version: 66.04
glider: 5
mission: 5
dive: 296
start: 1 9 109 22 22 57
data:
$ID,5
$MISSION,5
$DIVE,296
$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,-93028.477
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2625
$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,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,53
$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,0
$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,6
$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
$GPS1,221620,6014.659,-426.268,41,1.1,60,-6.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-49.7
$GPS2,222237,6014.762,-426.079,16,1.8,33,-6.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6003.963,-426.079
$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,186.4,20000,-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,-146.6,0.0,0.0,0,118,0.00,0.00,-97.68,0.000,6,0.000,0.000,421,1973,3429
$GC,121,-0.97,-146.6,6.3,-5.4,5,138,10.25,2.62,0.00,0.000,4,0.132,0.060,2405,3416,3430
$GC,178,-0.53,-146.6,27.4,-23.8,6,185,0.50,2.47,0.00,0.000,6,0.091,0.044,2509,2017,3431
$GC,495,-0.37,-146.6,57.7,-6.7,22,499,0.15,2.55,0.00,0.000,4,0.086,0.059,2540,3411,3431
$GC,529,-0.33,-146.6,59.6,-5.7,23,536,0.00,2.50,0.00,0.000,6,0.000,0.047,2540,1996,3431
$GC,846,-0.27,-146.6,84.1,-9.4,39,850,0.12,2.50,0.00,0.000,4,0.088,0.062,2567,591,3431
$GC,890,-0.27,-146.6,88.2,-8.8,41,894,0.00,2.53,0.00,0.000,6,0.000,0.050,2567,2010,3431
$GC,1212,-0.27,-146.6,110.4,-6.6,57,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2023,3431
$GC,1520,-0.27,-146.6,135.5,-9.9,72,1525,0.00,2.58,0.00,0.000,4,0.000,0.064,2567,591,3431
$GC,1554,-0.31,-146.6,139.5,-11.2,73,1561,0.00,2.47,0.00,0.000,6,0.000,0.051,2567,1993,3431
$GC,1870,-0.31,-146.6,167.2,-7.9,89,1874,0.00,2.53,0.00,0.000,4,0.000,0.062,2567,3411,3431
$GC,1909,-0.35,-146.6,170.8,-9.3,90,1916,0.00,2.53,0.00,0.000,6,0.000,0.048,2567,1980,3431
$GC,2225,-0.35,-146.6,195.3,-7.9,106,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1979,3431
$GC,2535,-0.35,-146.6,218.8,-7.9,121,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1978,3430
$GC,2844,-0.35,-146.6,239.1,-6.1,136,2849,0.00,2.58,0.00,0.000,4,0.000,0.061,2567,3405,3430
$GC,2895,-0.35,-146.6,242.2,-6.1,138,2899,0.00,2.50,0.00,0.000,6,0.000,0.048,2567,1989,3430
$GC,3211,-0.35,-146.6,261.0,-6.0,153,3216,0.00,2.55,0.00,0.000,4,0.000,0.060,2567,3405,3431
$GC,3234,-0.35,-146.6,262.5,-5.9,154,3238,0.00,2.50,0.00,0.000,6,0.000,0.048,2567,1990,3430
$GC,3555,-0.35,-146.6,284.8,-7.6,170,3559,0.00,2.55,0.00,0.000,4,0.000,0.061,2567,3404,3431
$GC,3577,-0.35,-146.6,286.7,-7.9,171,3581,0.00,2.47,0.00,0.000,6,0.000,0.048,2567,2002,3431
$GC,3899,-0.35,-146.6,310.5,-5.5,187,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2001,3430
$GC,4207,-0.35,-146.6,331.1,-8.2,202,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1986,3430
$GC,4517,-0.35,-146.6,357.1,-7.3,217,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1990,3430
$GC,4825,-0.35,-146.6,379.1,-7.3,232,4829,0.00,2.50,0.00,0.000,4,0.000,0.066,2567,595,3430
$GC,4865,-0.35,-146.6,381.7,-6.7,234,4869,0.00,2.47,0.00,0.000,6,0.000,0.050,2567,2006,3430
$GC,5192,-0.35,-146.6,403.9,-7.0,250,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2016,3430
$GC,5500,-0.35,-146.6,426.2,-7.3,265,5504,0.00,2.50,0.00,0.000,4,0.000,0.064,2567,3404,3430
$GC,5528,-0.35,-146.6,428.5,-7.7,266,5532,0.00,2.47,0.00,0.000,6,0.000,0.052,2567,2008,3430
$STATE,5655,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5655,begin apogee
$GC,5663,-0.33,0.0,437.4,6.7,272,5788,0.00,0.00,123.28,1.082,6,0.000,0.000,2567,2124,2832
$STATE,5789,end apogee,CONTROL_FINISHED_OK
$STATE,5789,begin climb
$GC,5792,0.97,146.6,445.1,0.0,278,5925,1.23,2.67,123.03,1.051,4,0.064,0.062,2833,717,2234
$GC,5983,1.30,217.4,441.0,4.1,287,6052,0.35,2.53,59.97,1.023,6,0.043,0.048,2920,2131,1945
$GC,6362,1.34,239.0,420.0,5.4,306,6387,0.00,2.58,19.35,0.971,4,0.000,0.063,2920,3514,1857
$GC,6411,1.40,239.0,416.4,7.1,308,6415,0.00,2.55,0.00,0.000,6,0.000,0.057,2920,2122,1857
$GC,6732,1.45,239.0,397.1,6.3,324,6736,0.00,2.55,0.00,0.000,4,0.000,0.064,2920,705,1858
$GC,6777,1.55,269.6,394.4,5.2,326,6814,0.17,2.53,27.02,0.989,6,0.045,0.049,2974,2126,1731
$GC,7128,1.46,269.6,362.8,9.1,343,7129,0.15,0.00,0.00,0.000,6,0.077,0.000,2943,2134,1732
$GC,7432,1.46,269.6,339.2,7.7,358,7436,0.00,2.60,0.00,0.000,4,0.000,0.065,2943,715,1732
$GC,7460,1.46,269.6,337.2,7.7,359,7464,0.00,2.50,0.00,0.000,6,0.000,0.051,2942,2121,1732
$GC,7775,1.46,269.6,314.4,7.6,374,7777,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2121,1732
$GC,8084,1.46,269.6,286.6,9.7,389,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2121,1732
$GC,8394,1.46,269.6,258.4,8.0,404,8398,0.00,2.58,0.00,0.000,4,0.000,0.065,2942,717,1732
$GC,8428,1.46,269.6,255.6,8.2,405,8432,0.00,2.50,0.00,0.000,6,0.000,0.051,2942,2123,1732
$GC,8743,1.46,269.6,231.4,8.2,420,8745,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2123,1732
$GC,9053,1.46,269.6,207.8,6.8,435,9054,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2124,1732
$GC,9363,1.47,274.0,186.8,5.9,450,9373,0.00,2.55,5.45,0.709,4,0.000,0.061,2943,3532,1714
$GC,9385,1.50,295.9,185.6,5.4,451,9409,0.00,2.55,19.00,0.873,6,0.000,0.049,2942,2107,1625
$GC,9732,1.50,295.9,151.0,9.3,468,9736,0.00,2.50,0.00,0.000,4,0.000,0.064,2943,717,1624
$GC,9761,1.50,295.9,148.1,10.6,469,9765,0.00,2.50,0.00,0.000,6,0.000,0.050,2942,2122,1624
$GC,10077,1.56,295.9,120.6,6.7,484,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2123,1624
$GC,10387,1.61,295.9,98.9,6.9,499,10392,0.15,2.60,0.00,0.000,4,0.050,0.064,2987,704,1624
$GC,10409,1.57,295.9,96.0,12.1,500,10414,0.00,2.53,0.00,0.000,6,0.000,0.051,2987,2128,1624
$GC,10732,1.67,396.1,71.0,3.3,516,10818,0.00,2.60,79.30,0.834,4,0.000,0.059,2987,3526,1217
$GC,10846,1.67,396.1,61.6,11.4,521,10851,0.00,2.53,0.00,0.000,6,0.000,0.048,2987,2125,1217
$GC,11169,1.68,428.1,29.2,5.1,537,11201,0.00,2.58,26.77,0.781,4,0.000,0.060,2987,713,1086
$GC,11232,1.68,461.0,27.3,5.1,540,11266,0.00,2.53,27.52,0.772,6,0.000,0.048,2987,2150,952
$STATE,11437,end climb,SURFACE_DEPTH_REACHED
$STATE,11438,begin surface coast
$FINISH,0.6,1.022934
$STATE,11460,end surface coast,CONTROL_FINISHED_OK
$STATE,11460,begin surface
$SM_CCo,11544,0.00,0.000,0,0,951,461.41
$SM_GC,1.05,11.20,0.00,0.00,0.035,0.000,0.000,416,1960,951,-10.06,-1.16,461.41
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1782
$TCM_TEMP,17.50
$XPDR_PINGS,36
$ALTIM_BOTTOM_PING,401.1,45.8
$24V_AH,23.9,51.964
$10V_AH,10.1,25.803
$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,24.275,101.875,510.700,0.000,0.000,37.762,34.521,162.172,12.250,0.000,0.000,33.465,1014.821,8635.734,580.396,1215.226,474.607,0.000,1244.013,0.000,1167.321,0.000,23.334,0.000
$DEVICE_MAMPS,131.924,65.962,1082.237,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.587,368.568,412.539,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28528,551
$CAP_FILE_SIZE,89936,0
$CFSIZE,254472192,233840640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,100109,013637,6014.266,-423.011,40,1.2,40,-6.4