version: 66.04
glider: 5
mission: 5
dive: 20
start: 11 10 108 1 44 12
data:
$ID,5
$MISSION,5
$DIVE,20
$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,330
$T_MISSION,360
$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,-87614.758
$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,28
$R_STBD_OVSHOOT,19
$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
$GPS1,013808,6250.005,-604.790,26,1.2,26,-8.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-58.2
$GPS2,014321,6249.963,-604.729,16,2.0,16,-8.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.224,-0.139
$KALMAN_X,41285.6,338.8,-198.2,-41942.4,4371.8
$KALMAN_Y,-27127.2,350.2,320.0,-66733.6,-2226.4
$MHEAD_RNG_PITCHd_Wd,246.2,18452,-18.1,-10.000
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.44,-146.6,0.0,0.0,0,101,0.00,0.00,-81.03,0.000,2,0.000,0.000,421,1972,3411
$GC,104,-1.44,-146.6,5.1,-6.3,4,121,10.23,2.53,-0.38,0.000,4,0.142,0.079,2376,593,3430
$GC,254,-1.24,-146.6,40.2,-18.7,9,261,0.28,2.53,0.00,0.000,6,0.095,0.054,2431,2003,3431
$GC,570,-1.19,-146.6,86.2,-14.0,25,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2002,3431
$GC,880,-1.14,-146.6,129.0,-13.3,40,884,0.00,2.58,0.00,0.000,4,0.000,0.067,2431,599,3432
$GC,920,-1.09,-146.6,134.6,-14.2,42,925,0.15,2.53,0.00,0.000,6,0.099,0.054,2459,2005,3432
$GC,1247,-1.09,-146.6,172.8,-12.0,58,1251,0.00,2.55,0.00,0.000,4,0.000,0.070,2460,3409,3432
$GC,1280,-1.14,-146.6,177.1,-12.4,59,1286,0.00,2.53,0.00,0.000,6,0.000,0.053,2460,2002,3432
$GC,1596,-1.14,-146.6,214.3,-11.4,75,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2002,3432
$GC,1905,-1.14,-146.6,249.5,-11.4,90,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2002,3433
$GC,2214,-1.14,-146.6,282.7,-10.5,105,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2002,3433
$GC,2523,-1.14,-146.6,316.5,-12.0,120,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2002,3433
$GC,2834,-1.18,-146.6,351.3,-10.9,135,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2002,3433
$GC,3142,-1.22,-146.6,385.0,-10.1,150,3147,0.12,2.62,0.00,0.000,4,0.059,0.070,2428,3409,3432
$GC,3198,-1.22,-146.6,391.6,-11.4,152,3204,0.00,2.55,0.00,0.000,6,0.000,0.058,2428,1998,3433
$GC,3514,-1.22,-146.6,429.8,-12.4,168,3518,0.00,2.55,0.00,0.000,4,0.000,0.073,2428,593,3433
$GC,3676,-1.17,-146.6,451.8,-12.9,175,3680,0.00,2.50,0.00,0.000,6,0.000,0.058,2428,1983,3433
$GC,3998,-1.17,-146.6,490.5,-12.2,191,4002,0.00,2.62,0.00,0.000,4,0.000,0.077,2428,3406,3433
$GC,4059,-1.17,-146.6,498.3,-11.9,194,4064,0.00,2.58,0.00,0.000,6,0.000,0.063,2428,1987,3433
$STATE,4156,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4156,begin apogee
$GC,4164,-0.33,0.0,510.0,11.6,199,4286,0.95,0.00,119.43,1.214,6,0.087,0.000,2626,2263,2832
$STATE,4287,end apogee,CONTROL_FINISHED_OK
$STATE,4287,begin climb
$GC,4290,1.44,146.6,515.2,0.0,205,4416,1.77,2.75,117.50,1.180,4,0.065,0.084,3011,3653,2234
$GC,4541,1.39,161.6,497.8,9.3,216,4560,0.00,2.62,13.62,1.069,6,0.000,0.067,3012,2244,2172
$GC,4883,1.44,188.8,467.4,8.8,233,4912,0.00,2.78,22.95,1.128,4,0.000,0.083,3011,3644,2062
$GC,4953,1.44,188.8,460.7,10.0,236,4957,0.00,2.55,0.00,0.000,6,0.000,0.066,3011,2269,2062
$GC,5274,1.44,188.8,429.6,10.2,252,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2268,2061
$GC,5583,1.46,202.3,398.6,9.4,267,5604,0.00,2.70,12.02,1.070,4,0.000,0.075,3011,843,2007
$GC,5655,1.46,202.3,391.0,10.6,270,5659,0.00,2.62,0.00,0.000,6,0.000,0.064,3011,2258,2007
$GC,5976,1.46,202.3,358.7,10.0,286,5980,0.00,2.62,0.00,0.000,4,0.000,0.081,3011,3659,2006
$GC,6048,1.46,202.3,351.0,10.4,289,6052,0.00,2.58,0.00,0.000,6,0.000,0.062,3011,2250,2006
$GC,6363,1.50,224.6,321.7,9.0,304,6388,0.00,2.67,18.95,1.077,4,0.000,0.071,3011,846,1916
$GC,6417,1.50,226.8,316.5,9.9,306,6428,0.00,2.62,3.67,0.686,6,0.000,0.061,3011,2268,1906
$GC,6739,1.56,239.9,284.7,9.4,322,6760,0.12,2.67,11.93,1.002,4,0.060,0.074,3044,3660,1854
$GC,6778,1.51,239.9,279.7,13.8,323,6784,0.00,2.58,0.00,0.000,6,0.000,0.058,3045,2257,1854
$GC,7093,1.51,239.9,239.7,12.7,339,7094,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2256,1854
$GC,7402,1.51,239.9,201.8,12.1,354,7407,0.00,2.58,0.00,0.000,4,0.000,0.069,3045,845,1854
$GC,7430,1.51,239.9,198.2,12.9,355,7434,0.00,2.58,0.00,0.000,6,0.000,0.058,3045,2264,1854
$GC,7746,1.51,239.9,156.5,14.7,370,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2265,1855
$GC,8055,1.51,239.9,116.5,13.5,385,8060,0.00,2.55,0.00,0.000,4,0.000,0.073,3045,3657,1855
$GC,8100,1.44,239.9,109.8,15.5,387,8105,0.17,2.50,0.00,0.000,6,0.097,0.054,3012,2261,1855
$GC,8422,1.51,239.9,74.7,11.4,403,8427,0.00,2.55,0.00,0.000,4,0.000,0.067,3012,846,1856
$GC,8450,1.58,239.9,71.3,12.1,404,8455,0.15,2.58,0.00,0.000,6,0.054,0.054,3050,2277,1855
$GC,8768,1.58,239.9,31.5,13.7,419,8772,0.00,2.65,0.00,0.000,4,0.000,0.065,3050,838,1856
$GC,8796,1.52,239.9,27.6,13.1,420,8800,0.00,2.58,0.00,0.000,6,0.000,0.054,3050,2266,1856
$STATE,8985,end climb,SURFACE_DEPTH_REACHED
$STATE,8985,begin surface coast
$FINISH,0.4,1.027340
$STATE,9009,end surface coast,CONTROL_FINISHED_OK
$STATE,9009,begin surface
$SM_CCo,9032,5.70,0.697,0,0,1812,250.21
$SM_GC,2.15,0.00,0.00,5.70,0.000,0.000,0.697,426,1966,1812,-10.46,-0.59,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1760
$TCM_TEMP,16.90
$XPDR_PINGS,306
$ALTIM_TOP_PING,18.6,999.0
$ALTIM_BOTTOM_PING,450.3,69.6
$24V_AH,23.8,6.377
$10V_AH,10.0,2.959
$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,25.450,84.000,320.075,5.700,0.000,37.760,24.632,144.947,80.500,0.000,0.000,16.779,832.772,6708.206,423.684,1010.430,384.435,33.360,963.305,0.000,983.987,0.000,27.903,0.000
$DEVICE_MAMPS,141.895,83.603,1214.161,697.203,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,314.834,288.629,294.026,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22274,430
$CAP_FILE_SIZE,75103,0
$CFSIZE,254472192,251043840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,101108,041608,6248.466,-606.005,38,1.0,38,-8.1