version: 66.04
glider: 5
mission: 5
dive: 342
start: 1 19 109 12 38 18
data:
$ID,5
$MISSION,5
$DIVE,342
$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,-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,-94092.672
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$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,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,31
$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,0
$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,6
$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
$GPS1,123236,6056.338,-529.517,39,1.1,43,-7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-46.4
$GPS2,123801,6056.365,-529.544,14,1.1,31,-7.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_NW
$TGT_LATLONG,6058.000,-547.000
$TGT_RADIUS,5000.000
$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,288.1,15979,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.97,-146.6,0.0,0.0,0,119,0.00,0.00,-101.03,0.000,2,0.000,0.000,419,2015,3351
$GC,123,-0.97,-146.6,4.8,-4.6,5,145,10.88,2.65,-1.88,0.000,4,0.133,0.077,2526,588,3432
$GC,399,-0.84,-146.6,35.0,-10.1,17,404,0.17,2.53,0.00,0.000,6,0.087,0.052,2563,2004,3433
$GC,721,-0.84,-146.6,58.9,-6.3,33,725,0.00,2.60,0.00,0.000,4,0.000,0.068,2563,591,3432
$GC,784,-0.84,-146.6,63.9,-8.8,36,788,0.00,2.53,0.00,0.000,6,0.000,0.053,2563,2007,3433
$GC,1111,-0.84,-146.6,82.5,-4.1,52,1115,0.00,2.60,0.00,0.000,4,0.000,0.067,2563,587,3433
$GC,1155,-0.84,-146.6,85.5,-7.8,54,1159,0.00,2.53,0.00,0.000,6,0.000,0.053,2563,2005,3433
$GC,1477,-0.84,-146.6,106.1,-7.3,70,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2007,3433
$GC,1786,-0.84,-146.6,131.6,-7.2,85,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2006,3433
$GC,2095,-0.84,-146.6,157.7,-9.4,100,2099,0.00,2.60,0.00,0.000,4,0.000,0.069,2563,586,3433
$GC,2139,-0.84,-146.6,162.1,-9.7,102,2144,0.00,2.50,0.00,0.000,6,0.000,0.054,2563,1990,3433
$GC,2461,-0.84,-146.6,189.3,-9.2,118,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1995,3433
$GC,2770,-0.84,-146.6,212.8,-6.5,133,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1996,3433
$GC,3080,-0.84,-146.6,235.4,-7.7,148,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1995,3433
$GC,3388,-0.84,-146.6,262.1,-8.9,163,3393,0.00,2.58,0.00,0.000,4,0.000,0.071,2563,590,3433
$GC,3428,-0.84,-146.6,265.8,-10.0,165,3433,0.00,2.47,0.00,0.000,6,0.000,0.053,2563,1983,3433
$GC,3757,-0.84,-146.6,292.4,-7.6,181,3761,0.00,2.55,0.00,0.000,4,0.000,0.064,2563,3404,3433
$GC,3784,-0.84,-146.6,294.8,-8.1,182,3788,0.00,2.55,0.00,0.000,6,0.000,0.054,2563,1977,3433
$GC,4100,-0.84,-146.6,320.6,-7.8,197,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1977,3433
$GC,4410,-0.84,-146.6,344.1,-7.4,212,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1977,3432
$GC,4718,-0.84,-146.6,366.3,-7.6,227,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1976,3433
$STATE,4777,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4777,begin apogee
$GC,4785,-0.33,0.0,370.7,7.2,230,4912,0.50,0.00,124.45,1.062,6,0.071,0.000,2671,2145,2832
$STATE,4913,end apogee,CONTROL_FINISHED_OK
$STATE,4913,begin climb
$GC,4917,0.97,146.6,375.7,0.0,236,5044,1.27,0.00,123.10,1.033,6,0.058,0.000,2953,2144,2234
$GC,5351,0.89,167.4,355.9,5.4,257,5372,0.00,0.00,18.73,0.966,6,0.000,0.000,2953,2144,2149
$GC,5681,0.80,167.4,333.6,6.4,273,5683,0.17,0.00,0.00,0.000,6,0.085,0.000,2918,2145,2149
$GC,5989,0.92,244.5,319.0,3.9,288,6061,0.12,2.75,64.80,1.015,4,0.057,0.071,2954,718,1835
$GC,6090,0.86,244.5,312.9,6.8,292,6097,0.12,2.55,0.00,0.000,6,0.087,0.054,2930,2119,1834
$GC,6406,0.91,278.7,295.6,5.1,308,6438,0.00,0.00,29.62,0.983,6,0.000,0.000,2929,2119,1696
$GC,6737,1.08,351.1,281.7,4.0,324,6800,0.22,0.00,60.72,0.991,6,0.047,0.000,2989,2120,1400
$GC,7105,1.00,351.1,245.3,11.0,342,7110,0.12,2.62,0.00,0.000,4,0.086,0.068,2964,715,1401
$GC,7138,1.00,351.1,241.9,9.6,343,7144,0.00,2.55,0.00,0.000,6,0.000,0.055,2964,2121,1401
$GC,7455,1.00,351.1,213.5,9.2,359,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2122,1401
$GC,7763,1.00,351.1,183.3,10.8,374,7767,0.00,2.60,0.00,0.000,4,0.000,0.069,2964,717,1401
$GC,7796,1.00,351.1,179.7,11.0,375,7802,0.00,2.53,0.00,0.000,6,0.000,0.054,2964,2120,1401
$GC,8112,1.00,351.1,152.8,9.0,391,8114,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2121,1401
$GC,8421,1.00,351.1,125.5,8.3,406,8423,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2121,1401
$GC,8730,1.17,454.0,111.9,3.2,421,8821,0.17,2.65,83.93,0.891,4,0.049,0.067,3015,718,980
$GC,8859,1.05,454.0,102.8,8.9,427,8865,0.20,2.55,0.00,0.000,6,0.080,0.054,2974,2123,980
$GC,9187,1.10,454.0,74.0,9.1,443,9188,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2139,981
$GC,9497,1.16,454.0,43.3,10.9,458,9502,0.10,2.60,0.00,0.000,4,0.058,0.067,3005,715,981
$GC,9552,1.16,454.0,37.1,6.0,460,9559,0.00,2.53,0.00,0.000,6,0.000,0.053,3005,2118,981
$STATE,9845,end climb,SURFACE_DEPTH_REACHED
$STATE,9845,begin surface coast
$FINISH,1.2,1.027462
$STATE,9869,end surface coast,CONTROL_FINISHED_OK
$STATE,9869,begin surface
$SM_CCo,9953,0.00,0.000,0,0,980,454.54
$SM_GC,0.56,11.32,0.00,0.00,0.039,0.000,0.000,421,2009,980,-10.61,0.25,454.54
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1806
$TCM_TEMP,16.70
$XPDR_PINGS,58
$ALTIM_BOTTOM_PING,300.4,80.3
$24V_AH,23.9,59.612
$10V_AH,10.1,29.436
$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,25.400,57.100,505.350,0.000,0.000,37.759,27.621,127.282,16.750,0.000,0.000,31.853,856.574,7405.681,572.284,1056.987,387.746,0.000,1122.775,0.000,1021.577,0.000,17.051,0.000
$DEVICE_MAMPS,132.691,77.467,1062.295,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,351.602,318.022,410.210,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22333,476
$CAP_FILE_SIZE,70482,0
$CFSIZE,254472192,231243776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,190109,152530,6056.242,-532.361,42,1.9,42,-7.2