version: 66.04
glider: 5
mission: 5
dive: 22
start: 11 10 108 6 43 0
data:
$ID,5
$MISSION,5
$DIVE,22
$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,-87642.461
$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,25
$R_STBD_OVSHOOT,20
$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
$GPS1,063735,6246.866,-603.981,13,4.3,32,-8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-61.9
$GPS2,064209,6246.865,-603.863,12,1.2,12,-8.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.197,-0.175
$KALMAN_X,49581.1,-526.1,-285.2,-48553.2,14617.5
$KALMAN_Y,-24878.1,258.1,189.1,-74495.7,1069.7
$MHEAD_RNG_PITCHd_Wd,236.6,12750,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,98,0.00,0.00,-80.43,0.000,6,0.000,0.000,422,1977,3430
$GC,102,-1.44,-146.6,5.2,-6.4,4,117,10.23,2.53,0.00,0.000,4,0.143,0.061,2378,585,3432
$GC,190,-1.22,-146.6,29.3,-17.8,7,195,0.28,2.55,0.00,0.000,6,0.095,0.052,2432,2012,3433
$GC,512,-1.16,-146.6,73.9,-13.8,23,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2024,3432
$GC,821,-1.10,-146.6,117.3,-13.9,38,823,0.15,0.00,0.00,0.000,6,0.096,0.000,2461,2024,3433
$GC,1130,-1.10,-146.6,155.0,-11.7,53,1134,0.00,2.62,0.00,0.000,4,0.000,0.068,2461,593,3433
$GC,1179,-1.10,-146.6,161.2,-11.4,55,1184,0.00,2.53,0.00,0.000,6,0.000,0.054,2461,2006,3433
$GC,1495,-1.10,-146.6,196.3,-10.7,70,1499,0.00,2.58,0.00,0.000,4,0.000,0.067,2461,595,3433
$GC,1534,-1.10,-146.6,200.7,-11.0,72,1539,0.00,2.50,0.00,0.000,6,0.000,0.054,2461,1997,3433
$GC,1861,-1.10,-146.6,237.0,-11.4,88,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1997,3433
$GC,2170,-1.10,-146.6,272.5,-11.6,103,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1998,3433
$GC,2479,-1.10,-146.6,308.8,-11.5,118,2484,0.00,2.58,0.00,0.000,4,0.000,0.067,2461,587,3433
$GC,2591,-1.10,-146.6,322.6,-12.6,123,2596,0.00,2.50,0.00,0.000,6,0.000,0.053,2462,1982,3433
$GC,2912,-1.10,-146.6,360.0,-11.3,139,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1983,3433
$GC,3222,-1.10,-146.6,395.1,-11.2,154,3226,0.00,2.58,0.00,0.000,4,0.000,0.071,2462,3406,3433
$GC,3263,-1.17,-146.6,399.1,-9.9,156,3267,0.00,2.53,0.00,0.000,6,0.000,0.058,2462,1999,3433
$STATE,3401,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3401,begin apogee
$GC,3408,-0.33,0.0,414.6,11.3,163,3530,0.77,0.00,118.38,1.117,6,0.083,0.000,2626,2258,2832
$STATE,3531,end apogee,CONTROL_FINISHED_OK
$STATE,3531,begin climb
$GC,3533,1.44,146.6,420.6,0.0,169,3658,1.80,2.62,116.97,1.087,4,0.062,0.072,3015,3647,2234
$GC,3723,1.41,161.6,410.1,9.3,177,3743,0.00,2.55,13.55,0.976,6,0.000,0.056,3015,2245,2172
$GC,4060,1.41,161.6,374.8,10.8,194,4064,0.00,2.62,0.00,0.000,4,0.000,0.070,3015,3645,2172
$GC,4100,1.37,161.6,370.2,11.7,196,4104,0.00,2.50,0.00,0.000,6,0.000,0.057,3015,2264,2171
$GC,4427,1.38,172.4,338.7,9.5,212,4438,0.00,0.00,9.98,0.929,6,0.000,0.000,3015,2263,2129
$GC,4735,1.38,172.4,306.6,10.8,227,4740,0.00,2.58,0.00,0.000,4,0.000,0.067,3015,842,2130
$GC,4847,1.38,172.4,294.0,11.0,232,4852,0.00,2.55,0.00,0.000,6,0.000,0.054,3015,2250,2129
$GC,5169,1.38,172.4,260.3,10.3,248,5173,0.00,2.60,0.00,0.000,4,0.000,0.066,3015,846,2129
$GC,5201,1.38,172.4,256.8,10.9,249,5207,0.00,2.58,0.00,0.000,6,0.000,0.055,3015,2271,2129
$GC,5517,1.41,190.1,227.2,9.2,265,5537,0.00,0.00,15.73,0.940,6,0.000,0.000,3015,2271,2056
$GC,5847,1.42,193.8,195.1,9.8,281,5856,0.00,2.65,4.65,0.712,4,0.000,0.064,3015,840,2041
$GC,5879,1.42,193.8,191.5,11.5,282,5885,0.00,2.58,0.00,0.000,6,0.000,0.054,3015,2262,2041
$GC,6195,1.42,193.8,159.2,10.5,298,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2263,2041
$GC,6504,1.42,193.8,128.9,10.2,313,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2263,2040
$GC,6813,1.42,193.8,96.4,10.4,328,6818,0.00,2.53,0.00,0.000,4,0.000,0.069,3015,3654,2041
$GC,6846,1.42,193.8,92.6,10.8,329,6853,0.00,2.53,0.00,0.000,6,0.000,0.054,3015,2243,2040
$GC,7164,1.42,193.8,61.1,10.0,345,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2244,2040
$GC,7472,1.46,193.8,27.2,11.2,360,7476,0.00,2.53,0.00,0.000,4,0.000,0.065,3015,844,2040
$GC,7513,1.46,193.8,22.7,10.6,362,7517,0.00,2.50,0.00,0.000,6,0.000,0.053,3015,2239,2041
$STATE,7713,end climb,SURFACE_DEPTH_REACHED
$STATE,7713,begin surface coast
$FINISH,0.8,1.027297
$STATE,7735,end surface coast,CONTROL_FINISHED_OK
$STATE,7735,begin surface
$SM_CCo,7759,30.05,0.829,0,0,1811,250.21
$SM_GC,1.10,0.00,0.00,30.05,0.000,0.000,0.829,425,1969,1811,-10.47,-0.79,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1755
$TCM_TEMP,17.10
$XPDR_PINGS,223
$ALTIM_TOP_PING,19.3,999.0
$ALTIM_BOTTOM_PING,376.4,47.6
$24V_AH,23.9,6.602
$10V_AH,10.1,3.043
$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,24.500,62.325,279.250,30.050,0.000,37.756,33.075,107.275,59.000,0.000,0.000,12.874,712.241,5798.995,422.235,813.680,327.328,33.360,840.679,0.000,800.335,0.000,23.083,0.000
$DEVICE_MAMPS,142.662,72.098,1116.752,829.127,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,276.252,250.479,293.690,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19071,373
$CAP_FILE_SIZE,60639,0
$CFSIZE,254472192,250990592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,101108,085408,6245.500,-602.232,39,1.0,39,-8.0