6,0.000,0.053,2965,2254,2116
$GC,4586,1.30,196.6,351.7,7.2,221,4610,0.00,2.60,18.52,0.945,4,0.000,0.063,2965,850,2029
$GC,4646,1.32,210.2,346.9,7.5,223,4665,0.10,2.50,12.20,0.901,6,0.055,0.050,2997,2241,1975
$GC,4984,1.32,210.2,318.9,8.6,240,4988,0.00,2.55,0.00,0.000,4,0.000,0.063,2997,848,1974
$GC,5011,1.28,210.2,316.0,10.3,241,5015,0.00,2.50,0.00,0.000,6,0.000,0.051,2997,2242,1975
$GC,5328,1.23,210.2,284.7,10.1,256,5330,0.15,0.00,0.00,0.000,6,0.086,0.000,2968,2242,1975
$GC,5637,1.29,218.6,259.2,7.7,271,5651,0.00,2.62,8.52,0.837,4,0.000,0.063,2967,846,1940
$GC,5705,1.30,223.3,253.7,7.8,274,5715,0.00,2.47,5.65,0.745,6,0.000,0.051,2967,2233,1921
$GC,6032,1.40,249.7,229.9,7.0,290,6060,0.17,2.60,21.92,0.920,4,0.048,0.061,3019,848,1813
$GC,6083,1.31,249.7,224.7,10.8,292,6088,0.17,2.47,0.00,0.000,6,0.084,0.050,2983,2223,1813
$GC,6399,1.31,249.7,196.7,8.5,307,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2223,1814
$GC,6707,1.31,249.7,166.8,10.8,322,6711,0.00,2.50,0.00,0.000,4,0.000,0.063,2983,848,1814
$GC,6746,1.31,249.7,162.5,10.2,323,6752,0.00,2.45,0.00,0.000,6,0.000,0.051,2983,2223,1814
$GC,7063,1.31,249.7,132.3,8.9,339,7067,0.00,2.50,0.00,0.000,4,0.000,0.064,2983,843,1814
$GC,7096,1.31,249.7,129.2,8.3,340,7102,0.00,2.42,0.00,0.000,6,0.000,0.051,2983,2203,1814
$GC,7412,1.33,260.3,103.4,7.6,356,7423,0.00,0.00,9.93,0.787,6,0.000,0.000,2983,2204,1771
$GC,7723,1.37,260.3,80.2,9.5,371,7727,0.00,2.47,0.00,0.000,4,0.000,0.064,2983,847,1771
$GC,7763,1.37,260.3,75.5,12.2,373,7767,0.00,2.40,0.00,0.000,6,0.000,0.049,2983,2199,1771
$GC,8090,1.37,260.3,40.6,10.5,389,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2199,1771
$GC,8400,1.42,260.3,18.2,10.8,404,8402,0.10,0.00,0.00,0.000,6,0.057,0.000,3015,2212,1771
$STATE,8520,end climb,SURFACE_DEPTH_REACHED
$STATE,8520,begin surface coast
$FINISH,0.9,1.027292
$STATE,8542,end surface coast,CONTROL_FINISHED_OK
$STATE,8542,begin surface
$SM_CCo,8625,0.00,0.000,0,0,1770,260.51
$SM_GC,1.55,11.30,0.00,0.00,0.041,0.000,0.000,422,2000,1770,-10.40,-0.40,260.51
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1781
$TCM_TEMP,16.30
$XPDR_PINGS,246
$ALTIM_TOP_PING,18.2,999.0
$ALTIM_BOTTOM_PING,300.8,85.5
$24V_AH,24.0,19.624
$10V_AH,10.1,8.757
$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,25.075,56.025,336.050,0.000,0.000,37.761,24.849,137.145,64.000,0.000,0.000,11.436,766.564,6521.636,394.939,880.231,362.499,33.351,862.084,0.000,867.843,0.000,18.417,0.000
$DEVICE_MAMPS,138.827,71.331,1044.654,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,301.984,275.870,353.977,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19065,411
$CAP_FILE_SIZE,65631,0
$CFSIZE,254472192,246452224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,241108,183207,6107.488,-156.113,13,1.6,29,-5.4