version: 66.04
glider: 5
mission: 5
dive: 344
start: 1 19 109 18 28 39
data:
$ID,5
$MISSION,5
$DIVE,344
$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,-94122.727
$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,23
$R_STBD_OVSHOOT,24
$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
$GPS1,182307,6055.894,-535.779,30,1.1,30,-7.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-61.8
$GPS2,182820,6055.908,-535.877,12,1.2,12,-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,298.4,10722,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.43,0.000,2,0.000,0.000,424,1994,3377
$GC,102,-0.97,-146.6,4.5,-5.3,4,125,10.95,2.58,-1.23,0.000,4,0.136,0.068,2528,584,3432
$GC,377,-0.87,-146.6,41.2,-12.0,16,382,0.12,2.53,0.00,0.000,6,0.091,0.053,2554,2001,3432
$GC,701,-0.83,-146.6,66.3,-6.1,32,705,0.00,2.58,0.00,0.000,4,0.000,0.064,2554,588,3433
$GC,796,-0.83,-146.6,75.6,-11.4,36,800,0.00,2.53,0.00,0.000,6,0.000,0.054,2554,2001,3433
$GC,1113,-0.83,-146.6,98.6,-7.4,51,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2016,3433
$GC,1421,-0.83,-146.6,121.8,-7.2,66,1425,0.00,2.60,0.00,0.000,4,0.000,0.065,2554,585,3432
$GC,1478,-0.83,-146.6,126.0,-7.0,68,1484,0.00,2.53,0.00,0.000,6,0.000,0.053,2554,2003,3432
$GC,1795,-0.83,-146.6,151.0,-7.5,84,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2003,3432
$GC,2105,-0.83,-146.6,175.3,-7.7,99,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2003,3432
$GC,2413,-0.83,-146.6,195.5,-6.3,114,2417,0.00,2.58,0.00,0.000,4,0.000,0.066,2554,589,3432
$GC,2475,-0.83,-146.6,199.9,-7.3,117,2480,0.00,2.53,0.00,0.000,6,0.000,0.053,2554,2013,3432
$GC,2807,-0.83,-146.6,222.2,-6.5,133,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2013,3432
$GC,3117,-0.83,-146.6,243.7,-6.8,148,3122,0.00,2.60,0.00,0.000,4,0.000,0.068,2554,587,3432
$GC,3172,-0.83,-146.6,248.0,-7.9,150,3179,0.00,2.53,0.00,0.000,6,0.000,0.054,2554,2007,3432
$GC,3489,-0.83,-146.6,272.4,-7.9,166,3494,0.00,2.60,0.00,0.000,4,0.000,0.067,2553,582,3432
$GC,3523,-0.83,-146.6,275.6,-9.0,167,3529,0.00,2.53,0.00,0.000,6,0.000,0.054,2554,2001,3432
$GC,3838,-0.83,-146.6,300.9,-7.9,183,3842,0.00,2.53,0.00,0.000,4,0.000,0.065,2553,3408,3433
$GC,3865,-0.83,-146.6,303.1,-8.1,184,3870,0.00,2.55,0.00,0.000,6,0.000,0.054,2553,1984,3432
$GC,4187,-0.83,-146.6,327.0,-7.0,200,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1983,3433
$STATE,4246,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4246,begin apogee
$GC,4253,-0.33,0.0,331.5,7.3,203,4381,0.55,0.00,124.95,1.031,6,0.073,0.000,2673,2141,2832
$STATE,4382,end apogee,CONTROL_FINISHED_OK
$STATE,4382,begin climb
$GC,4385,0.97,146.6,336.4,0.0,209,4518,1.27,2.62,123.18,0.998,4,0.061,0.063,2952,3517,2234
$GC,4549,0.80,146.6,327.7,6.0,216,4556,0.17,2.58,0.00,0.000,6,0.084,0.057,2918,2114,2234
$GC,4865,0.85,178.9,309.6,5.1,232,4895,0.00,0.00,28.17,0.960,6,0.000,0.000,2918,2114,2102
$GC,5195,0.87,193.1,292.1,5.6,248,5214,0.00,0.00,13.43,0.911,6,0.000,0.000,2917,2114,2044
$GC,5524,0.87,193.1,272.9,6.1,264,5528,0.00,2.60,0.00,0.000,4,0.000,0.065,2918,3520,2044
$GC,5568,0.87,193.1,269.8,7.0,266,5572,0.00,2.53,0.00,0.000,6,0.000,0.054,2918,2119,2044
$GC,5890,0.93,224.7,252.8,5.1,282,5920,0.12,0.00,27.80,0.954,6,0.056,0.000,2954,2119,1915
$GC,6219,0.87,224.7,225.7,8.9,298,6223,0.00,2.58,0.00,0.000,4,0.000,0.065,2954,3514,1914
$GC,6253,0.82,224.7,222.5,8.8,299,6259,0.17,2.53,0.00,0.000,6,0.082,0.054,2918,2117,1914
$GC,6569,0.89,224.7,201.3,7.2,315,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2116,1914
$GC,6878,0.94,224.7,181.6,6.5,330,6883,0.12,2.60,0.00,0.000,4,0.056,0.063,2955,3519,1914
$GC,6919,0.87,224.7,178.1,9.6,332,6923,0.00,2.50,0.00,0.000,6,0.000,0.053,2955,2129,1914
$GC,7246,0.82,224.7,152.6,6.4,348,7247,0.17,0.00,0.00,0.000,6,0.080,0.000,2918,2129,1914
$GC,7556,0.92,253.3,138.2,5.2,363,7586,0.12,2.65,24.12,0.888,4,0.057,0.066,2955,718,1799
$GC,7609,0.88,253.3,134.6,7.1,365,7614,0.00,2.55,0.00,0.000,6,0.000,0.053,2955,2126,1799
$GC,7927,0.88,253.3,109.0,8.3,380,7931,0.00,2.55,0.00,0.000,4,0.000,0.064,2954,3534,1799
$GC,7971,0.88,253.3,105.0,8.5,382,7976,0.00,2.50,0.00,0.000,6,0.000,0.052,2955,2144,1799
$GC,8294,0.88,258.2,83.0,5.9,398,8305,0.00,2.60,6.00,0.718,4,0.000,0.065,2955,716,1777
$GC,8357,0.84,258.2,77.9,10.3,401,8362,0.15,2.55,0.00,0.000,6,0.082,0.051,2923,2140,1778
$GC,8685,0.91,258.2,56.1,6.3,417,8687,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2140,1778
$GC,8994,0.99,258.2,34.0,6.8,432,8999,0.17,2.65,0.00,0.000,4,0.050,0.067,2977,709,1778
$GC,9035,0.87,258.2,30.4,8.9,434,9040,0.20,2.55,0.00,0.000,6,0.077,0.053,2936,2138,1778
$GC,9362,0.87,258.2,6.5,8.2,450,9366,0.00,2.53,0.00,0.000,4,0.000,0.064,2936,3537,1777
$GC,9385,0.92,258.2,4.5,8.9,451,9389,0.00,2.53,0.00,0.000,6,0.000,0.053,2936,2129,1777
$STATE,9394,end climb,SURFACE_DEPTH_REACHED
$STATE,9394,begin surface coast
$FINISH,0.9,1.027481
$STATE,9436,end surface coast,CONTROL_FINISHED_OK
$STATE,9436,begin surface
$SM_CCo,9520,0.00,0.000,0,0,1777,258.79
$SM_GC,0.94,11.02,0.00,0.00,0.041,0.000,0.000,422,1988,1777,-10.59,-0.37,258.79
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1805
$TCM_TEMP,16.60
$XPDR_PINGS,57
$ALTIM_BOTTOM_PING,250.0,91.3
$24V_AH,23.9,59.831
$10V_AH,10.1,29.544
$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,25.350,82.425,347.650,0.000,0.000,37.757,27.669,138.017,16.000,0.000,0.000,12.605,868.912,7071.765,453.214,1039.964,403.522,0.000,994.280,0.000,1022.200,0.000,13.913,0.000
$DEVICE_MAMPS,135.759,68.263,1030.848,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,337.917,304.005,413.800,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22285,454
$CAP_FILE_SIZE,75213,0
$CFSIZE,254472192,231157760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,190109,210900,6055.496,-542.030,64,1.9,64,-7.3