version: 66.04
glider: 5
mission: 5
dive: 255
start: 12 30 108 18 7 27
data:
$ID,5
$MISSION,5
$DIVE,255
$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,-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,-92301.898
$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,23
$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
$GPS1,180208,6054.558,-542.142,30,1.1,30,-7.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-61.6
$GPS2,180708,6054.546,-542.235,10,1.1,15,-7.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_NW
$TGT_LATLONG,6058.000,-547.000
$TGT_RADIUS,5000.000
$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,333.5,7698,-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,-81.65,0.000,2,0.000,0.000,421,1983,3046
$GC,102,-0.97,-146.6,3.1,-2.9,4,133,10.68,2.60,-11.85,0.000,4,0.133,0.076,2481,585,3431
$GC,330,-0.75,-146.6,30.7,-12.3,14,335,0.25,2.55,0.00,0.000,6,0.086,0.052,2534,2007,3432
$GC,652,-0.67,-146.6,61.0,-9.8,30,657,0.00,2.60,0.00,0.000,4,0.000,0.067,2534,588,3431
$GC,675,-0.59,-146.6,63.3,-9.7,31,680,0.17,2.53,0.00,0.000,6,0.084,0.054,2572,2000,3431
$GC,997,-0.59,-146.6,89.5,-7.1,47,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2001,3432
$GC,1306,-0.63,-146.6,108.6,-6.3,62,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2001,3432
$GC,1615,-0.63,-146.6,126.5,-6.0,77,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2001,3431
$GC,1924,-0.63,-146.6,146.5,-6.4,92,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2001,3431
$GC,2233,-0.67,-146.6,166.4,-6.5,107,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2001,3431
$GC,2542,-0.67,-146.6,186.6,-6.7,122,2546,0.00,2.53,0.00,0.000,4,0.000,0.064,2572,3409,3431
$GC,2571,-0.73,-146.6,188.7,-7.3,123,2576,0.15,2.53,0.00,0.000,6,0.054,0.052,2530,1994,3431
$GC,2892,-0.64,-146.6,215.3,-8.4,139,2894,0.12,0.00,0.00,0.000,6,0.090,0.000,2557,1993,3432
$GC,3201,-0.64,-146.6,237.4,-6.9,154,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1993,3432
$GC,3510,-0.64,-146.6,259.7,-6.9,169,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1993,3432
$GC,3819,-0.64,-146.6,283.0,-7.6,184,3824,0.00,2.58,0.00,0.000,4,0.000,0.064,2558,3406,3431
$GC,3864,-0.64,-146.6,287.0,-8.5,186,3869,0.00,2.53,0.00,0.000,6,0.000,0.053,2557,1994,3432
$GC,4185,-0.64,-146.6,309.6,-7.4,202,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1979,3432
$STATE,4409,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4409,begin apogee
$GC,4417,-0.33,0.0,328.0,7.9,213,4543,0.32,0.00,123.85,1.037,6,0.073,0.000,2628,2213,2832
$STATE,4544,end apogee,CONTROL_FINISHED_OK
$STATE,4544,begin climb
$GC,4548,0.97,146.6,332.4,0.0,219,4678,1.27,2.58,122.00,1.001,4,0.063,0.065,2905,3596,2234
$GC,4704,1.04,195.3,327.8,4.7,227,4751,0.00,2.55,41.38,0.968,6,0.000,0.054,2906,2190,2035
$GC,5076,1.10,199.4,307.6,5.9,245,5086,0.12,2.58,5.10,0.729,4,0.056,0.067,2944,788,2018
$GC,5116,1.01,199.4,304.1,8.4,247,5121,0.12,2.55,0.00,0.000,6,0.081,0.053,2919,2200,2018
$GC,5443,1.01,199.4,284.6,6.3,263,5448,0.00,2.60,0.00,0.000,4,0.000,0.067,2918,792,2018
$GC,5477,1.03,212.2,282.4,5.6,264,5496,0.00,2.55,12.12,0.905,6,0.000,0.054,2918,2212,1966
$GC,5814,1.04,217.1,262.2,5.9,281,5821,0.00,0.00,5.97,0.782,6,0.000,0.000,2918,2212,1946
$GC,6123,1.04,217.1,243.6,6.6,296,6127,0.00,2.62,0.00,0.000,4,0.000,0.068,2918,786,1945
$GC,6178,1.04,217.1,239.7,7.2,298,6184,0.00,2.53,0.00,0.000,6,0.000,0.054,2918,2196,1945
$GC,6495,1.10,226.1,221.2,5.8,314,6509,0.00,2.65,8.82,0.853,4,0.000,0.067,2918,792,1910
$GC,6540,1.11,231.4,218.6,5.9,316,6551,0.10,2.53,6.10,0.774,6,0.058,0.054,2949,2193,1887
$GC,6870,1.12,238.7,198.1,5.8,332,6879,0.00,0.00,7.68,0.824,6,0.000,0.000,2949,2193,1858
$GC,7177,1.14,248.4,180.0,5.7,347,7191,0.00,2.62,9.35,0.844,4,0.000,0.067,2949,791,1818
$GC,7245,1.09,248.4,175.6,6.4,350,7249,0.00,2.50,0.00,0.000,6,0.000,0.054,2949,2178,1818
$GC,7572,1.09,248.4,155.6,6.3,366,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2179,1819
$GC,7881,1.09,248.4,135.1,7.0,381,7885,0.00,2.55,0.00,0.000,4,0.000,0.067,2949,793,1819
$GC,7925,1.09,248.4,131.6,7.7,383,7929,0.00,2.47,0.00,0.000,6,0.000,0.054,2949,2176,1819
$GC,8247,1.09,248.4,108.1,7.5,399,8248,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2176,1819
$GC,8555,1.09,248.4,84.2,7.9,414,8559,0.00,2.55,0.00,0.000,4,0.000,0.067,2949,790,1819
$GC,8605,1.09,248.4,80.1,7.7,416,8609,0.00,2.47,0.00,0.000,6,0.000,0.054,2949,2173,1819
$GC,8921,1.09,248.4,53.0,9.1,431,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2173,1819
$GC,9231,1.09,248.4,27.3,7.5,446,9235,0.00,2.55,0.00,0.000,4,0.000,0.067,2950,786,1819
$GC,9264,1.09,248.4,24.7,7.0,447,9270,0.00,2.45,0.00,0.000,6,0.000,0.053,2949,2157,1819
$STATE,9556,end climb,SURFACE_DEPTH_REACHED
$STATE,9556,begin surface coast
$FINISH,0.6,1.010871
$STATE,9599,end surface coast,CONTROL_FINISHED_OK
$STATE,9599,begin surface
$SM_CCo,9622,2.10,0.222,0,0,1812,250.21
$SM_GC,2.12,0.00,0.00,2.10,0.000,0.000,0.222,422,1998,1812,-10.48,-0.06,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1796
$TCM_TEMP,16.70
$XPDR_PINGS,322
$ALTIM_TOP_PING,18.6,999.0
$ALTIM_BOTTOM_PING,251.0,85.8
$24V_AH,23.9,44.707
$10V_AH,10.1,22.028
$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,24.350,67.050,342.375,2.100,0.000,37.760,32.226,120.795,82.500,0.000,0.000,15.802,863.960,7236.874,434.799,1017.768,380.258,0.000,956.994,0.000,1000.494,0.000,15.232,0.000
$DEVICE_MAMPS,133.458,75.933,1036.984,221.663,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,338.671,310.968,419.291,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22230,464
$CAP_FILE_SIZE,71239,0
$CFSIZE,254472192,236687360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,301208,204908,6056.043,-544.453,36,1.0,36,-7.3