version: 66.04
glider: 5
mission: 5
dive: 340
start: 1 19 109 5 30 33
data:
$ID,5
$MISSION,5
$DIVE,340
$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,-94028.148
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$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,21
$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
$GPS1,052057,6058.008,-521.310,29,2.3,48,-7.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-60.8
$GPS2,053016,6058.025,-521.243,12,2.2,31,-7.1
$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,277.0,23151,-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,13,begin dive
$GC,16,-0.97,-146.6,0.0,0.0,0,119,0.00,0.00,-101.22,0.000,2,0.000,0.000,424,2001,3191
$GC,123,-0.97,-146.6,3.3,-3.1,5,146,10.88,2.67,-6.47,0.000,4,0.130,0.079,2525,589,3431
$GC,309,-0.85,-146.6,24.8,-8.2,13,314,0.15,2.53,0.00,0.000,6,0.089,0.052,2557,2003,3431
$GC,630,-0.85,-146.6,56.2,-12.7,29,635,0.00,2.60,0.00,0.000,4,0.000,0.067,2557,586,3431
$GC,671,-0.85,-146.6,61.0,-11.5,31,675,0.00,2.55,0.00,0.000,6,0.000,0.054,2557,2009,3431
$GC,998,-0.85,-146.6,91.0,-8.2,47,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2010,3431
$GC,1307,-0.85,-146.6,111.8,-6.0,62,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2010,3431
$GC,1616,-0.85,-146.6,133.0,-7.6,77,1620,0.00,2.62,0.00,0.000,4,0.000,0.070,2557,584,3431
$GC,1679,-0.85,-146.6,137.5,-6.9,80,1684,0.00,2.55,0.00,0.000,6,0.000,0.054,2557,2013,3431
$GC,2006,-0.85,-146.6,162.7,-8.2,96,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2013,3431
$GC,2316,-0.85,-146.6,185.2,-7.5,111,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2013,3432
$GC,2626,-0.85,-146.6,208.2,-7.2,126,2631,0.00,2.62,0.00,0.000,4,0.000,0.070,2557,583,3431
$GC,2676,-0.85,-146.6,212.3,-7.3,128,2681,0.00,2.55,0.00,0.000,6,0.000,0.054,2557,2012,3432
$GC,2993,-0.85,-146.6,234.9,-7.2,143,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2013,3431
$GC,3301,-0.85,-146.6,255.2,-6.2,158,3306,0.00,2.62,0.00,0.000,4,0.000,0.070,2557,582,3431
$GC,3341,-0.85,-146.6,257.9,-6.7,160,3346,0.00,2.55,0.00,0.000,6,0.000,0.054,2556,2013,3431
$GC,3670,-0.85,-146.6,279.3,-6.6,176,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2015,3431
$GC,3978,-0.85,-146.6,302.7,-8.0,191,3982,0.00,2.62,0.00,0.000,4,0.000,0.071,2557,584,3431
$GC,4022,-0.85,-146.6,306.7,-9.1,193,4026,0.00,2.53,0.00,0.000,6,0.000,0.054,2557,2002,3431
$GC,4343,-0.85,-146.6,337.2,-9.5,209,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2003,3431
$GC,4652,-0.85,-146.6,369.4,-10.3,224,4656,0.00,2.60,0.00,0.000,4,0.000,0.069,2557,584,3431
$GC,4679,-0.85,-146.6,372.0,-9.9,225,4683,0.00,2.55,0.00,0.000,6,0.000,0.055,2557,2011,3431
$GC,4995,-0.85,-146.6,397.8,-7.7,240,5000,0.00,2.60,0.00,0.000,4,0.000,0.071,2557,591,3431
$GC,5052,-0.85,-146.6,402.2,-7.6,242,5058,0.00,2.50,0.00,0.000,6,0.000,0.055,2557,1996,3431
$GC,5368,-0.85,-146.6,421.2,-5.6,258,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1995,3431
$GC,5677,-0.85,-146.6,439.1,-6.1,273,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1995,3431
$GC,5986,-0.85,-146.6,463.5,-9.6,288,5990,0.00,2.60,0.00,0.000,4,0.000,0.074,2557,587,3431
$STATE,6010,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6010,begin apogee
$GC,6020,-0.33,0.0,466.8,11.6,289,6152,0.50,0.00,126.00,1.138,6,0.073,0.000,2669,2126,2831
$STATE,6153,end apogee,CONTROL_FINISHED_OK
$STATE,6153,begin climb
$GC,6157,0.97,146.6,468.3,0.0,296,6289,1.25,2.72,124.65,1.103,4,0.041,0.073,2959,722,2234
$GC,6377,0.88,208.7,462.9,4.3,306,6437,0.12,2.58,53.60,1.074,6,0.087,0.057,2936,2136,1980
$GC,6765,0.88,208.7,442.0,6.2,325,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2135,1980
$GC,7074,0.88,208.7,419.2,7.2,340,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2135,1979
$GC,7384,0.88,208.7,397.1,7.8,355,7389,0.00,2.65,0.00,0.000,4,0.000,0.073,2936,712,1979
$GC,7418,0.88,208.7,394.0,8.9,356,7424,0.00,2.58,0.00,0.000,6,0.000,0.058,2936,2129,1978
$GC,7733,0.88,208.7,369.2,8.5,372,7738,0.00,2.62,0.00,0.000,4,0.000,0.071,2936,714,1977
$GC,7767,0.88,208.7,365.9,9.9,373,7773,0.00,2.55,0.00,0.000,6,0.000,0.058,2936,2123,1977
$GC,8082,0.88,208.7,337.0,8.4,389,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2123,1977
$GC,8391,0.88,208.7,313.8,7.0,404,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2123,1977
$GC,8701,0.88,208.7,292.7,6.3,419,8703,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2123,1977
$GC,9010,0.96,257.2,276.8,4.7,434,9053,0.00,0.00,40.83,1.014,6,0.000,0.000,2936,2123,1783
$GC,9360,1.03,299.2,259.7,4.9,451,9400,0.15,0.00,35.67,0.991,6,0.054,0.000,2977,2123,1611
$GC,9710,0.96,299.2,231.5,8.7,468,9712,0.12,0.00,0.00,0.000,6,0.082,0.000,2951,2123,1612
$GC,10018,0.96,299.2,206.8,8.4,483,10022,0.00,2.60,0.00,0.000,4,0.000,0.069,2951,716,1612
$GC,10068,0.96,299.2,202.1,9.5,485,10072,0.00,2.55,0.00,0.000,6,0.000,0.054,2952,2131,1612
$GC,10384,0.96,299.2,177.7,7.2,500,10389,0.00,2.62,0.00,0.000,4,0.000,0.067,2951,706,1612
$GC,10412,0.96,299.2,175.1,8.5,501,10416,0.00,2.55,0.00,0.000,6,0.000,0.054,2951,2124,1612
$GC,10728,0.96,299.2,151.0,7.5,516,10729,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2125,1612
$GC,11038,0.96,299.2,129.9,6.9,531,11042,0.00,2.60,0.00,0.000,4,0.000,0.067,2951,716,1613
$GC,11071,0.96,299.2,127.1,8.3,532,11077,0.00,2.53,0.00,0.000,6,0.000,0.054,2951,2125,1613
$GC,11388,0.96,299.2,105.6,7.8,548,11390,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2125,1612
$GC,11697,0.96,299.2,83.8,6.9,563,11701,0.00,2.60,0.00,0.000,4,0.000,0.069,2951,711,1613
$GC,11724,0.96,299.2,81.8,7.2,564,11728,0.00,2.53,0.00,0.000,6,0.000,0.054,2951,2121,1613
$GC,12040,0.96,299.2,57.7,9.0,579,12041,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2121,1613
$GC,12350,0.96,299.2,31.7,8.4,594,12354,0.00,2.58,0.00,0.000,4,0.000,0.067,2951,716,1613
$GC,12383,0.96,299.2,28.5,9.2,595,12389,0.00,2.47,0.00,0.000,6,0.000,0.054,2951,2102,1613
$GC,12700,0.96,299.2,4.5,7.7,611,12702,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2101,1614
$STATE,12716,end climb,SURFACE_DEPTH_REACHED
$STATE,12716,begin surface coast
$FINISH,0.0,1.013828
$STATE,12759,end surface coast,CONTROL_FINISHED_OK
$STATE,12759,begin surface
$SM_CCo,12842,0.00,0.000,0,0,1612,299.02
$SM_GC,0.91,11.07,0.00,0.00,0.041,0.000,0.000,425,1965,1612,-10.58,-1.13,299.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1796
$TCM_TEMP,16.70
$XPDR_PINGS,58
$ALTIM_BOTTOM_PING,400.0,76.5
$24V_AH,23.8,59.320
$10V_AH,10.1,29.325
$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,24.250,88.225,380.750,0.000,0.000,75.524,57.594,217.432,17.750,0.000,0.000,32.319,1104.724,9888.564,501.501,1303.273,599.522,0.000,1159.537,0.000,1260.414,0.000,23.695,0.000
$DEVICE_MAMPS,129.623,79.001,1138.228,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.632,412.040,466.986,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31778,614
$CAP_FILE_SIZE,91425,0
$CFSIZE,254472192,231301120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
$GPS,190109,090554,6056.989,-525.268,26,1.7,43,-7.1