version: 66.04
glider: 5
mission: 5
dive: 310
start: 1 11 109 8 37 56
data:
$ID,5
$MISSION,5
$DIVE,310
$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,-93481.109
$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,30
$R_STBD_OVSHOOT,25
$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
$GPS1,083236,6029.855,-345.084,39,1.0,39,-6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-52.8
$GPS2,083737,6029.945,-344.904,12,1.1,17,-6.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$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,297.7,125972,-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,-81.57,0.000,2,0.000,0.000,422,1970,3203
$GC,102,-0.97,-146.6,3.9,-4.8,4,125,10.25,2.53,-5.75,0.000,4,0.133,0.076,2407,597,3430
$GC,378,-0.53,-146.6,50.9,-15.5,16,383,0.47,2.50,0.00,0.000,6,0.091,0.050,2506,2007,3430
$GC,702,-0.38,-146.6,84.6,-10.4,32,707,0.17,2.58,0.00,0.000,4,0.086,0.061,2547,595,3430
$GC,791,-0.38,-146.6,93.2,-8.7,36,796,0.00,2.47,0.00,0.000,6,0.000,0.050,2547,1994,3430
$GC,1114,-0.33,-146.6,119.5,-8.0,52,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1994,3430
$GC,1422,-0.33,-146.6,146.2,-8.4,67,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1995,3430
$GC,1732,-0.33,-146.6,170.9,-7.3,82,1736,0.00,2.55,0.00,0.000,4,0.000,0.066,2547,592,3430
$GC,1765,-0.33,-146.6,173.6,-8.6,83,1771,0.00,2.50,0.00,0.000,6,0.000,0.051,2547,2008,3430
$GC,2081,-0.29,-146.6,197.4,-7.5,99,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2020,3430
$GC,2391,-0.25,-146.6,220.9,-7.2,114,2396,0.12,2.58,0.00,0.000,4,0.090,0.064,2575,598,3430
$GC,2435,-0.30,-146.6,224.3,-7.6,116,2439,0.00,2.47,0.00,0.000,6,0.000,0.051,2575,2001,3430
$GC,2763,-0.30,-146.6,245.3,-6.6,132,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2002,3430
$GC,3071,-0.30,-146.6,265.5,-6.3,147,3075,0.00,2.50,0.00,0.000,4,0.000,0.062,2574,3405,3430
$GC,3099,-0.36,-146.6,267.2,-6.2,148,3105,0.15,2.50,0.00,0.000,6,0.051,0.050,2531,1996,3430
$GC,3424,-0.29,-146.6,290.7,-7.1,164,3426,0.15,0.00,0.00,0.000,6,0.086,0.000,2564,1995,3430
$GC,3730,-0.29,-146.6,310.8,-6.4,179,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1995,3430
$GC,4039,-0.29,-146.6,331.2,-6.9,194,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1995,3430
$GC,4349,-0.29,-146.6,354.5,-6.9,209,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1994,3430
$GC,4658,-0.29,-146.6,376.4,-7.4,224,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1995,3430
$GC,4967,-0.29,-146.6,395.8,-4.1,239,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1982,3429
$GC,5277,-0.29,-146.6,417.1,-7.8,254,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1982,3429
$GC,5585,-0.29,-146.6,440.2,-9.2,269,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1979,3429
$GC,5895,-0.29,-146.6,459.5,-2.7,284,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1982,3429
$STATE,5975,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5975,begin apogee
$GC,5983,-0.33,0.0,465.1,6.9,288,6109,0.00,0.00,124.20,1.091,6,0.000,0.000,2563,2139,2832
$STATE,6109,end apogee,CONTROL_FINISHED_OK
$STATE,6109,begin climb
$GC,6112,0.97,146.6,473.3,0.0,294,6245,1.27,2.58,123.12,1.065,4,0.073,0.061,2832,3512,2234
$GC,6287,1.19,146.6,468.2,6.4,302,6293,0.22,2.50,0.00,0.000,6,0.048,0.051,2894,2121,2234
$GC,6609,1.42,256.6,450.2,3.0,318,6708,0.17,2.58,92.35,1.042,4,0.048,0.063,2946,723,1784
$GC,6735,1.42,256.6,444.0,6.6,323,6739,0.00,2.47,0.00,0.000,6,0.000,0.050,2946,2103,1784
$GC,7061,1.42,256.6,417.7,10.7,339,7065,0.00,2.58,0.00,0.000,4,0.000,0.063,2945,3520,1785
$GC,7101,1.42,256.6,414.0,7.8,341,7105,0.00,2.53,0.00,0.000,6,0.000,0.056,2946,2124,1786
$GC,7428,1.42,256.6,388.3,7.1,357,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2124,1786
$GC,7738,1.42,256.6,364.8,7.7,372,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2111,1786
$GC,8046,1.42,258.5,344.3,5.9,387,8050,0.00,2.55,0.00,0.000,4,0.000,0.065,2946,709,1786
$GC,8074,1.42,258.5,342.5,6.4,388,8078,0.00,2.53,0.00,0.000,6,0.000,0.051,2946,2132,1786
$GC,8389,1.42,258.5,319.8,7.5,403,8390,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2132,1786
$GC,8699,1.42,258.5,293.8,9.0,418,8703,0.00,2.58,0.00,0.000,4,0.000,0.064,2945,717,1786
$GC,8726,1.42,258.5,291.1,9.4,419,8731,0.00,2.50,0.00,0.000,6,0.000,0.051,2945,2124,1786
$GC,9042,1.42,258.5,262.3,9.0,434,9043,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2125,1786
$GC,9351,1.42,258.5,235.0,9.9,449,9352,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2125,1786
$GC,9661,1.42,258.5,206.5,7.1,464,9662,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2125,1786
$GC,9970,1.42,258.5,180.9,8.6,479,9974,0.00,2.58,0.00,0.000,4,0.000,0.064,2946,715,1786
$GC,10010,1.42,258.5,177.3,8.8,481,10014,0.00,2.50,0.00,0.000,6,0.000,0.051,2946,2125,1786
$GC,10337,1.42,258.5,148.5,8.7,497,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2125,1786
$GC,10646,1.42,258.5,122.4,7.4,512,10647,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2125,1786
$GC,10955,1.42,258.5,96.5,8.8,527,10957,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2125,1786
$GC,11265,1.42,258.5,71.1,8.6,542,11266,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2125,1786
$GC,11575,1.42,258.5,50.5,7.4,557,11579,0.00,2.58,0.00,0.000,4,0.000,0.065,2946,707,1786
$GC,11614,1.42,258.5,47.1,8.1,559,11619,0.00,2.47,0.00,0.000,6,0.000,0.051,2946,2112,1786
$GC,11948,1.42,258.5,20.1,9.0,575,11949,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2126,1786
$STATE,12132,end climb,SURFACE_DEPTH_REACHED
$STATE,12132,begin surface coast
$FINISH,0.3,1.027278
$STATE,12173,end surface coast,CONTROL_FINISHED_OK
$STATE,12173,begin surface
$SM_CCo,12256,0.00,0.000,0,0,1785,256.83
$SM_GC,1.08,10.93,0.00,0.00,0.037,0.000,0.000,421,1983,1785,-10.06,-0.48,256.83
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1827
$TCM_TEMP,17.40
$XPDR_PINGS,38
$ALTIM_BOTTOM_PING,400.8,72.7
$24V_AH,23.9,53.772
$10V_AH,10.1,26.477
$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,23.925,61.175,339.675,0.000,0.000,37.765,36.348,112.776,12.750,0.000,0.000,17.288,1053.351,9471.850,415.920,1215.622,404.949,0.000,1027.480,0.000,1190.620,0.000,23.402,0.000
$DEVICE_MAMPS,133.458,75.933,1091.441,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.594,394.152,421.114,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28527,586
$CAP_FILE_SIZE,80333,0
$CFSIZE,254472192,233365504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,110109,120331,6032.784,-341.320,43,1.4,43,-6.1