version: 66.04
glider: 5
mission: 5
dive: 312
start: 1 11 109 16 19 41
data:
$ID,5
$MISSION,5
$DIVE,312
$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,-93512.656
$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
$GPS1,161031,6035.427,-340.333,39,1.2,39,-6.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-47.1
$GPS2,161920,6035.521,-339.948,14,1.3,14,-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,292.6,126817,-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,16,-0.97,-146.6,0.0,0.0,0,119,0.00,0.00,-101.47,0.000,2,0.000,0.000,421,1963,3383
$GC,123,-0.97,-146.6,4.4,-3.8,5,140,10.20,2.47,-1.05,0.000,4,0.132,0.067,2407,597,3431
$GC,394,-0.54,-146.6,66.0,-22.3,16,399,0.47,2.50,0.00,0.000,6,0.088,0.050,2507,2000,3431
$GC,718,-0.37,-146.6,106.4,-12.0,32,723,0.17,2.58,0.00,0.000,4,0.084,0.061,2548,593,3431
$GC,781,-0.37,-146.6,113.5,-9.8,35,785,0.00,2.47,0.00,0.000,6,0.000,0.050,2548,1991,3431
$GC,1108,-0.37,-146.6,132.1,-4.0,51,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1998,3431
$GC,1418,-0.37,-146.6,153.3,-7.8,66,1422,0.00,2.55,0.00,0.000,4,0.000,0.065,2548,597,3430
$GC,1451,-0.37,-146.6,156.4,-8.8,67,1457,0.00,2.45,0.00,0.000,6,0.000,0.051,2548,1982,3431
$GC,1766,-0.37,-146.6,187.2,-11.2,83,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1982,3431
$GC,2077,-0.32,-146.6,214.0,-7.8,98,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1982,3431
$GC,2385,-0.32,-146.6,236.7,-7.4,113,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1982,3430
$GC,2694,-0.32,-146.6,260.5,-7.7,128,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1982,3430
$GC,3004,-0.32,-146.6,286.1,-8.4,143,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1982,3430
$GC,3313,-0.32,-146.6,309.2,-6.7,158,3317,0.00,2.55,0.00,0.000,4,0.000,0.063,2548,3409,3430
$GC,3346,-0.32,-146.6,311.5,-6.9,159,3352,0.00,2.53,0.00,0.000,6,0.000,0.051,2548,1988,3430
$GC,3662,-0.32,-146.6,331.3,-6.1,175,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1987,3430
$GC,3971,-0.32,-146.6,351.6,-6.9,190,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1987,3431
$GC,4282,-0.32,-146.6,375.6,-8.2,205,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1987,3430
$GC,4590,-0.32,-146.6,399.5,-7.4,220,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1987,3430
$GC,4899,-0.32,-146.6,420.0,-6.2,235,4903,0.00,2.58,0.00,0.000,4,0.000,0.063,2548,3409,3430
$GC,4932,-0.32,-146.6,421.9,-5.7,236,4938,0.00,2.53,0.00,0.000,6,0.000,0.054,2548,1989,3430
$GC,5249,-0.32,-146.6,436.4,-4.3,252,5253,0.00,2.58,0.00,0.000,4,0.000,0.063,2548,3411,3430
$GC,5304,-0.32,-146.6,439.2,-5.4,254,5310,0.00,2.53,0.00,0.000,6,0.000,0.054,2548,1993,3430
$GC,5620,-0.32,-146.6,458.4,-7.3,270,5624,0.00,2.50,0.00,0.000,4,0.000,0.064,2548,585,3430
$GC,5670,-0.32,-146.6,462.7,-8.8,272,5675,0.00,2.50,0.00,0.000,6,0.000,0.051,2548,2010,3430
$GC,5986,-0.32,-146.6,486.8,-7.1,287,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2010,3430
$GC,6295,-0.32,-146.6,508.5,-7.0,302,6299,0.00,2.58,0.00,0.000,4,0.000,0.068,2548,595,3430
$GC,6351,-0.32,-146.6,512.6,-7.2,304,6357,0.00,2.47,0.00,0.000,6,0.000,0.052,2548,1999,3430
$STATE,6643,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6643,begin apogee
$GC,6650,-0.33,0.0,533.7,7.3,319,6778,0.00,0.00,125.82,1.146,6,0.000,0.000,2548,2122,2832
$STATE,6779,end apogee,CONTROL_FINISHED_OK
$STATE,6779,begin climb
$GC,6782,0.97,146.6,541.5,0.0,325,6915,1.35,2.65,125.12,1.119,4,0.074,0.064,2833,3534,2234
$GC,6986,1.38,253.6,538.9,3.1,334,7084,0.40,2.55,91.00,1.093,6,0.043,0.054,2934,2123,1798
$GC,7405,1.38,253.6,511.3,7.5,355,7410,0.00,2.55,0.00,0.000,4,0.000,0.067,2934,717,1800
$GC,7468,1.38,253.6,506.1,8.6,358,7472,0.00,2.53,0.00,0.000,6,0.000,0.051,2934,2128,1800
$GC,7795,1.38,253.6,477.1,9.7,374,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2129,1800
$GC,8104,1.38,253.6,450.1,8.5,389,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2129,1800
$GC,8413,1.39,261.0,428.2,5.8,404,8427,0.00,2.65,8.27,0.910,4,0.000,0.066,2935,722,1768
$GC,8496,1.40,266.6,423.4,5.8,407,8508,0.00,2.50,6.50,0.858,6,0.000,0.051,2934,2123,1745
$GC,8829,1.40,266.6,400.0,8.5,424,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2123,1745
$GC,9138,1.40,266.6,374.1,7.1,439,9143,0.00,2.58,0.00,0.000,4,0.000,0.067,2935,717,1745
$GC,9167,1.40,266.6,372.2,7.1,440,9171,0.00,2.50,0.00,0.000,6,0.000,0.052,2934,2120,1744
$GC,9482,1.40,266.6,353.7,6.6,455,9483,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2121,1744
$GC,9792,1.40,266.6,325.4,10.0,470,9793,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2121,1744
$GC,10101,1.40,266.6,298.7,7.5,485,10106,0.00,2.55,0.00,0.000,4,0.000,0.066,2934,718,1744
$GC,10135,1.40,266.6,296.2,7.0,486,10141,0.00,2.47,0.00,0.000,6,0.000,0.051,2934,2115,1744
$GC,10451,1.43,289.7,278.6,5.4,502,10473,0.00,0.00,20.17,0.939,6,0.000,0.000,2934,2115,1651
$GC,10780,1.43,289.7,257.2,7.5,518,10785,0.00,2.55,0.00,0.000,4,0.000,0.064,2935,714,1651
$GC,10821,1.49,289.7,253.5,8.9,520,10825,0.00,2.47,0.00,0.000,6,0.000,0.051,2934,2109,1651
$GC,11154,1.53,289.7,226.6,8.8,536,11156,0.10,0.00,0.00,0.000,6,0.058,0.000,2969,2111,1651
$GC,11464,1.53,289.7,196.2,9.6,551,11465,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2110,1651
$GC,11773,1.49,289.7,169.5,9.1,566,11777,0.00,2.53,0.00,0.000,4,0.000,0.064,2968,720,1651
$GC,11800,1.45,289.7,166.6,10.0,567,11805,0.12,2.45,0.00,0.000,6,0.083,0.051,2942,2099,1652
$GC,12124,1.50,289.7,137.6,9.5,583,12125,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2100,1652
$GC,12431,1.50,289.7,111.6,7.7,598,12435,0.00,2.55,0.00,0.000,4,0.000,0.061,2942,3525,1652
$GC,12458,1.55,289.7,109.5,6.9,599,12463,0.00,2.55,0.00,0.000,6,0.000,0.050,2942,2091,1652
$GC,12776,1.64,321.4,88.7,5.1,614,12811,0.17,2.58,26.95,0.832,4,0.048,0.063,2994,718,1520
$GC,12845,1.59,321.4,83.6,8.3,617,12850,0.12,2.47,0.00,0.000,6,0.084,0.050,2970,2102,1520
$GC,13167,1.59,321.4,55.6,8.9,633,13171,0.00,2.58,0.00,0.000,4,0.000,0.061,2970,3534,1520
$GC,13195,1.59,321.4,52.9,9.3,634,13199,0.00,2.58,0.00,0.000,6,0.000,0.051,2969,2090,1520
$GC,13513,1.59,321.4,30.2,10.7,649,13514,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2091,1520
$STATE,13798,end climb,SURFACE_DEPTH_REACHED
$STATE,13798,begin surface coast
$FINISH,0.2,1.027317
$STATE,13819,end surface coast,CONTROL_FINISHED_OK
$STATE,13819,begin surface
$SM_CCo,13902,0.00,0.000,0,0,1519,322.08
$SM_GC,0.98,11.05,0.00,0.00,0.038,0.000,0.000,425,1988,1519,-10.04,-0.34,322.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1813
$TCM_TEMP,17.40
$XPDR_PINGS,61
$ALTIM_BOTTOM_PING,450.9,92.2
$24V_AH,23.9,54.061
$10V_AH,10.1,26.610
$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,24.175,91.525,403.850,0.000,0.000,75.526,146.351,127.224,19.000,0.000,0.000,14.658,1201.354,10721.169,504.244,1406.182,602.555,0.000,1228.483,0.000,1376.600,0.000,26.635,0.000
$DEVICE_MAMPS,131.924,68.263,1145.898,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,489.734,446.558,438.141,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31656,664
$CAP_FILE_SIZE,96650,0
$CFSIZE,254472192,233259008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,110109,201237,6038.796,-335.658,38,1.5,38,-6.1