version: 66.04
glider: 5
mission: 5
dive: 346
start: 1 19 109 23 47 9
data:
$ID,5
$MISSION,5
$DIVE,346
$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,-94192.836
$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,47
$R_STBD_OVSHOOT,23
$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
$GPS1,234144,6055.931,-547.563,40,3.4,59,-7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-62.7
$GPS2,234651,6055.942,-547.681,16,2.5,35,-7.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCS_SE
$TGT_LATLONG,6010.000,-425.000
$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,145.5,114203,-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,-81.60,0.000,2,0.000,0.000,424,1968,3391
$GC,102,-0.97,-146.6,4.8,-6.1,4,124,10.95,2.70,-0.88,0.000,4,0.132,0.077,2525,3416,3432
$GC,229,-0.86,-146.6,29.6,-12.4,9,234,0.15,2.50,0.00,0.000,6,0.092,0.051,2556,2024,3433
$GC,545,-0.86,-146.6,53.6,-9.4,24,549,0.00,2.58,0.00,0.000,4,0.000,0.067,2556,593,3433
$GC,607,-0.86,-146.6,60.7,-11.8,27,612,0.00,2.47,0.00,0.000,6,0.000,0.053,2556,1978,3433
$GC,935,-0.86,-146.6,87.5,-7.9,43,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1993,3433
$GC,1244,-0.86,-146.6,112.0,-7.5,58,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1995,3433
$GC,1555,-0.86,-146.6,135.4,-6.9,73,1559,0.00,2.58,0.00,0.000,4,0.000,0.068,2557,584,3433
$GC,1582,-0.86,-146.6,137.5,-7.1,74,1586,0.00,2.45,0.00,0.000,6,0.000,0.054,2556,1958,3433
$GC,1898,-0.86,-146.6,161.3,-7.3,89,1903,0.00,2.60,0.00,0.000,4,0.000,0.064,2556,3405,3433
$GC,1932,-0.86,-146.6,163.8,-6.8,90,1938,0.00,2.60,0.00,0.000,6,0.000,0.051,2556,1950,3433
$GC,2249,-0.86,-146.6,187.4,-8.3,106,2253,0.00,2.65,0.00,0.000,4,0.000,0.064,2556,3402,3433
$GC,2266,-0.86,-146.6,188.9,-8.6,107,2270,0.00,2.58,0.00,0.000,6,0.000,0.052,2556,1961,3433
$GC,2593,-0.86,-146.6,212.2,-6.7,123,2598,0.00,2.62,0.00,0.000,4,0.000,0.063,2556,3402,3432
$GC,2615,-0.86,-146.6,213.8,-7.3,124,2620,0.00,2.55,0.00,0.000,6,0.000,0.051,2556,1974,3432
$GC,2937,-0.86,-146.6,237.0,-7.4,140,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1974,3432
$GC,3245,-0.86,-146.6,259.1,-7.0,155,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1974,3432
$GC,3555,-0.86,-146.6,281.9,-7.3,170,3560,0.00,2.62,0.00,0.000,4,0.000,0.065,2556,3410,3433
$GC,3577,-0.86,-146.6,283.7,-7.2,171,3582,0.00,2.55,0.00,0.000,6,0.000,0.052,2556,1981,3433
$GC,3900,-0.86,-146.6,307.6,-7.8,187,3905,0.00,2.60,0.00,0.000,4,0.000,0.064,2556,3406,3433
$GC,3940,-0.86,-146.6,310.6,-7.6,189,3944,0.00,2.55,0.00,0.000,6,0.000,0.053,2556,1978,3432
$STATE,4161,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4161,begin apogee
$GC,4169,-0.33,0.0,326.9,7.2,200,4296,0.55,0.00,124.05,1.030,6,0.073,0.000,2676,2151,2832
$STATE,4297,end apogee,CONTROL_FINISHED_OK
$STATE,4297,begin climb
$GC,4300,0.97,146.6,330.8,0.0,206,4432,1.27,2.62,122.68,0.996,4,0.059,0.064,2955,3521,2235
$GC,4505,0.82,146.6,321.1,8.1,215,4512,0.17,2.55,0.00,0.000,6,0.088,0.054,2921,2114,2234
$GC,4821,0.82,146.6,299.7,7.8,231,4825,0.00,2.55,0.00,0.000,4,0.000,0.069,2921,718,2234
$GC,4845,0.82,146.6,297.8,8.3,232,4850,0.00,2.55,0.00,0.000,6,0.000,0.054,2921,2136,2234
$GC,5172,0.82,146.6,271.9,8.1,248,5177,0.00,2.55,0.00,0.000,4,0.000,0.066,2921,3534,2234
$GC,5235,0.82,146.6,267.0,7.3,251,5240,0.00,2.50,0.00,0.000,6,0.000,0.055,2921,2151,2234
$GC,5563,1.17,362.5,255.0,0.1,267,5752,0.30,2.62,177.75,0.965,4,0.047,0.064,3001,3536,1353
$GC,5781,1.09,362.5,240.9,9.6,277,5785,0.00,2.53,0.00,0.000,6,0.000,0.056,3001,2161,1354
$GC,6103,0.99,362.5,206.0,12.2,293,6108,0.17,2.65,0.00,0.000,4,0.085,0.068,2962,707,1355
$GC,6143,0.99,362.5,201.4,10.3,295,6147,0.00,2.62,0.00,0.000,6,0.000,0.054,2961,2165,1355
$GC,6470,0.99,362.5,169.3,9.8,311,6475,0.00,2.70,0.00,0.000,4,0.000,0.069,2962,707,1356
$GC,6514,0.99,362.5,164.7,9.8,313,6519,0.00,2.58,0.00,0.000,6,0.000,0.054,2962,2139,1355
$GC,6836,0.99,362.5,133.7,10.1,329,6841,0.00,2.62,0.00,0.000,4,0.000,0.069,2962,717,1356
$GC,6870,0.99,362.5,129.9,10.9,330,6877,0.00,2.53,0.00,0.000,6,0.000,0.054,2962,2123,1356
$GC,7188,0.99,362.5,97.3,9.4,346,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2122,1356
$GC,7496,0.99,362.5,68.0,10.4,361,7501,0.00,2.62,0.00,0.000,4,0.000,0.070,2962,712,1356
$GC,7537,0.99,362.5,63.5,11.0,363,7541,0.00,2.50,0.00,0.000,6,0.000,0.054,2962,2106,1356
$GC,7864,0.99,362.5,34.4,9.5,379,7869,0.00,2.58,0.00,0.000,4,0.000,0.064,2962,3531,1356
$GC,7882,0.99,362.5,32.4,9.9,380,7887,0.00,2.60,0.00,0.000,6,0.000,0.053,2962,2085,1356
$GC,8209,0.99,362.5,5.4,8.4,396,8213,0.00,2.50,0.00,0.000,4,0.000,0.068,2962,705,1357
$STATE,8224,end climb,SURFACE_DEPTH_REACHED
$STATE,8224,begin surface coast
$FINISH,3.3,1.027477
$STATE,8229,end surface coast,CONTROL_FINISHED_OK
$STATE,8229,begin surface
$SM_CCo,8315,0.00,0.000,0,0,1354,362.55
$SM_GC,0.81,11.25,0.00,0.00,0.046,0.000,0.000,427,2032,1354,-10.58,0.90,362.55
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1808
$TCM_TEMP,18.70
$XPDR_PINGS,49
$ALTIM_BOTTOM_PING,250.3,86.4
$24V_AH,23.9,60.058
$10V_AH,10.1,29.640
$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,24.825,92.850,424.475,0.000,0.000,37.760,32.827,106.059,14.000,0.000,0.000,36.187,755.157,6043.469,488.764,973.080,366.572,0.000,1019.198,0.000,928.081,0.000,13.885,0.000
$DEVICE_MAMPS,131.924,76.700,1030.081,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,287.652,265.047,352.053,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19154,397
$CAP_FILE_SIZE,67900,0
$CFSIZE,254472192,231100416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,200109,020700,6055.396,-548.602,39,1.4,39,-7.3