version: 66.04
glider: 5
mission: 5
dive: 224
start: 12 24 108 6 58 56
data:
$ID,5
$MISSION,5
$DIVE,224
$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,180
$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,-91705.453
$T_RSLEEP,27
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,50
$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
$GPS1,065338,6019.868,-357.789,26,1.9,26,-6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-61.0
$GPS2,065838,6019.882,-357.643,13,2.0,30,-6.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6009.083,-357.643
$TGT_RADIUS,1852.000
$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,186.2,20000,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-81.62,0.000,2,0.000,0.000,425,1979,3268
$GC,102,-0.97,-146.6,4.5,-4.9,4,125,10.65,2.60,-3.88,0.000,4,0.135,0.071,2481,3406,3431
$GC,265,-0.77,-146.6,29.9,-10.6,11,270,0.25,2.45,0.00,0.000,6,0.085,0.047,2533,2022,3431
$GC,594,-0.68,-146.6,57.2,-10.7,27,598,0.00,2.55,0.00,0.000,4,0.000,0.063,2534,595,3431
$GC,644,-0.61,-146.6,63.5,-11.9,29,649,0.15,2.47,0.00,0.000,6,0.085,0.050,2566,1994,3431
$GC,962,-0.61,-146.6,85.2,-5.2,44,966,0.00,2.53,0.00,0.000,4,0.000,0.061,2566,3408,3431
$GC,995,-0.61,-146.6,87.9,-7.8,45,1001,0.00,2.53,0.00,0.000,6,0.000,0.048,2566,1981,3431
$GC,1311,-0.61,-146.6,114.0,-6.4,61,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1980,3431
$GC,1621,-0.61,-146.6,132.5,-6.6,76,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1980,3431
$GC,1929,-0.61,-146.6,153.6,-6.4,91,1934,0.00,2.58,0.00,0.000,4,0.000,0.059,2566,3407,3431
$GC,1963,-0.65,-146.6,155.9,-7.1,92,1969,0.00,2.50,0.00,0.000,6,0.000,0.048,2566,1993,3431
$GC,2279,-0.65,-146.6,179.2,-7.2,108,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1992,3431
$GC,2588,-0.65,-146.6,199.2,-6.9,123,2592,0.00,2.55,0.00,0.000,4,0.000,0.060,2566,3412,3431
$GC,2615,-0.69,-146.6,201.3,-7.4,124,2620,0.00,2.47,0.00,0.000,6,0.000,0.048,2566,2005,3431
$GC,2932,-0.69,-146.6,220.8,-4.6,139,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2003,3431
$GC,3240,-0.69,-146.6,240.6,-6.3,154,3245,0.00,2.55,0.00,0.000,4,0.000,0.060,2566,3414,3431
$GC,3354,-0.69,-146.6,249.3,-8.6,159,3358,0.00,2.42,0.00,0.000,6,0.000,0.048,2566,2043,3431
$GC,3675,-0.69,-146.6,273.8,-8.2,175,3679,0.00,2.47,0.00,0.000,4,0.000,0.062,2566,3407,3431
$GC,3764,-0.69,-146.6,280.3,-7.1,179,3768,0.00,2.40,0.00,0.000,6,0.000,0.049,2566,2055,3431
$STATE,3794,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3794,begin apogee
$GC,3802,-0.33,0.0,282.6,7.0,181,3924,0.28,0.00,119.70,0.984,6,0.071,0.000,2626,2209,2831
$STATE,3925,end apogee,CONTROL_FINISHED_OK
$STATE,3925,begin climb
$GC,3928,0.97,146.6,287.1,0.0,187,4056,1.27,2.60,118.45,0.953,4,0.061,0.061,2906,3595,2234
$GC,4075,1.05,201.7,283.5,4.5,194,4126,0.10,2.50,45.22,0.923,6,0.060,0.048,2938,2200,2009
$GC,4448,1.17,273.4,260.3,4.0,212,4513,0.00,2.65,58.33,0.924,4,0.000,0.060,2938,3601,1716
$GC,4538,1.17,273.4,255.4,6.7,216,4542,0.00,2.50,0.00,0.000,6,0.000,0.050,2938,2211,1717
$GC,4858,1.17,273.4,234.7,7.0,232,4863,0.00,2.55,0.00,0.000,4,0.000,0.062,2938,791,1718
$GC,4921,1.17,273.4,229.7,8.6,235,4925,0.00,2.50,0.00,0.000,6,0.000,0.048,2939,2199,1718
$GC,5248,1.17,273.4,209.7,6.7,251,5253,0.00,2.58,0.00,0.000,4,0.000,0.063,2938,792,1718
$GC,5281,1.17,273.4,207.2,6.1,252,5288,0.00,2.50,0.00,0.000,6,0.000,0.049,2939,2199,1718
$GC,5598,1.39,381.8,191.1,3.0,268,5691,0.25,2.65,86.78,0.903,4,0.043,0.061,3009,788,1274
$GC,5737,1.26,381.8,178.6,11.2,274,5743,0.17,2.50,0.00,0.000,6,0.078,0.049,2974,2183,1274
$GC,6052,1.26,381.8,148.9,8.3,290,6056,0.00,2.55,0.00,0.000,4,0.000,0.064,2974,789,1276
$GC,6086,1.26,381.8,145.5,9.8,291,6093,0.00,2.45,0.00,0.000,6,0.000,0.050,2974,2164,1276
$GC,6404,1.26,381.8,109.7,13.3,307,6408,0.00,2.53,0.00,0.000,4,0.000,0.064,2974,792,1277
$GC,6443,1.26,381.8,105.1,11.2,309,6448,0.00,2.42,0.00,0.000,6,0.000,0.051,2974,2153,1276
$GC,6771,1.26,381.8,72.6,8.6,325,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2155,1277
$GC,7080,1.26,381.8,41.6,9.3,340,7084,0.00,2.50,0.00,0.000,4,0.000,0.064,2974,784,1277
$GC,7124,1.26,381.8,37.6,8.2,342,7128,0.00,2.40,0.00,0.000,6,0.000,0.049,2974,2145,1277
$GC,7452,1.26,381.8,6.3,10.0,358,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2146,1277
$STATE,7489,end climb,SURFACE_DEPTH_REACHED
$STATE,7489,begin surface coast
$FINISH,0.8,1.027327
$STATE,7532,end surface coast,CONTROL_FINISHED_OK
$STATE,7532,begin surface
$SM_CCo,7614,0.00,0.000,0,0,1276,381.69
$SM_GC,1.47,11.07,0.00,0.00,0.037,0.000,0.000,421,1976,1276,-10.39,-0.68,381.69
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1782
$TCM_TEMP,17.50
$XPDR_PINGS,229
$ALTIM_TOP_PING,18.7,18.3
$ALTIM_BOTTOM_PING,250.2,42.0
$24V_AH,24.0,39.869
$10V_AH,10.1,19.568
$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,24.200,75.975,428.475,0.000,0.000,37.760,27.573,113.554,59.250,0.000,0.000,30.102,700.373,5466.789,481.692,916.977,354.284,0.000,986.745,0.000,882.777,0.000,15.100,0.000
$DEVICE_MAMPS,134.992,70.564,984.061,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,269.043,241.282,345.333,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15987,362
$CAP_FILE_SIZE,64292,0
$CFSIZE,254472192,238481408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,241208,090708,6019.057,-355.065,41,1.0,41,-6.2