version: 66.04
glider: 5
mission: 5
dive: 223
start: 12 24 108 4 18 34
data:
$ID,5
$MISSION,5
$DIVE,223
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,180
$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,-91674.727
$T_RSLEEP,27
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,26
$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
$GPS1,041307,6020.991,-401.662,44,1.2,44,-6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-61.9
$GPS2,041815,6021.012,-401.528,14,1.2,14,-6.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6010.213,-401.528
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.132,-0.177
$KALMAN_X,220775.9,-921.1,-1644.0,-80717.6,25183.1
$KALMAN_Y,135954.9,-405.3,-1430.2,-453990.2,21805.5
$MHEAD_RNG_PITCHd_Wd,186.2,20000,-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,15,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-81.38,0.000,2,0.000,0.000,421,1979,3397
$GC,102,-0.97,-146.6,4.9,-5.5,4,125,10.73,2.60,-0.75,0.000,4,0.137,0.072,2482,3412,3431
$GC,242,-0.79,-146.6,31.0,-13.1,10,247,0.20,2.50,0.00,0.000,6,0.089,0.047,2523,2001,3431
$GC,569,-0.69,-146.6,67.4,-11.0,26,574,0.12,2.53,0.00,0.000,4,0.099,0.066,2550,597,3432
$GC,613,-0.69,-146.6,71.6,-8.8,28,618,0.00,2.50,0.00,0.000,6,0.000,0.050,2550,2011,3432
$GC,936,-0.64,-146.6,94.8,-7.5,44,940,0.00,2.50,0.00,0.000,4,0.000,0.061,2550,3413,3432
$GC,969,-0.64,-146.6,97.8,-9.3,45,975,0.00,2.47,0.00,0.000,6,0.000,0.048,2550,2016,3431
$GC,1287,-0.64,-146.6,121.9,-7.1,61,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2016,3432
$GC,1595,-0.64,-146.6,145.4,-8.0,76,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2016,3432
$GC,1903,-0.64,-146.6,170.6,-8.3,91,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2016,3431
$GC,2213,-0.64,-146.6,198.4,-9.0,106,2217,0.00,2.53,0.00,0.000,4,0.000,0.060,2550,3412,3431
$GC,2246,-0.64,-146.6,201.4,-8.9,107,2252,0.00,2.47,0.00,0.000,6,0.000,0.048,2550,2013,3431
$GC,2561,-0.64,-146.6,228.5,-8.6,123,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2011,3431
$GC,2871,-0.64,-146.6,254.3,-8.1,138,2875,0.00,2.53,0.00,0.000,4,0.000,0.061,2550,3408,3431
$GC,2904,-0.64,-146.6,257.2,-7.9,139,2910,0.00,2.45,0.00,0.000,6,0.000,0.048,2550,2020,3431
$GC,3220,-0.64,-146.6,283.2,-8.4,155,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2020,3431
$GC,3529,-0.64,-146.6,306.8,-7.7,170,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2021,3431
$GC,3839,-0.64,-146.6,331.1,-8.0,185,3843,0.00,2.53,0.00,0.000,4,0.000,0.063,2550,3412,3431
$GC,3901,-0.64,-146.6,336.4,-8.4,188,3905,0.00,2.45,0.00,0.000,6,0.000,0.052,2550,2034,3431
$STATE,3957,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3957,begin apogee
$GC,3965,-0.33,0.0,340.9,7.6,191,4088,0.35,0.00,120.28,1.026,6,0.072,0.000,2625,2211,2832
$STATE,4089,end apogee,CONTROL_FINISHED_OK
$STATE,4089,begin climb
$GC,4092,0.97,146.6,346.2,0.0,197,4220,1.27,2.60,118.82,1.000,4,0.060,0.063,2906,3594,2234
$GC,4284,1.07,208.4,341.2,4.3,206,4341,0.10,2.50,51.12,0.966,6,0.061,0.051,2939,2199,1982
$GC,4652,1.07,208.4,317.5,6.9,223,4656,0.00,2.55,0.00,0.000,4,0.000,0.064,2939,788,1982
$GC,4673,1.07,208.4,315.3,8.7,224,4678,0.00,2.50,0.00,0.000,6,0.000,0.049,2939,2193,1981
$GC,4994,1.07,208.4,294.0,6.8,240,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2194,1982
$GC,5303,1.07,208.4,273.3,6.5,255,5307,0.00,2.58,0.00,0.000,4,0.000,0.064,2939,787,1981
$GC,5330,1.07,208.4,271.4,7.0,256,5334,0.00,2.53,0.00,0.000,6,0.000,0.050,2939,2202,1981
$GC,5647,1.07,208.4,250.6,6.2,271,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2202,1981
$GC,5955,1.07,208.4,230.0,6.7,286,5960,0.00,2.58,0.00,0.000,4,0.000,0.064,2939,790,1981
$GC,5989,1.07,208.4,227.6,7.2,287,5995,0.00,2.50,0.00,0.000,6,0.000,0.051,2939,2197,1981
$GC,6305,1.07,208.4,207.0,7.3,303,6309,0.00,2.53,0.00,0.000,4,0.000,0.063,2939,3612,1981
$GC,6339,1.02,208.4,203.9,9.4,304,6343,0.00,2.53,0.00,0.000,6,0.000,0.050,2939,2191,1981
$GC,6654,1.05,229.8,182.1,5.4,319,6674,0.00,0.00,18.42,0.884,6,0.000,0.000,2939,2191,1895
$GC,6984,1.07,240.0,161.2,5.7,335,6999,0.00,2.55,9.73,0.813,4,0.000,0.064,2939,791,1853
$GC,7033,1.07,240.0,157.8,7.3,336,7037,0.00,2.53,0.00,0.000,6,0.000,0.050,2939,2203,1853
$GC,7349,1.07,240.0,132.9,8.9,351,7353,0.00,2.55,0.00,0.000,4,0.000,0.062,2939,792,1853
$GC,7405,1.07,240.0,127.2,10.0,353,7411,0.00,2.47,0.00,0.000,6,0.000,0.050,2939,2184,1852
$GC,7721,1.07,240.0,100.6,8.7,369,7725,0.00,2.53,0.00,0.000,4,0.000,0.064,2939,793,1853
$GC,7753,1.07,240.0,97.9,7.3,370,7760,0.00,2.45,0.00,0.000,6,0.000,0.050,2939,2172,1853
$GC,8072,1.15,291.7,77.3,4.6,386,8115,0.00,0.00,41.70,0.847,6,0.000,0.000,2939,2174,1643
$GC,8421,1.25,317.5,60.4,5.3,403,8451,0.15,2.60,22.10,0.815,4,0.048,0.064,2983,791,1536
$GC,8509,1.18,317.5,53.4,9.8,407,8514,0.15,2.45,0.00,0.000,6,0.075,0.050,2952,2162,1535
$GC,8836,1.18,317.5,29.1,8.5,423,8841,0.00,2.53,0.00,0.000,4,0.000,0.064,2952,790,1535
$GC,8864,1.18,317.5,26.5,9.1,424,8868,0.00,2.42,0.00,0.000,6,0.000,0.050,2952,2152,1535
$STATE,9117,end climb,SURFACE_DEPTH_REACHED
$STATE,9117,begin surface coast
$FINISH,0.7,1.027351
$STATE,9158,end surface coast,CONTROL_FINISHED_OK
$STATE,9158,begin surface
$SM_CCo,9241,0.00,0.000,0,0,1533,318.64
$SM_GC,1.41,11.00,0.00,0.00,0.038,0.000,0.000,425,1967,1533,-10.39,-0.93,318.64
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1798
$TCM_TEMP,17.40
$XPDR_PINGS,304
$ALTIM_TOP_PING,18.0,999.0
$ALTIM_BOTTOM_PING,326.2,24.1
$24V_AH,24.0,39.739
$10V_AH,10.1,19.523
$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,24.075,81.100,382.175,0.000,0.000,37.761,32.848,123.019,78.750,0.000,0.000,14.588,828.447,6875.583,469.736,988.367,390.260,0.000,996.528,0.000,968.488,0.000,19.845,0.000
$DEVICE_MAMPS,137.293,72.098,1026.246,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,323.830,293.256,393.304,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22247,438
$CAP_FILE_SIZE,71396,0
$CFSIZE,254472192,238501888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,241208,065338,6019.868,-357.789,26,1.9,26,-6.2