version: 66.04
glider: 5
mission: 5
dive: 26
start: 11 10 108 14 56 18
data:
$ID,5
$MISSION,5
$DIVE,26
$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,-87701.508
$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,23
$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
$GPS1,145101,6242.724,-602.938,32,1.2,37,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-60.3
$GPS2,145527,6242.723,-602.932,16,1.2,16,-8.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.257,-0.061
$KALMAN_X,61589.1,-1159.3,-1431.6,-57979.2,32779.1
$KALMAN_Y,-23477.9,-481.5,-26.7,-82591.4,3110.6
$MHEAD_RNG_PITCHd_Wd,264.7,5340,-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,-146.6,0.0,0.0,0,107,0.00,0.00,-86.30,0.000,6,0.000,0.000,427,1986,3430
$GC,111,-1.44,-146.6,6.1,-5.6,5,126,10.12,2.60,0.00,0.000,4,0.140,0.062,2376,3406,3431
$GC,380,-1.26,-146.6,62.6,-16.9,16,385,0.25,2.53,0.00,0.000,6,0.097,0.052,2423,1999,3431
$GC,701,-1.19,-146.6,106.0,-13.6,32,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1999,3431
$GC,1011,-1.12,-146.6,148.7,-14.0,47,1016,0.15,2.53,0.00,0.000,4,0.100,0.067,2453,598,3430
$GC,1089,-1.12,-146.6,159.0,-12.0,50,1095,0.00,2.47,0.00,0.000,6,0.000,0.051,2453,1993,3430
$GC,1405,-1.12,-146.6,197.1,-12.4,66,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1993,3430
$GC,1715,-1.12,-146.6,236.5,-12.6,81,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1994,3431
$GC,2024,-1.12,-146.6,275.0,-12.9,96,2029,0.00,2.55,0.00,0.000,4,0.000,0.067,2453,3405,3431
$GC,2080,-1.17,-146.6,282.3,-12.5,98,2087,0.00,2.53,0.00,0.000,6,0.000,0.054,2453,1997,3431
$GC,2397,-1.22,-146.6,321.1,-12.2,114,2401,0.00,2.53,0.00,0.000,4,0.000,0.068,2453,593,3431
$GC,2655,-1.89,-146.6,321.1,0.0,125,2663,0.75,2.47,0.00,0.000,6,0.048,0.052,2283,2010,3432
$STATE,2720,end dive,NO_VERTICAL_VELOCITY
$STATE,2720,begin apogee
$GC,2728,-0.33,0.0,321.2,0.0,129,2849,1.52,0.00,117.07,1.031,6,0.052,0.000,2629,2244,2832
$STATE,2849,end apogee,CONTROL_FINISHED_OK
$STATE,2850,begin climb
$GC,2852,1.44,146.6,321.1,0.0,135,2976,1.70,0.00,115.90,0.994,6,0.051,0.000,3012,2244,2234
$GC,3287,1.50,184.4,290.9,8.3,156,3323,0.00,2.65,30.90,0.947,4,0.000,0.065,3012,847,2080
$GC,3380,1.53,200.0,282.0,9.3,159,3399,0.00,2.53,14.07,0.892,6,0.000,0.053,3013,2244,2015
$GC,3724,1.59,201.2,247.9,9.9,176,3726,0.15,0.00,0.00,0.000,6,0.053,0.000,3052,2244,2015
$GC,4031,1.52,201.2,211.0,12.0,191,4036,0.00,2.58,0.00,0.000,4,0.000,0.070,3052,3654,2015
$GC,4110,1.45,201.2,200.8,13.2,194,4117,0.20,2.55,0.00,0.000,6,0.097,0.054,3015,2240,2015
$GC,4426,1.49,201.2,169.2,10.1,210,4430,0.00,2.53,0.00,0.000,4,0.000,0.065,3015,842,2015
$GC,4453,1.49,201.2,166.3,10.9,211,4457,0.00,2.50,0.00,0.000,6,0.000,0.052,3015,2237,2015
$GC,4770,1.55,206.4,135.0,9.8,226,4778,0.00,0.00,6.60,0.749,6,0.000,0.000,3015,2237,1990
$GC,5081,1.61,214.3,105.7,9.6,241,5095,0.17,2.60,7.68,0.766,4,0.052,0.063,3064,845,1958
$GC,5131,1.51,214.3,99.7,12.4,243,5136,0.17,2.53,0.00,0.000,6,0.096,0.053,3030,2246,1958
$GC,5452,1.57,256.0,69.7,8.1,259,5492,0.00,0.00,33.42,0.851,6,0.000,0.000,3030,2246,1787
$GC,5803,1.62,256.0,28.8,11.7,276,5805,0.10,0.00,0.00,0.000,6,0.063,0.000,3057,2245,1787
$STATE,5984,end climb,SURFACE_DEPTH_REACHED
$STATE,5984,begin surface coast
$FINISH,0.5,1.027306
$STATE,6006,end surface coast,CONTROL_FINISHED_OK
$STATE,6006,begin surface
$SM_CCo,6089,0.00,0.000,0,0,1786,256.58
$SM_GC,1.29,11.57,0.00,0.00,0.042,0.000,0.000,426,1957,1786,-10.38,-1.24,256.58
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1780
$TCM_TEMP,17.20
$XPDR_PINGS,164
$ALTIM_TOP_PING,17.5,999.0
$24V_AH,24.0,7.029
$10V_AH,10.1,3.197
$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,26.875,41.525,325.650,0.000,0.000,37.757,30.461,100.619,43.250,0.000,0.000,16.259,573.273,4351.509,415.271,727.371,297.818,33.342,798.248,0.000,713.851,0.000,15.357,0.000
$DEVICE_MAMPS,140.361,69.797,1030.848,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,208.092,191.349,255.906,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12825,286
$CAP_FILE_SIZE,51346,0
$CFSIZE,254472192,250880000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,101108,163853,6242.448,-603.476,10,3.2,30,-8.0