version: 66.04
glider: 5
mission: 5
dive: 341
start: 1 19 109 9 11 33
data:
$ID,5
$MISSION,5
$DIVE,341
$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,-94060.195
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,090554,6056.989,-525.268,26,1.7,43,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-64.0
$GPS2,091116,6056.967,-525.296,11,2.5,30,-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,282.7,19601,-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,-146.6,0.0,0.0,0,118,0.00,0.00,-94.78,0.000,6,0.000,0.000,424,1956,3430
$GC,121,-0.97,-146.6,6.6,-6.4,5,137,10.80,2.47,0.00,0.000,4,0.130,0.056,2525,593,3431
$GC,318,-0.88,-146.6,36.8,-9.3,13,323,0.12,2.50,0.00,0.000,6,0.089,0.052,2551,2000,3432
$GC,645,-0.88,-146.6,62.5,-7.8,29,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2001,3432
$GC,954,-0.88,-146.6,92.9,-10.5,44,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2005,3432
$GC,1265,-0.83,-146.6,121.2,-9.7,59,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2008,3432
$GC,1573,-0.83,-146.6,145.7,-7.2,74,1577,0.00,2.58,0.00,0.000,4,0.000,0.067,2551,589,3432
$GC,1623,-0.83,-146.6,149.6,-7.1,76,1628,0.00,2.50,0.00,0.000,6,0.000,0.053,2551,1994,3432
$GC,1944,-0.83,-146.6,170.8,-6.8,92,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1995,3432
$GC,2253,-0.83,-146.6,192.9,-7.5,107,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1994,3432
$GC,2562,-0.83,-146.6,215.5,-7.2,122,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1995,3432
$GC,2872,-0.83,-146.6,236.2,-6.4,137,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1995,3432
$GC,3180,-0.83,-146.6,255.0,-6.1,152,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1995,3432
$GC,3491,-0.83,-146.6,275.6,-6.9,167,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1997,3432
$GC,3799,-0.83,-146.6,297.0,-6.7,182,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1997,3433
$GC,4108,-0.83,-146.6,318.1,-6.6,197,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1997,3432
$GC,4418,-0.83,-146.6,338.9,-6.8,212,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1997,3432
$GC,4727,-0.83,-146.6,361.6,-7.5,227,4731,0.00,2.58,0.00,0.000,4,0.000,0.072,2551,595,3432
$GC,4812,-0.83,-146.6,368.2,-7.7,231,4816,0.00,2.50,0.00,0.000,6,0.000,0.055,2551,1999,3432
$GC,5139,-0.83,-146.6,392.2,-7.6,247,5140,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1999,3432
$STATE,5362,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5362,begin apogee
$GC,5370,-0.33,0.0,409.7,7.7,258,5498,0.55,0.00,125.65,1.095,6,0.071,0.000,2671,2146,2832
$STATE,5499,end apogee,CONTROL_FINISHED_OK
$STATE,5499,begin climb
$GC,5502,0.97,146.6,414.3,0.0,264,5635,1.27,2.62,123.95,1.061,4,0.057,0.066,2953,3518,2234
$GC,5722,0.82,146.6,404.4,7.0,274,5728,0.15,2.55,0.00,0.000,6,0.089,0.058,2924,2129,2234
$GC,6045,0.87,181.3,388.0,5.1,290,6080,0.00,2.65,30.20,1.031,4,0.000,0.070,2924,715,2092
$GC,6126,0.87,181.3,383.2,6.3,293,6132,0.00,2.55,0.00,0.000,6,0.000,0.055,2924,2119,2092
$GC,6441,0.87,181.3,365.7,6.0,309,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2120,2091
$GC,6752,0.92,212.2,349.0,5.2,324,6786,0.00,2.72,27.15,1.029,4,0.000,0.070,2924,711,1965
$GC,6820,0.93,219.4,345.2,5.8,327,6837,0.10,2.58,7.82,0.890,6,0.060,0.057,2954,2125,1937
$GC,7149,0.88,227.6,325.8,5.8,343,7163,0.00,2.62,8.50,0.912,4,0.000,0.067,2954,3522,1903
$GC,7187,0.82,227.6,323.4,6.3,344,7194,0.15,2.58,0.00,0.000,6,0.090,0.057,2924,2114,1903
$GC,7503,0.91,278.3,309.1,4.6,360,7548,0.00,0.00,43.05,1.027,6,0.000,0.000,2925,2114,1697
$GC,7854,1.06,330.7,292.5,4.6,377,7904,0.17,2.62,44.40,1.010,4,0.051,0.069,2976,715,1483
$GC,7927,1.00,330.7,287.1,7.8,380,7932,0.00,2.55,0.00,0.000,6,0.000,0.054,2975,2116,1483
$GC,8244,0.95,330.7,264.1,7.0,395,8246,0.12,0.00,0.00,0.000,6,0.084,0.000,2949,2117,1483
$GC,8553,0.95,332.3,245.4,6.0,410,8557,0.00,2.60,0.00,0.000,4,0.000,0.071,2950,719,1483
$GC,8580,0.95,332.3,243.5,7.0,411,8584,0.00,2.50,0.00,0.000,6,0.000,0.055,2950,2102,1483
$GC,8897,0.95,332.3,224.5,6.3,426,8898,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2102,1483
$GC,9205,0.96,339.0,205.4,5.8,441,9219,0.00,2.62,8.35,0.848,4,0.000,0.070,2950,720,1450
$GC,9237,0.96,339.0,203.2,6.3,442,9242,0.00,2.50,0.00,0.000,6,0.000,0.053,2949,2102,1450
$GC,9554,0.97,346.9,184.9,5.8,457,9564,0.00,0.00,8.35,0.836,6,0.000,0.000,2950,2102,1417
$GC,9863,1.02,346.9,165.3,6.8,472,9867,0.00,2.58,0.00,0.000,4,0.000,0.069,2950,709,1417
$GC,9895,1.02,346.9,162.8,7.7,473,9902,0.00,2.50,0.00,0.000,6,0.000,0.053,2950,2103,1415
$GC,10213,1.07,346.9,139.7,7.0,489,10215,0.12,0.00,0.00,0.000,6,0.055,0.000,2986,2102,1416
$GC,10523,1.00,346.9,115.6,7.8,504,10525,0.12,0.00,0.00,0.000,6,0.080,0.000,2961,2102,1416
$GC,10830,1.00,346.9,91.2,8.3,519,10834,0.00,2.55,0.00,0.000,4,0.000,0.069,2961,718,1416
$GC,10852,1.00,346.9,89.2,9.2,520,10856,0.00,2.45,0.00,0.000,6,0.000,0.053,2961,2087,1417
$GC,11175,1.00,346.9,59.1,10.1,536,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2087,1417
$GC,11483,1.00,346.9,30.2,9.0,551,11484,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2087,1417
$GC,11793,1.00,346.9,5.9,8.6,566,11797,0.00,2.55,0.00,0.000,4,0.000,0.069,2961,714,1417
$STATE,11830,end climb,SURFACE_DEPTH_REACHED
$STATE,11830,begin surface coast
$FINISH,0.1,1.013732
$STATE,11898,end surface coast,CONTROL_FINISHED_OK
$STATE,11898,begin surface
$SM_CCo,11983,0.00,0.000,0,0,1416,347.34
$SM_GC,0.79,11.07,0.00,0.00,0.038,0.000,0.000,419,2029,1416,-10.61,0.82,347.34
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1802
$TCM_TEMP,16.80
$XPDR_PINGS,62
$ALTIM_BOTTOM_PING,325.0,93.3
$24V_AH,23.8,59.458
$10V_AH,10.1,29.383
$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,24.775,66.600,427.425,0.000,0.000,37.759,27.972,123.886,18.000,0.000,0.000,31.425,1027.958,9138.081,511.115,1221.068,407.682,0.000,1131.459,0.000,1183.583,0.000,18.688,0.000
$DEVICE_MAMPS,129.623,72.098,1094.509,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.188,383.244,422.320,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28457,571
$CAP_FILE_SIZE,81378,0
$CFSIZE,254472192,231272448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,190109,123236,6056.338,-529.517,39,1.1,43,-7.2