version: 66.04
glider: 5
mission: 5
dive: 225
start: 12 24 108 9 12 3
data:
$ID,5
$MISSION,5
$DIVE,225
$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,-91722.633
$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,25
$R_STBD_OVSHOOT,22
$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
$GPS1,090708,6019.057,-355.065,41,1.0,41,-6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-57.4
$GPS2,091144,6019.083,-354.964,9,1.0,14,-6.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6008.284,-354.964
$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,-81.40,0.000,2,0.000,0.000,421,1975,2957
$GC,102,-0.97,-146.6,3.1,-2.8,4,134,10.65,2.58,-14.98,0.000,4,0.133,0.071,2483,3408,3431
$GC,259,-0.76,-146.6,24.0,-12.3,11,264,0.22,2.50,0.00,0.000,6,0.091,0.047,2530,1998,3430
$GC,582,-0.68,-146.6,50.2,-6.8,27,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1981,3431
$GC,890,-0.58,-146.6,75.2,-9.8,42,895,0.17,2.58,0.00,0.000,4,0.086,0.059,2573,3408,3430
$GC,908,-0.58,-146.6,77.4,-11.0,43,913,0.00,2.50,0.00,0.000,6,0.000,0.046,2573,1990,3430
$GC,1237,-0.58,-146.6,104.6,-7.8,59,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1989,3430
$GC,1545,-0.58,-146.6,128.5,-9.2,74,1549,0.00,2.58,0.00,0.000,4,0.000,0.059,2573,3415,3430
$GC,1563,-0.64,-146.6,130.0,-8.9,75,1568,0.00,2.53,0.00,0.000,6,0.000,0.047,2573,1983,3430
$GC,1891,-0.64,-146.6,150.0,-6.2,91,1896,0.00,2.58,0.00,0.000,4,0.000,0.059,2572,3409,3430
$GC,1915,-0.68,-146.6,151.3,-5.6,92,1920,0.00,2.50,0.00,0.000,6,0.000,0.048,2573,1993,3430
$GC,2243,-0.73,-146.6,170.4,-6.8,108,2245,0.15,0.00,0.00,0.000,6,0.051,0.000,2530,1992,3430
$GC,2554,-0.63,-146.6,196.4,-8.1,123,2556,0.15,0.00,0.00,0.000,6,0.085,0.000,2563,1991,3430
$GC,2862,-0.63,-146.6,215.8,-5.6,138,2866,0.00,2.50,0.00,0.000,4,0.000,0.065,2562,595,3430
$GC,2884,-0.63,-146.6,217.5,-7.0,139,2888,0.00,2.50,0.00,0.000,6,0.000,0.050,2562,2011,3430
$GC,3204,-0.63,-146.6,240.4,-6.3,155,3205,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2012,3430
$STATE,3408,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3408,begin apogee
$GC,3416,-0.33,0.0,254.4,7.3,165,3538,0.30,0.00,119.22,0.956,6,0.071,0.000,2627,2213,2832
$STATE,3538,end apogee,CONTROL_FINISHED_OK
$STATE,3538,begin climb
$GC,3541,0.97,146.6,257.9,0.0,171,3669,1.27,2.60,117.97,0.932,4,0.055,0.062,2910,3594,2234
$GC,3833,1.02,182.5,245.2,5.0,184,3868,0.00,2.47,29.98,0.894,6,0.000,0.048,2910,2200,2087
$GC,4200,1.08,182.5,222.9,6.6,202,4204,0.10,2.53,0.00,0.000,4,0.056,0.062,2943,793,2086
$GC,4263,1.01,182.5,218.9,6.1,205,4268,0.12,2.47,0.00,0.000,6,0.081,0.049,2917,2186,2086
$GC,4590,1.01,182.5,200.9,6.4,221,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2185,2086
$GC,4899,1.01,182.5,181.7,6.4,236,4903,0.00,2.55,0.00,0.000,4,0.000,0.062,2917,787,2086
$GC,4939,1.01,182.5,179.1,6.1,238,4943,0.00,2.50,0.00,0.000,6,0.000,0.050,2917,2190,2086
$GC,5266,1.10,238.4,165.3,4.5,254,5313,0.10,0.00,45.40,0.890,6,0.058,0.000,2949,2190,1860
$GC,5616,1.10,240.3,141.5,5.9,271,5620,0.00,2.55,0.00,0.000,4,0.000,0.062,2949,791,1860
$GC,5682,1.10,240.3,135.4,9.3,274,5687,0.00,2.45,0.00,0.000,6,0.000,0.049,2949,2166,1860
$GC,6003,1.10,240.3,116.9,6.7,290,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2168,1860
$GC,6313,1.10,240.3,94.2,6.7,305,6317,0.00,2.50,0.00,0.000,4,0.000,0.064,2949,794,1859
$GC,6340,1.10,240.3,92.1,8.4,306,6344,0.00,2.42,0.00,0.000,6,0.000,0.049,2949,2162,1859
$GC,6656,1.10,240.3,68.3,7.8,321,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2161,1859
$GC,6967,1.31,368.5,52.5,2.5,336,7073,0.15,0.00,102.68,0.825,6,0.049,0.000,2995,2162,1329
$GC,7377,1.24,368.5,15.3,9.1,356,7382,0.12,2.55,0.00,0.000,4,0.078,0.065,2969,786,1331
$GC,7417,1.24,368.5,10.0,13.0,358,7422,0.00,2.42,0.00,0.000,6,0.000,0.050,2969,2145,1331
$STATE,7494,end climb,SURFACE_DEPTH_REACHED
$STATE,7494,begin surface coast
$FINISH,0.8,1.027296
$STATE,7539,end surface coast,CONTROL_FINISHED_OK
$STATE,7539,begin surface
$SM_CCo,7622,0.00,0.000,0,0,1330,368.44
$SM_GC,1.40,11.07,0.00,0.00,0.037,0.000,0.000,424,1961,1330,-10.38,-1.10,368.44
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1796
$TCM_TEMP,17.50
$XPDR_PINGS,223
$ALTIM_TOP_PING,18.7,999.0
$ALTIM_BOTTOM_PING,200.6,63.1
$24V_AH,24.0,39.990
$10V_AH,10.1,19.612
$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,24.600,55.950,415.250,0.000,0.000,37.758,30.858,102.753,57.250,0.000,0.000,16.553,697.264,5538.812,493.247,840.550,335.994,0.000,935.633,0.000,829.343,0.000,12.007,0.000
$DEVICE_MAMPS,133.458,70.564,956.449,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,269.544,243.515,386.659,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15897,364
$CAP_FILE_SIZE,59542,0
$CFSIZE,254472192,238456832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,241208,112014,6018.441,-353.706,32,1.7,32,-6.2