version: 66.04
glider: 5
mission: 5
dive: 112
start: 11 24 108 21 22 57
data:
$ID,5
$MISSION,5
$DIVE,112
$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,412.5
$T_MISSION,440
$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,-89455.477
$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,37
$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
$GPS1,211725,6108.975,-156.074,29,1.1,46,-5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-58.8
$GPS2,212208,6108.973,-156.099,15,1.1,15,-5.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.220,0.108
$KALMAN_X,35758.4,1525.8,17.4,166380.5,-3559.7
$KALMAN_Y,-23652.0,-223.0,-155.7,-256169.5,-5708.0
$MHEAD_RNG_PITCHd_Wd,301.5,100093,-14.8,-8.000
$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,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-61.60,0.000,2,0.000,0.000,418,1972,3063
$GC,82,-1.22,-146.6,3.4,-4.6,3,112,10.35,2.60,-10.90,0.000,4,0.137,0.068,2428,3413,3428
$GC,244,-1.04,-146.6,25.4,-13.0,10,249,0.22,2.50,0.00,0.000,6,0.091,0.050,2474,2010,3429
$GC,567,-0.94,-146.6,63.3,-10.5,26,572,0.10,2.53,0.00,0.000,4,0.100,0.063,2494,593,3429
$GC,623,-0.94,-146.6,69.8,-12.0,28,629,0.00,2.47,0.00,0.000,6,0.000,0.049,2494,1997,3429
$GC,939,-0.94,-146.6,118.7,-15.1,44,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2010,3429
$GC,1247,-0.94,-146.6,163.5,-15.2,59,1252,0.00,2.55,0.00,0.000,4,0.000,0.064,2494,591,3429
$GC,1315,-0.94,-146.6,172.4,-12.1,62,1320,0.00,2.47,0.00,0.000,6,0.000,0.049,2494,1997,3429
$GC,1637,-0.94,-146.6,207.6,-11.5,78,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1997,3429
$GC,1946,-0.94,-146.6,235.6,-6.0,93,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1997,3429
$GC,2255,-0.94,-146.6,261.6,-8.3,108,2260,0.00,2.55,0.00,0.000,4,0.000,0.064,2494,592,3429
$GC,2300,-0.94,-146.6,266.5,-11.8,110,2304,0.00,2.45,0.00,0.000,6,0.000,0.050,2494,1983,3429
$GC,2621,-0.94,-146.6,299.1,-9.6,126,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1983,3429
$GC,2930,-0.94,-146.6,327.2,-8.3,141,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1983,3429
$GC,3240,-0.94,-146.6,352.0,-8.2,156,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1983,3429
$GC,3549,-0.94,-146.6,378.5,-9.3,171,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1983,3429
$GC,3858,-0.94,-146.6,406.4,-9.2,186,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1983,3429
$GC,4167,-0.94,-146.6,437.4,-9.1,201,4171,0.00,2.55,0.00,0.000,4,0.000,0.064,2494,3411,3429
$GC,4262,-0.94,-146.6,446.5,-8.9,205,4266,0.00,2.55,0.00,0.000,6,0.000,0.054,2494,1980,3429
$STATE,4348,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4348,begin apogee
$GC,4355,-0.33,0.0,454.7,9.5,209,4477,0.60,0.00,118.88,1.092,6,0.076,0.000,2623,2255,2832
$STATE,4478,end apogee,CONTROL_FINISHED_OK
$STATE,4478,begin climb
$GC,4481,1.22,146.6,460.0,0.0,215,4607,1.55,2.65,117.57,1.065,4,0.061,0.064,2964,3653,2234
$GC,4635,1.27,177.9,453.2,6.9,222,4667,0.00,2.55,26.48,1.007,6,0.000,0.054,2964,2247,2106
$GC,4977,1.28,185.2,428.1,7.7,238,4986,0.00,0.00,7.60,0.864,6,0.000,0.000,2964,2247,2077
$GC,5286,1.30,194.4,400.7,7.7,253,5297,0.00,0.00,9.25,0.903,6,0.000,0.000,2964,2245,2039
$GC,5596,1.41,262.8,380.2,5.5,268,5657,0.17,0.00,55.83,1.025,6,0.048,0.000,3011,2221,1759
$GC,5967,1.41,262.8,338.7,12.4,286,5971,0.00,2.53,0.00,0.000,4,0.000,0.062,3011,837,1760
$GC,6000,1.35,262.8,334.6,12.4,287,6006,0.00,2.50,0.00,0.000,6,0.000,0.049,3011,2239,1760
$GC,6316,1.35,262.8,298.6,10.2,303,6320,0.00,2.53,0.00,0.000,4,0.000,0.061,3011,844,1760
$GC,6343,1.29,262.8,295.6,11.0,304,6348,0.15,2.50,0.00,0.000,6,0.084,0.051,2981,2242,1760
$GC,6660,1.34,262.8,265.4,8.8,319,6664,0.00,2.55,0.00,0.000,4,0.000,0.062,2980,839,1760
$GC,6706,1.39,262.8,260.9,10.1,321,6711,0.00,2.47,0.00,0.000,6,0.000,0.049,2981,2229,1760
$GC,7034,1.44,262.8,233.1,8.1,337,7039,0.15,2.55,0.00,0.000,4,0.049,0.061,3023,841,1760
$GC,7079,1.36,262.8,227.6,13.0,339,7084,0.15,2.45,0.00,0.000,6,0.088,0.049,2994,2218,1760
$GC,7400,1.36,262.8,196.4,8.1,355,7401,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2218,1760
$GC,7709,1.36,262.8,165.1,9.6,370,7713,0.00,2.50,0.00,0.000,4,0.000,0.063,2994,845,1760
$GC,7749,1.36,262.8,160.9,11.7,372,7753,0.00,2.42,0.00,0.000,6,0.000,0.050,2994,2211,1760
$GC,8076,1.36,262.8,123.7,11.4,388,8077,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2212,1760
$GC,8385,1.36,262.8,87.7,11.0,403,8389,0.00,2.50,0.00,0.000,4,0.000,0.063,2994,838,1760
$GC,8440,1.36,262.8,81.6,10.6,405,8447,0.00,2.42,0.00,0.000,6,0.000,0.049,2994,2207,1760
$GC,8758,1.36,262.8,56.3,8.1,421,8759,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2208,1760
$GC,9066,1.36,262.8,21.6,11.2,436,9070,0.00,2.47,0.00,0.000,4,0.000,0.062,2994,843,1760
$GC,9132,1.36,262.8,14.7,10.7,439,9137,0.00,2.40,0.00,0.000,6,0.000,0.049,2994,2198,1760
$STATE,9245,end climb,SURFACE_DEPTH_REACHED
$STATE,9245,begin surface coast
$FINISH,0.8,1.027288
$STATE,9267,end surface coast,CONTROL_FINISHED_OK
$STATE,9267,begin surface
$SM_CCo,9351,0.00,0.000,0,0,1760,262.96
$SM_GC,1.75,11.12,0.00,0.00,0.039,0.000,0.000,426,1957,1760,-10.38,-1.22,262.96
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1784
$TCM_TEMP,16.50
$XPDR_PINGS,299
$ALTIM_TOP_PING,19.9,18.7
$ALTIM_BOTTOM_PING,376.7,87.3
$24V_AH,24.0,19.871
$10V_AH,10.1,8.856
$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,24.575,66.125,335.600,0.000,0.000,37.758,33.201,108.884,78.000,0.000,0.000,15.780,836.356,7062.249,415.709,970.974,353.336,33.357,925.156,0.000,951.805,0.000,23.174,0.000
$DEVICE_MAMPS,136.526,68.263,1092.208,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,330.600,299.291,324.786,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22226,446
$CAP_FILE_SIZE,69432,0
$CFSIZE,254472192,246382592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,251108,000008,6109.765,-159.607,43,1.4,43,-5.4