version: 66.04
glider: 5
mission: 5
dive: 226
start: 12 24 108 11 25 4
data:
$ID,5
$MISSION,5
$DIVE,226
$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,-91737.625
$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,49
$R_STBD_OVSHOOT,24
$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
$GPS1,112014,6018.441,-353.706,32,1.7,32,-6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-57.9
$GPS2,112445,6018.462,-353.673,12,1.7,12,-6.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6007.663,-353.673
$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,-81.32,0.000,2,0.000,0.000,424,1958,3024
$GC,102,-0.97,-146.6,3.1,-2.9,4,133,10.52,2.62,-12.32,0.000,4,0.129,0.069,2480,3406,3430
$GC,232,-0.75,-146.6,18.6,-9.8,9,239,0.28,2.45,0.00,0.000,6,0.083,0.046,2539,2022,3430
$GC,550,-0.68,-146.6,40.4,-7.1,25,555,0.00,2.55,0.00,0.000,4,0.000,0.062,2539,592,3430
$GC,579,-0.61,-146.6,42.8,-7.9,26,584,0.12,2.47,0.00,0.000,6,0.087,0.050,2566,1993,3430
$GC,895,-0.61,-146.6,66.3,-9.7,41,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1998,3430
$GC,1204,-0.61,-146.6,87.9,-8.6,56,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1998,3430
$GC,1513,-0.61,-146.6,116.1,-8.4,71,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1999,3430
$GC,1823,-0.61,-146.6,140.1,-7.6,86,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1998,3430
$GC,2132,-0.61,-146.6,161.1,-5.9,101,2136,0.00,2.58,0.00,0.000,4,0.000,0.066,2566,590,3430
$GC,2171,-0.61,-146.6,164.1,-8.0,103,2176,0.00,2.47,0.00,0.000,6,0.000,0.051,2566,1989,3430
$GC,2499,-0.61,-146.6,185.9,-6.8,119,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1990,3430
$GC,2807,-0.61,-146.6,205.8,-7.1,134,2812,0.00,2.53,0.00,0.000,4,0.000,0.061,2566,3405,3429
$GC,2835,-0.61,-146.6,207.9,-7.4,135,2839,0.00,2.55,0.00,0.000,6,0.000,0.050,2566,1968,3429
$STATE,2983,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2983,begin apogee
$GC,2991,-0.33,0.0,219.4,7.8,142,3113,0.28,0.00,119.05,0.937,6,0.071,0.000,2626,2208,2832
$STATE,3114,end apogee,CONTROL_FINISHED_OK
$STATE,3114,begin climb
$GC,3117,0.97,146.6,224.8,0.0,148,3242,1.25,2.62,117.75,0.907,4,0.049,0.061,2909,3602,2234
$GC,3267,1.07,212.7,221.4,4.2,155,3330,0.10,2.53,53.97,0.881,6,0.058,0.049,2943,2196,1964
$GC,3640,1.07,212.7,198.1,6.7,173,3645,0.00,2.53,0.00,0.000,4,0.000,0.063,2943,791,1963
$GC,3703,1.07,212.7,193.3,7.7,176,3708,0.00,2.50,0.00,0.000,6,0.000,0.050,2943,2193,1963
$GC,4031,1.07,212.7,171.5,6.7,192,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2194,1963
$GC,4340,1.07,212.7,146.9,7.8,207,4344,0.00,2.55,0.00,0.000,4,0.000,0.062,2942,791,1963
$GC,4372,1.07,212.7,144.8,6.4,208,4379,0.00,2.47,0.00,0.000,6,0.000,0.051,2943,2184,1963
$GC,4690,1.07,212.7,125.1,6.4,224,4695,0.00,2.53,0.00,0.000,4,0.000,0.061,2943,794,1963
$GC,4718,1.07,212.7,123.0,7.3,225,4723,0.00,2.45,0.00,0.000,6,0.000,0.050,2943,2173,1963
$GC,5035,1.09,225.1,104.4,5.7,240,5056,0.00,2.65,11.45,0.789,4,0.000,0.061,2943,3602,1914
$GC,5084,1.09,225.1,100.4,8.8,242,5089,0.00,2.55,0.00,0.000,6,0.000,0.049,2943,2174,1914
$GC,5405,1.09,225.1,75.6,8.7,258,5409,0.00,2.47,0.00,0.000,4,0.000,0.063,2943,791,1913
$GC,5455,1.09,225.1,70.8,9.5,260,5459,0.00,2.42,0.00,0.000,6,0.000,0.048,2943,2162,1914
$GC,5778,1.12,242.1,44.8,5.5,276,5796,0.00,0.00,14.77,0.782,6,0.000,0.000,2943,2162,1845
$GC,6108,1.12,242.1,22.7,6.3,292,6112,0.00,2.50,0.00,0.000,4,0.000,0.062,2943,786,1845
$GC,6125,1.12,244.5,21.5,5.9,293,6134,0.00,2.42,3.85,0.538,6,0.000,0.049,2943,2162,1834
$STATE,6372,end climb,SURFACE_DEPTH_REACHED
$STATE,6373,begin surface coast
$FINISH,0.7,1.004354
$STATE,6418,end surface coast,CONTROL_FINISHED_OK
$STATE,6418,begin surface
$SM_CCo,6440,4.78,0.603,0,0,1811,250.21
$SM_GC,2.41,0.00,0.00,4.78,0.000,0.000,0.603,419,1976,1811,-10.49,-0.68,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1790
$TCM_TEMP,17.50
$XPDR_PINGS,179
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,175.2,52.8
$24V_AH,24.1,40.087
$10V_AH,10.1,19.652
$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,23.525,56.175,320.850,4.775,0.000,37.757,27.515,104.186,46.000,0.000,0.000,14.367,594.902,4670.061,410.280,725.817,326.838,0.000,802.168,0.000,717.040,0.000,10.357,0.000
$DEVICE_MAMPS,128.856,69.030,937.274,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,224.665,205.094,372.863,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15963,307
$CAP_FILE_SIZE,52156,0
$CFSIZE,254472192,238432256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,241208,131337,6017.951,-353.589,28,1.2,28,-6.2