version: 66.04
glider: 5
mission: 5
dive: 111
start: 11 24 108 18 44 4
data:
$ID,5
$MISSION,5
$DIVE,111
$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,-89439.07
$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,37
$R_STBD_OVSHOOT,25
$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
$GPS1,183207,6107.488,-156.113,13,1.6,29,-5.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-58.0
$GPS2,184314,6107.435,-156.155,19,1.6,30,-5.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.046,0.241
$KALMAN_X,32149.8,695.0,1545.7,169212.4,-12117.9
$KALMAN_Y,-20241.8,-159.4,-134.4,-262512.7,-157.8
$MHEAD_RNG_PITCHd_Wd,354.6,101085,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.78,0.000,2,0.000,0.000,422,2000,3017
$GC,81,-1.22,-146.6,3.2,-3.8,3,112,10.35,2.58,-11.90,0.000,4,0.137,0.075,2428,600,3431
$GC,210,-1.01,-146.6,23.5,-14.2,8,217,0.25,2.50,0.00,0.000,6,0.096,0.050,2478,2009,3431
$GC,528,-0.94,-146.6,62.6,-11.0,24,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2013,3431
$GC,836,-0.87,-146.6,100.1,-13.1,39,841,0.15,2.58,0.00,0.000,4,0.091,0.063,2510,603,3431
$GC,899,-0.87,-146.6,110.5,-17.1,42,903,0.00,2.45,0.00,0.000,6,0.000,0.050,2510,1992,3431
$GC,1226,-0.87,-146.6,154.7,-13.9,58,1230,0.00,2.55,0.00,0.000,4,0.000,0.066,2510,600,3431
$GC,1258,-0.87,-146.6,158.7,-12.0,59,1262,0.00,2.45,0.00,0.000,6,0.000,0.051,2510,1985,3430
$GC,1574,-0.87,-146.6,194.8,-10.9,74,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1987,3431
$GC,1883,-0.87,-146.6,233.0,-13.0,89,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1992,3431
$GC,2193,-0.87,-146.6,264.9,-9.6,104,2197,0.00,2.53,0.00,0.000,4,0.000,0.066,2510,607,3431
$GC,2225,-0.87,-146.6,268.2,-9.8,105,2232,0.00,2.45,0.00,0.000,6,0.000,0.051,2510,1990,3431
$GC,2542,-0.87,-146.6,297.9,-9.3,121,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1990,3431
$GC,2851,-0.87,-146.6,324.8,-8.8,136,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1990,3431
$GC,3160,-0.87,-146.6,352.3,-8.7,151,3164,0.00,2.55,0.00,0.000,4,0.000,0.064,2511,3415,3431
$GC,3216,-0.91,-146.6,357.3,-9.0,153,3222,0.00,2.53,0.00,0.000,6,0.000,0.054,2510,1999,3431
$GC,3532,-0.91,-146.6,383.3,-8.1,169,3536,0.00,2.50,0.00,0.000,4,0.000,0.067,2510,589,3431
$GC,3610,-0.91,-146.6,390.2,-9.1,172,3614,0.00,2.47,0.00,0.000,6,0.000,0.050,2510,1986,3431
$GC,3926,-0.91,-146.6,415.5,-8.6,187,3930,0.00,2.53,0.00,0.000,4,0.000,0.064,2510,3404,3431
$GC,3954,-0.95,-146.6,418.2,-9.2,188,3958,0.00,2.53,0.00,0.000,6,0.000,0.054,2511,1989,3431
$STATE,4127,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4128,begin apogee
$GC,4135,-0.33,0.0,434.0,9.1,197,4257,0.52,0.00,118.95,1.084,6,0.076,0.000,2624,2266,2832
$STATE,4258,end apogee,CONTROL_FINISHED_OK
$STATE,4258,begin climb
$GC,4261,1.22,146.6,439.5,0.0,203,4387,1.55,2.62,117.57,1.052,4,0.062,0.065,2965,3647,2234
$GC,4426,1.27,176.9,433.2,6.9,210,4457,0.00,2.53,25.65,0.993,6,0.000,0.054,2965,2249,2110
$GC,4785,1.27,176.9,405.0,8.6,228,4789,0.00,2.55,0.00,0.000,4,0.000,0.065,2965,845,2109
$GC,4829,1.27,176.9,400.6,9.4,230,4833,0.00,2.50,0.00,0.000,6,0.000,0.050,2965,2243,2109
$GC,5151,1.29,190.5,376.2,7.5,246,5169,0.00,0.00,12.70,0.936,6,0.000,0.000,2965,2243,2054
$GC,5479,1.31,203.4,349.9,7.5,262,5500,0.00,2.65,11.90,0.927,4,0.000,0.063,2965,848,2002
$GC,5551,1.32,207.2,344.1,7.9,265,5560,0.00,2.50,4.57,0.705,6,0.000,0.051,2965,2241,1987
$GC,5878,1.40,224.8,319.8,7.4,281,5897,0.17,0.00,15.75,0.946,6,0.047,0.000,3014,2241,1915
$GC,6206,1.32,224.8,285.2,9.7,297,6211,0.15,2.55,0.00,0.000,4,0.086,0.062,2984,847,1915
$GC,6252,1.32,224.8,281.0,8.6,299,6257,0.00,2.45,0.00,0.000,6,0.000,0.048,2984,2225,1915
$GC,6573,1.32,224.8,249.6,10.3,315,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2225,1915
$GC,6882,1.32,224.8,217.7,9.7,330,6886,0.00,2.53,0.00,0.000,4,0.000,0.063,2984,841,1915
$GC,6931,1.32,224.8,213.1,9.1,332,6936,0.00,2.45,0.00,0.000,6,0.000,0.050,2984,2222,1915
$GC,7253,1.32,224.8,183.9,10.6,348,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2223,1915
$GC,7562,1.32,224.8,151.4,10.9,363,7566,0.00,2.50,0.00,0.000,4,0.000,0.064,2984,847,1915
$GC,7624,1.32,224.8,145.9,8.9,366,7628,0.00,2.42,0.00,0.000,6,0.000,0.051,2984,2212,1915
$GC,7952,1.32,224.8,117.8,9.8,382,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2213,1915
$GC,8260,1.32,224.8,86.3,10.5,397,8264,0.00,2.50,0.00,0.000,4,0.000,0.064,2984,841,1915
$GC,8300,1.32,224.8,81.7,11.4,399,8304,0.00,2.42,0.00,0.000,6,0.000,0.050,2984,2207,1915
$GC,8627,1.32,224.8,48.9,10.9,415,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2208,1915
$GC,8936,1.32,224.8,15.8,11.3,430,8940,0.00,2.45,0.00,0.000,4,0.000,0.063,2984,846,1915
$GC,8963,1.32,224.8,12.7,10.4,431,8968,0.00,2.40,0.00,0.000,6,0.000,0.050,2984,2200,1915
$STATE,9055,end climb,SURFACE_DEPTH_REACHED
$STATE,9055,begin surface coast
$FINISH,0.8,1.027343
$STATE,9079,end surface coast,CONTROL_FINISHED_OK
$STATE,9079,begin surface
$SM_CCo,9102,12.90,0.744,0,0,1812,250.21
$SM_GC,2.17,0.00,0.00,12.90,0.000,0.000,0.744,418,1973,1812,-10.50,-0.96,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1782
$TCM_TEMP,17.40
$XPDR_PINGS,290
$ALTIM_TOP_PING,18.2,17.5
$ALTIM_BOTTOM_PING,350.5,93.4
$24V_AH,24.0,19.753
$10V_AH,10.1,8.808
$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,24.300,76.100,307.100,12.900,0.000,75.514,65.911,345.668,75.500,0.000,0.000,30.723,823.245,6900.926,406.054,991.180,669.937,33.354,920.206,0.000,954.507,0.000,21.603,0.000
$DEVICE_MAMPS,136.526,75.166,1083.771,743.990,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,318.170,293.439,328.225,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22239,437
$CAP_FILE_SIZE,75772,0
$CFSIZE,254472192,246407168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,241108,211725,6108.975,-156.074,29,1.1,46,-5.4