version: 66.04
glider: 5
mission: 5
dive: 343
start: 1 19 109 15 30 50
data:
$ID,5
$MISSION,5
$DIVE,343
$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,-94109.5
$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,27
$R_STBD_OVSHOOT,21
$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
$GPS1,152530,6056.242,-532.361,42,1.9,42,-7.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-54.4
$GPS2,153031,6056.269,-532.407,16,1.8,16,-7.2
$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,290.9,13502,-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,-146.6,0.0,0.0,0,139,0.00,0.00,-121.45,0.000,2,0.000,0.000,421,2001,3337
$GC,143,-0.97,-146.6,5.2,-4.9,6,165,10.90,2.62,-2.10,0.000,4,0.133,0.077,2527,3403,3432
$GC,171,0.54,-146.6,16.6,-34.3,7,180,1.58,2.53,0.00,0.000,6,0.075,0.051,2860,2002,3432
$GC,500,-0.05,-146.6,36.9,-8.1,23,506,0.57,2.53,0.00,0.000,4,0.059,0.063,2730,593,3433
$GC,618,-0.56,-146.6,48.4,-7.1,28,624,0.50,2.62,0.00,0.000,6,0.051,0.051,2616,2071,3433
$GC,936,-0.80,-146.6,70.9,-8.1,43,940,0.17,2.40,0.00,0.000,4,0.056,0.063,2561,3413,3433
$GC,1053,-0.80,-146.6,82.6,-10.0,48,1057,0.00,2.33,0.00,0.000,6,0.000,0.051,2561,2115,3432
$GC,1370,-0.80,-146.6,104.9,-5.2,63,1374,0.00,2.75,0.00,0.000,4,0.000,0.065,2561,584,3432
$GC,1477,-0.80,-146.6,111.4,-6.9,68,1482,0.00,2.72,0.00,0.000,6,0.000,0.054,2561,2116,3432
$GC,1804,-0.80,-146.6,131.4,-5.3,84,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2116,3432
$GC,2114,-0.80,-146.6,149.5,-5.1,99,2119,0.00,2.78,0.00,0.000,4,0.000,0.065,2561,585,3433
$GC,2204,-0.80,-146.6,154.9,-6.5,103,2208,0.00,2.70,0.00,0.000,6,0.000,0.054,2561,2103,3432
$GC,2525,-0.80,-146.6,176.7,-7.5,119,2530,0.00,2.75,0.00,0.000,4,0.000,0.068,2561,595,3432
$GC,2597,-0.80,-146.6,182.6,-8.9,122,2601,0.00,2.67,0.00,0.000,6,0.000,0.054,2561,2099,3432
$GC,2913,-0.80,-146.6,206.3,-7.6,137,2917,0.00,2.75,0.00,0.000,4,0.000,0.067,2561,589,3432
$GC,2963,-0.80,-146.6,210.5,-8.3,139,2967,0.00,2.65,0.00,0.000,6,0.000,0.053,2561,2084,3432
$GC,3279,-0.80,-146.6,234.5,-7.8,154,3283,0.00,2.72,0.00,0.000,4,0.000,0.068,2561,594,3432
$GC,3334,-0.80,-146.6,238.9,-8.0,156,3340,0.00,2.62,0.00,0.000,6,0.000,0.054,2561,2067,3433
$GC,3650,-0.80,-146.6,265.7,-7.8,172,3655,0.00,2.70,0.00,0.000,4,0.000,0.067,2561,588,3432
$GC,3712,-0.80,-146.6,271.2,-9.0,175,3717,0.00,2.60,0.00,0.000,6,0.000,0.054,2561,2051,3432
$GC,4040,-0.80,-146.6,296.1,-7.3,191,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2052,3432
$GC,4350,-0.80,-146.6,317.0,-6.2,206,4354,0.00,2.67,0.00,0.000,4,0.000,0.070,2561,593,3432
$GC,4389,-0.80,-146.6,319.9,-7.5,208,4394,0.00,2.58,0.00,0.000,6,0.000,0.054,2561,2042,3432
$GC,4717,-0.80,-146.6,340.2,-5.9,224,4722,0.00,2.67,0.00,0.000,4,0.000,0.070,2561,583,3432
$GC,4780,-0.86,-146.6,344.6,-7.3,227,4784,0.00,2.58,0.00,0.000,6,0.000,0.055,2561,2027,3433
$STATE,4897,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4897,begin apogee
$GC,4904,-0.33,0.0,352.4,7.0,233,5032,0.52,0.00,124.28,1.051,6,0.069,0.000,2675,2138,2832
$STATE,5032,end apogee,CONTROL_FINISHED_OK
$STATE,5032,begin climb
$GC,5036,0.97,146.6,353.5,0.0,239,5167,1.25,2.70,122.93,1.012,4,0.053,0.067,2955,722,2233
$GC,5373,0.83,146.6,331.1,7.4,254,5378,0.15,2.53,0.00,0.000,6,0.085,0.053,2925,2124,2232
$GC,5689,0.97,234.3,315.1,3.6,269,5773,0.12,2.70,73.30,0.995,4,0.056,0.070,2962,722,1876
$GC,5822,0.88,234.3,306.6,8.1,275,5827,0.12,2.53,0.00,0.000,6,0.084,0.054,2937,2119,1876
$GC,6149,0.88,234.3,283.7,6.9,291,6153,0.00,2.58,0.00,0.000,4,0.000,0.067,2937,3528,1876
$GC,6188,0.88,234.3,280.8,7.9,293,6193,0.00,2.58,0.00,0.000,6,0.000,0.055,2937,2108,1876
$GC,6516,0.88,234.3,256.8,7.7,309,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2108,1876
$GC,6824,0.88,234.3,234.9,6.6,324,6829,0.00,2.62,0.00,0.000,4,0.000,0.065,2937,3534,1876
$GC,6869,0.88,234.3,231.4,8.0,326,6873,0.00,2.55,0.00,0.000,6,0.000,0.053,2937,2115,1876
$GC,7190,0.88,234.3,209.5,7.1,342,7191,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2115,1876
$GC,7500,0.88,234.3,185.9,7.4,357,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2115,1876
$GC,7808,0.88,234.3,165.1,7.1,372,7813,0.00,2.60,0.00,0.000,4,0.000,0.063,2937,3535,1876
$GC,7859,0.88,234.3,161.8,8.5,374,7863,0.00,2.53,0.00,0.000,6,0.000,0.051,2937,2123,1876
$GC,8175,0.88,234.3,141.0,8.2,389,8179,0.00,2.53,0.00,0.000,4,0.000,0.064,2937,719,1876
$GC,8225,0.88,234.3,136.2,9.1,391,8229,0.00,2.53,0.00,0.000,6,0.000,0.052,2937,2133,1876
$GC,8542,0.88,234.3,114.5,9.1,406,8546,0.00,2.53,0.00,0.000,4,0.000,0.064,2937,3531,1876
$GC,8569,0.88,234.3,112.2,7.9,407,8574,0.00,2.50,0.00,0.000,6,0.000,0.051,2937,2134,1876
$GC,8885,0.88,234.3,91.0,7.2,422,8886,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2134,1876
$GC,9196,0.88,234.3,68.1,7.5,437,9200,0.00,2.55,0.00,0.000,4,0.000,0.066,2937,716,1876
$GC,9230,0.88,234.3,64.5,11.0,438,9236,0.00,2.53,0.00,0.000,6,0.000,0.052,2937,2132,1876
$GC,9546,0.88,234.3,39.5,7.4,454,9550,0.00,2.60,0.00,0.000,4,0.000,0.067,2937,711,1876
$GC,9585,0.88,234.3,36.3,8.5,456,9590,0.00,2.53,0.00,0.000,6,0.000,0.052,2937,2126,1876
$GC,9914,0.88,234.3,17.4,7.4,472,9918,0.00,2.53,0.00,0.000,4,0.000,0.064,2937,3529,1876
$GC,9947,0.90,246.1,15.4,5.7,473,9963,0.00,2.53,10.88,0.762,6,0.000,0.053,2937,2121,1828
$STATE,10173,end climb,SURFACE_DEPTH_REACHED
$STATE,10173,begin surface coast
$FINISH,-0.0,1.027463
$STATE,10239,end surface coast,CONTROL_FINISHED_OK
$STATE,10239,begin surface
$SM_CCo,10262,3.78,0.548,0,0,1812,250.21
$SM_GC,2.11,0.00,0.00,3.78,0.000,0.000,0.548,425,1983,1812,-10.67,-0.57,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1822
$TCM_TEMP,16.70
$XPDR_PINGS,62
$ALTIM_BOTTOM_PING,275.8,85.4
$24V_AH,23.9,59.721
$10V_AH,10.1,29.492
$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,26.925,109.500,331.375,3.775,0.000,37.759,30.514,120.771,17.500,0.000,0.000,16.192,943.031,7525.319,474.266,1223.105,410.005,0.000,1108.028,0.000,1192.070,0.000,15.475,0.000
$DEVICE_MAMPS,132.691,77.467,1050.790,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,356.628,327.069,448.026,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25358,488
$CAP_FILE_SIZE,83402,0
$CFSIZE,254472192,231186432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
$GPS,190109,182307,6055.894,-535.779,30,1.1,30,-7.2