version: 66.04
glider: 5
mission: 5
dive: 150
start: 12 5 108 8 22 24
data:
$ID,5
$MISSION,5
$DIVE,150
$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,550
$T_MISSION,580
$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,-90171.734
$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,26
$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
$GPS1,081637,6137.869,-443.082,43,1.2,48,-7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-65.7
$GPS2,082132,6137.880,-443.169,15,1.6,15,-7.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.035,-0.219
$KALMAN_X,81587.1,-1072.5,-303.4,-13676.2,11455.9
$KALMAN_Y,30050.7,516.2,143.0,-257407.8,2551.6
$MHEAD_RNG_PITCHd_Wd,177.9,156976,-11.0,-6.000
$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,-0.97,-146.6,0.0,0.0,0,89,0.00,0.00,-71.15,0.000,2,0.000,0.000,425,2025,3184
$GC,92,-0.97,-146.6,3.6,-3.6,4,112,10.65,0.00,-6.57,0.000,6,0.133,0.000,2482,2031,3431
$GC,420,-0.75,-146.6,44.3,-11.3,20,425,0.22,2.62,0.00,0.000,4,0.088,0.066,2534,591,3432
$GC,476,-0.68,-146.6,50.1,-9.2,22,482,0.00,2.53,0.00,0.000,6,0.000,0.053,2534,2006,3432
$GC,792,-0.60,-146.6,78.9,-9.0,38,794,0.17,0.00,0.00,0.000,6,0.094,0.000,2571,2008,3432
$GC,1101,-0.60,-146.6,99.3,-7.2,53,1106,0.00,2.60,0.00,0.000,4,0.000,0.069,2571,592,3432
$GC,1129,-0.60,-146.6,101.4,-7.6,54,1133,0.00,2.53,0.00,0.000,6,0.000,0.053,2571,2006,3432
$GC,1446,-0.60,-146.6,124.1,-6.8,69,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2006,3432
$GC,1755,-0.60,-146.6,146.2,-6.8,84,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2006,3432
$GC,2063,-0.60,-146.6,165.0,-6.0,99,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2006,3432
$GC,2372,-0.60,-146.6,185.8,-6.8,114,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2006,3432
$GC,2682,-0.60,-146.6,205.6,-6.4,129,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2008,3433
$GC,2991,-0.60,-146.6,226.8,-6.8,144,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2008,3432
$GC,3300,-0.60,-146.6,247.1,-6.6,159,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2008,3432
$GC,3610,-0.65,-146.6,266.9,-6.3,174,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2008,3432
$GC,3919,-0.70,-146.6,286.2,-6.7,189,3924,0.12,2.62,0.00,0.000,4,0.055,0.071,2536,589,3432
$GC,3952,-0.64,-146.6,288.8,-8.2,190,3960,0.10,2.53,0.00,0.000,6,0.097,0.054,2556,2007,3432
$GC,4269,-0.64,-146.6,309.9,-6.4,206,4273,0.00,2.53,0.00,0.000,4,0.000,0.068,2556,3406,3432
$GC,4308,-0.64,-146.6,312.7,-7.3,208,4313,0.00,2.53,0.00,0.000,6,0.000,0.056,2556,1998,3432
$GC,4635,-0.64,-146.6,334.7,-7.5,224,4640,0.00,2.58,0.00,0.000,4,0.000,0.066,2556,3406,3432
$GC,4646,-0.64,-146.6,335.8,-7.8,224,4652,0.00,2.50,0.00,0.000,6,0.000,0.058,2556,2017,3432
$GC,4962,-0.64,-146.6,358.4,-7.0,240,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2016,3432
$GC,5271,-0.64,-146.6,378.7,-6.5,255,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2016,3432
$STATE,5310,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5310,begin apogee
$GC,5317,-0.33,0.0,381.6,6.8,257,5439,0.32,0.00,119.07,1.098,6,0.076,0.000,2625,2258,2832
$STATE,5440,end apogee,CONTROL_FINISHED_OK
$STATE,5440,begin climb
$GC,5443,0.97,146.6,387.3,0.0,263,5569,1.30,2.67,117.25,1.066,4,0.066,0.071,2908,3649,2233
$GC,5585,1.01,172.6,383.1,5.3,269,5613,0.00,2.58,22.05,1.005,6,0.000,0.059,2908,2236,2128
$GC,5922,1.04,191.9,365.9,5.5,286,5945,0.00,2.65,17.10,0.999,4,0.000,0.070,2908,850,2048
$GC,6069,1.04,191.9,356.5,7.6,292,6073,0.00,2.53,0.00,0.000,6,0.000,0.056,2908,2239,2049
$GC,6385,1.06,207.6,338.8,5.6,307,6404,0.10,0.00,14.12,0.996,6,0.060,0.000,2941,2239,1984
$GC,6714,1.06,207.6,317.1,6.3,323,6718,0.00,2.55,0.00,0.000,4,0.000,0.071,2940,858,1983
$GC,6792,0.99,207.6,311.5,7.5,326,6799,0.12,2.50,0.00,0.000,6,0.093,0.057,2915,2236,1983
$GC,7108,0.99,207.6,291.2,6.8,342,7112,0.00,2.55,0.00,0.000,4,0.000,0.070,2915,852,1983
$GC,7140,0.99,207.6,288.8,7.1,343,7146,0.00,2.47,0.00,0.000,6,0.000,0.057,2915,2217,1983
$GC,7457,1.00,210.4,269.6,5.9,359,7461,0.00,2.53,0.00,0.000,4,0.000,0.068,2915,852,1982
$GC,7490,1.00,211.2,267.4,6.0,360,7503,0.00,2.42,4.35,0.737,6,0.000,0.056,2915,2192,1969
$GC,7812,1.11,255.7,251.2,4.8,376,7855,0.12,2.55,36.42,1.014,4,0.058,0.068,2950,858,1789
$GC,7879,1.07,255.7,246.6,7.1,379,7884,0.00,2.42,0.00,0.000,6,0.000,0.054,2951,2190,1789
$GC,8206,1.07,255.7,223.7,7.2,395,8210,0.00,2.45,0.00,0.000,4,0.000,0.067,2950,853,1789
$GC,8235,1.02,255.7,221.5,8.2,396,8240,0.15,2.40,0.00,0.000,6,0.086,0.054,2920,2186,1789
$GC,8556,1.09,255.7,202.2,6.1,412,8561,0.00,2.67,0.00,0.000,4,0.000,0.067,2920,3660,1789
$GC,8584,1.15,255.7,200.2,7.2,413,8589,0.12,2.65,0.00,0.000,6,0.058,0.055,2955,2188,1790
$GC,8900,1.11,255.7,175.7,7.3,428,8904,0.00,2.42,0.00,0.000,4,0.000,0.067,2955,848,1790
$GC,8934,1.05,255.7,173.0,7.8,429,8941,0.12,2.38,0.00,0.000,6,0.085,0.053,2930,2175,1790
$GC,9250,1.09,275.1,152.9,5.5,445,9271,0.00,0.00,17.05,0.913,6,0.000,0.000,2930,2175,1710
$GC,9582,1.14,275.1,133.3,6.4,461,9583,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2175,1710
$GC,9891,1.19,275.1,110.1,7.5,476,9895,0.12,2.45,0.00,0.000,4,0.056,0.065,2967,849,1711
$GC,9918,1.15,275.1,107.6,9.3,477,9923,0.00,2.38,0.00,0.000,6,0.000,0.053,2967,2175,1711
$GC,10237,1.10,275.1,77.7,9.9,492,10238,0.12,0.00,0.00,0.000,6,0.085,0.000,2941,2176,1711
$GC,10544,1.16,312.8,58.0,5.0,507,10577,0.00,0.00,30.92,0.867,6,0.000,0.000,2941,2176,1555
$GC,10875,1.22,312.8,35.5,7.0,523,10880,0.12,2.45,0.00,0.000,4,0.054,0.067,2976,857,1556
$GC,10925,1.17,312.8,30.6,9.6,525,10930,0.12,2.35,0.00,0.000,6,0.082,0.053,2950,2169,1556
$GC,11242,1.21,337.3,11.3,5.3,540,11268,0.00,2.72,20.48,0.821,4,0.000,0.061,2950,3660,1457
$GC,11285,1.29,337.3,8.3,8.3,542,11290,0.12,2.67,0.00,0.000,6,0.057,0.053,2985,2185,1457
$STATE,11336,end climb,SURFACE_DEPTH_REACHED
$STATE,11336,begin surface coast
$FINISH,0.3,1.001537
$STATE,11378,end surface coast,CONTROL_FINISHED_OK
$STATE,11379,begin surface
$SM_CCo,11462,0.00,0.000,0,0,1456,337.29
$SM_GC,1.16,11.30,0.00,0.00,0.041,0.000,0.000,420,2001,1456,-10.41,0.06,337.29
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1797
$TCM_TEMP,16.70
$XPDR_PINGS,317
$ALTIM_TOP_PING,20.0,999.0
$ALTIM_BOTTOM_PING,351.1,39.3
$24V_AH,23.9,26.870
$10V_AH,10.1,12.653
$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,25.575,86.725,398.825,0.000,0.000,37.758,33.136,115.338,82.250,0.000,0.000,15.036,1009.900,8715.520,485.570,1154.935,396.494,33.376,1095.152,0.000,1135.202,0.000,21.469,0.000
$DEVICE_MAMPS,132.691,71.331,1098.344,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.142,367.054,443.136,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28528,547
$CAP_FILE_SIZE,86614,0
$CFSIZE,254472192,243564544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,051208,113438,6136.745,-442.108,36,1.4,36,-7.0