version: 66.04
glider: 5
mission: 5
dive: 313
start: 1 11 109 20 19 31
data:
$ID,5
$MISSION,5
$DIVE,313
$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,-93543.766
$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,24
$R_STBD_OVSHOOT,28
$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
$GPS1,201237,6038.796,-335.658,38,1.5,38,-6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-52.0
$GPS2,201913,6038.952,-335.231,13,1.7,30,-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,289.4,129286,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.97,-146.6,0.0,0.0,0,101,0.00,0.00,-81.53,0.000,2,0.000,0.000,423,1971,3124
$GC,104,-0.97,-146.6,3.5,-4.3,4,130,10.20,2.58,-8.02,0.000,4,0.132,0.074,2406,582,3431
$GC,366,-0.56,-146.6,60.8,-15.1,15,373,0.45,2.50,0.00,0.000,6,0.087,0.051,2502,1998,3431
$GC,683,-0.39,-146.6,98.8,-10.4,31,685,0.17,0.00,0.00,0.000,6,0.085,0.000,2539,2012,3431
$GC,992,-0.32,-146.6,118.8,-6.4,46,996,0.00,2.58,0.00,0.000,4,0.000,0.064,2539,588,3431
$GC,1054,-0.26,-146.6,123.8,-8.0,49,1059,0.12,2.53,0.00,0.000,6,0.090,0.051,2565,2009,3430
$GC,1382,-0.26,-146.6,144.7,-7.7,65,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2010,3431
$GC,1690,-0.26,-146.6,167.1,-7.9,80,1695,0.00,2.58,0.00,0.000,4,0.000,0.065,2565,590,3431
$GC,1723,-0.26,-146.6,170.2,-8.8,81,1730,0.00,2.50,0.00,0.000,6,0.000,0.051,2565,1998,3431
$GC,2040,-0.26,-146.6,194.6,-7.4,97,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1998,3430
$GC,2348,-0.26,-146.6,216.5,-6.5,112,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1998,3431
$GC,2658,-0.26,-146.6,236.6,-7.1,127,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1998,3431
$GC,2968,-0.26,-146.6,255.9,-6.0,142,2972,0.00,2.53,0.00,0.000,4,0.000,0.061,2565,3415,3431
$GC,3000,-0.26,-146.6,258.0,-6.6,143,3007,0.00,2.55,0.00,0.000,6,0.000,0.051,2566,1977,3431
$GC,3316,-0.26,-146.6,278.2,-6.9,159,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1976,3431
$GC,3627,-0.26,-146.6,300.9,-7.5,174,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1977,3431
$GC,3934,-0.26,-146.6,322.5,-7.6,189,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1977,3431
$GC,4244,-0.26,-146.6,347.4,-7.9,204,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1977,3431
$GC,4554,-0.26,-146.6,368.7,-5.7,219,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1976,3431
$GC,4862,-0.26,-146.6,389.8,-7.2,234,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1976,3431
$GC,5172,-0.26,-146.6,408.9,-6.4,249,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1976,3431
$GC,5482,-0.26,-146.6,429.4,-6.3,264,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1976,3431
$GC,5790,-0.26,-146.6,445.6,-4.8,279,5795,0.00,2.60,0.00,0.000,4,0.000,0.064,2565,3408,3430
$GC,5824,-0.31,-146.6,447.6,-5.7,280,5831,0.00,2.53,0.00,0.000,6,0.000,0.054,2565,1994,3431
$GC,6142,-0.31,-146.6,468.1,-6.2,296,6146,0.00,2.50,0.00,0.000,4,0.000,0.067,2566,595,3430
$GC,6186,-0.31,-146.6,471.3,-7.2,298,6190,0.00,2.47,0.00,0.000,6,0.000,0.054,2565,1994,3430
$GC,6507,-0.31,-146.6,493.0,-6.1,314,6511,0.00,2.55,0.00,0.000,4,0.000,0.068,2565,596,3430
$GC,6540,-0.31,-146.6,495.0,-6.1,315,6547,0.00,2.47,0.00,0.000,6,0.000,0.054,2565,1993,3430
$GC,6857,-0.31,-146.6,512.6,-5.8,331,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1993,3429
$GC,7167,-0.35,-146.6,531.1,-6.2,346,7171,0.00,2.55,0.00,0.000,4,0.000,0.068,2565,3407,3429
$GC,7195,-0.40,-146.6,533.1,-6.3,347,7200,0.15,2.58,0.00,0.000,6,0.054,0.058,2524,1975,3429
$STATE,7493,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7493,begin apogee
$GC,7500,-0.33,0.0,557.2,7.6,362,7629,0.12,0.00,126.05,1.180,6,0.087,0.000,2551,2139,2832
$STATE,7630,end apogee,CONTROL_FINISHED_OK
$STATE,7630,begin climb
$GC,7633,0.97,146.6,566.9,0.0,368,7767,1.33,2.60,125.55,1.148,4,0.075,0.067,2829,3520,2234
$GC,7822,1.25,198.3,563.0,4.6,376,7873,0.30,2.55,45.12,1.111,6,0.051,0.057,2904,2122,2023
$GC,8201,1.25,198.3,539.2,7.6,395,8205,0.00,2.58,0.00,0.000,4,0.000,0.071,2904,717,2022
$GC,8263,1.30,198.3,534.5,7.4,398,8268,0.00,2.53,0.00,0.000,6,0.000,0.054,2904,2118,2022
$GC,8591,1.35,198.3,513.7,6.1,414,8596,0.00,2.58,0.00,0.000,4,0.000,0.068,2904,3524,2022
$GC,8633,1.39,198.3,510.9,7.0,416,8638,0.10,2.55,0.00,0.000,6,0.059,0.058,2936,2119,2022
$GC,8959,1.39,198.3,487.8,7.3,432,8963,0.00,2.55,0.00,0.000,4,0.000,0.069,2936,715,2021
$GC,8987,1.35,198.3,485.5,8.3,433,8992,0.00,2.53,0.00,0.000,6,0.000,0.055,2936,2117,2021
$GC,9303,1.35,198.3,461.1,7.9,448,9304,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2119,2021
$GC,9612,1.35,198.3,437.0,7.4,463,9614,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2119,2020
$GC,9922,1.35,198.3,416.1,7.2,478,9923,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2119,2020
$GC,10231,1.35,198.3,391.3,8.2,493,10232,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2119,2020
$GC,10540,1.39,224.4,370.5,5.3,508,10565,0.00,0.00,22.77,1.026,6,0.000,0.000,2937,2118,1917
$GC,10870,1.39,224.4,349.5,7.4,524,10874,0.00,2.58,0.00,0.000,4,0.000,0.067,2937,715,1916
$GC,10903,1.39,224.4,346.6,8.5,525,10909,0.00,2.53,0.00,0.000,6,0.000,0.054,2936,2127,1917
$GC,11219,1.39,224.4,323.5,6.4,541,11220,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2127,1917
$GC,11529,1.40,230.2,304.8,5.8,556,11543,0.00,2.65,6.50,0.824,4,0.000,0.066,2936,721,1893
$GC,11566,1.43,247.6,302.6,5.5,557,11587,0.00,2.50,15.75,0.953,6,0.000,0.052,2937,2116,1822
$GC,11899,1.44,257.6,284.4,5.7,573,11911,0.00,0.00,10.23,0.899,6,0.000,0.000,2937,2116,1780
$GC,12207,1.44,258.1,264.1,6.0,588,12208,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2116,1781
$GC,12516,1.44,258.1,244.5,6.4,603,12517,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2116,1781
$GC,12826,1.44,258.1,224.7,6.3,618,12831,0.00,2.55,0.00,0.000,4,0.000,0.066,2937,717,1781
$GC,12860,1.44,258.1,222.3,6.7,619,12866,0.00,2.47,0.00,0.000,6,0.000,0.052,2937,2107,1782
$GC,13175,1.45,264.6,203.0,5.8,635,13185,0.00,0.00,7.65,0.798,6,0.000,0.000,2937,2108,1753
$GC,13485,1.46,269.8,185.0,5.9,650,13493,0.00,0.00,5.90,0.737,6,0.000,0.000,2936,2108,1732
$GC,13794,1.48,281.4,168.1,5.7,665,13815,0.00,2.60,11.40,0.841,4,0.000,0.064,2937,717,1683
$GC,13849,1.50,294.9,164.9,5.6,667,13868,0.00,2.47,12.25,0.843,6,0.000,0.051,2937,2099,1628
$GC,14194,1.56,294.9,142.5,7.5,684,14196,0.12,0.00,0.00,0.000,6,0.053,0.000,2975,2100,1629
$GC,14502,1.51,294.9,114.9,8.3,699,14506,0.00,2.55,0.00,0.000,4,0.000,0.067,2975,718,1629
$GC,14536,1.46,294.9,112.1,7.1,700,14543,0.15,2.45,0.00,0.000,6,0.079,0.051,2944,2095,1629
$GC,14852,1.46,294.9,94.3,6.0,716,14856,0.00,2.53,0.00,0.000,4,0.000,0.066,2944,714,1629
$GC,14885,1.46,294.9,92.2,6.4,717,14891,0.00,2.42,0.00,0.000,6,0.000,0.051,2944,2075,1629
$GC,15203,1.46,294.9,64.5,8.9,733,15207,0.00,2.60,0.00,0.000,4,0.000,0.061,2944,3526,1630
$GC,15243,1.53,294.9,61.3,7.3,735,15248,0.00,2.58,0.00,0.000,6,0.000,0.048,2944,2071,1630
$GC,15570,1.57,294.9,39.5,9.0,751,15575,0.10,2.45,0.00,0.000,4,0.060,0.068,2974,715,1629
$GC,15611,1.57,294.9,34.6,14.3,753,15615,0.00,2.42,0.00,0.000,6,0.000,0.051,2975,2081,1629
$STATE,15914,end climb,SURFACE_DEPTH_REACHED
$STATE,15915,begin surface coast
$FINISH,1.0,1.027325
$STATE,15936,end surface coast,CONTROL_FINISHED_OK
$STATE,15936,begin surface
$SM_CCo,16019,0.00,0.000,0,0,1628,295.34
$SM_GC,1.07,11.02,0.00,0.00,0.036,0.000,0.000,422,1960,1628,-10.04,-1.13,295.34
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1820
$TCM_TEMP,17.30
$XPDR_PINGS,84
$ALTIM_BOTTOM_PING,501.0,66.1
$24V_AH,23.8,54.199
$10V_AH,10.1,26.683
$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,24.350,101.875,389.175,0.000,0.000,37.763,32.611,193.302,25.250,0.000,0.000,30.485,1372.725,12420.469,506.083,1575.378,540.731,0.000,1302.627,0.000,1528.899,0.000,29.744,0.000
$DEVICE_MAMPS,131.924,73.632,1179.646,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,566.789,517.826,481.071,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38034,769
$CAP_FILE_SIZE,110238,0
$CFSIZE,254472192,233189376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,120109,004737,6042.930,-325.919,31,1.5,31,-6.0