version: 66.04
glider: 5
mission: 5
dive: 347
start: 1 20 109 2 20 3
data:
$ID,5
$MISSION,5
$DIVE,347
$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,-94224.539
$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,27
$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
$GPS1,020700,6055.396,-548.602,39,1.4,39,-7.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-62.8
$GPS2,021943,6055.465,-548.745,31,1.5,31,-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,144.8,114206,-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,-146.6,0.0,0.0,0,133,0.00,0.00,-111.00,0.000,6,0.000,0.000,426,2030,3430
$GC,137,-0.97,-146.6,6.3,-5.9,6,153,10.93,2.53,0.00,0.000,4,0.135,0.064,2524,3402,3431
$GC,165,0.54,-146.6,20.2,-44.4,6,176,1.60,2.55,0.00,0.000,6,0.074,0.051,2864,1988,3432
$GC,488,0.00,-146.6,29.7,-3.2,22,493,0.55,2.53,0.00,0.000,4,0.061,0.064,2742,585,3432
$GC,545,-0.66,-146.6,31.7,-3.6,24,553,0.65,2.55,0.00,0.000,6,0.054,0.051,2595,2039,3432
$GC,862,-0.86,-146.6,47.9,-6.9,40,867,0.17,2.62,0.00,0.000,4,0.052,0.064,2545,591,3432
$GC,925,-0.77,-146.6,54.1,-10.7,43,930,0.15,2.33,0.00,0.000,6,0.087,0.052,2577,1898,3431
$GC,1254,-0.77,-146.6,81.5,-6.6,59,1258,0.00,2.67,0.00,0.000,4,0.000,0.064,2577,3388,3432
$GC,1317,-0.83,-146.6,85.1,-5.3,62,1321,0.00,2.62,0.00,0.000,6,0.000,0.052,2577,1918,3432
$GC,1644,-0.83,-146.6,103.0,-8.0,78,1649,0.00,2.67,0.00,0.000,4,0.000,0.062,2577,3389,3432
$GC,1678,-0.89,-146.6,106.7,-10.2,79,1685,0.12,2.62,0.00,0.000,6,0.058,0.050,2543,1913,3431
$GC,1995,-0.84,-146.6,133.4,-9.3,95,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1913,3431
$GC,2304,-0.79,-146.6,158.3,-8.3,110,2306,0.15,0.00,0.00,0.000,6,0.090,0.000,2574,1913,3431
$GC,2612,-0.79,-146.6,178.8,-6.2,125,2616,0.00,2.67,0.00,0.000,4,0.000,0.063,2574,3386,3431
$GC,2674,-0.84,-146.6,183.3,-6.9,128,2678,0.00,2.58,0.00,0.000,6,0.000,0.051,2574,1938,3431
$GC,3002,-0.89,-146.6,205.8,-7.1,144,3006,0.00,2.62,0.00,0.000,4,0.000,0.063,2574,3384,3431
$GC,3042,-0.95,-146.6,209.0,-7.9,146,3047,0.17,2.55,0.00,0.000,6,0.055,0.051,2526,1949,3431
$GC,3370,-0.85,-146.6,240.7,-10.4,162,3375,0.15,2.45,0.00,0.000,4,0.090,0.067,2558,587,3431
$GC,3397,-0.85,-146.6,243.5,-9.3,163,3401,0.00,2.40,0.00,0.000,6,0.000,0.053,2558,1934,3431
$GC,3713,-0.85,-146.6,267.7,-7.3,178,3717,0.00,2.60,0.00,0.000,4,0.000,0.064,2558,3383,3431
$GC,3784,-0.85,-146.6,273.4,-7.4,181,3789,0.00,2.55,0.00,0.000,6,0.000,0.053,2558,1956,3431
$GC,4101,-0.85,-146.6,295.5,-7.1,196,4105,0.00,2.60,0.00,0.000,4,0.000,0.064,2558,3383,3431
$GC,4163,-0.85,-146.6,300.3,-8.0,199,4167,0.00,2.53,0.00,0.000,6,0.000,0.053,2558,1968,3432
$GC,4490,-0.85,-146.6,324.0,-7.1,215,4495,0.00,2.58,0.00,0.000,6,0.000,0.065,2557,3382,3432
$STATE,4495,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4495,begin apogee
$GC,4505,-0.33,0.0,324.7,6.9,215,4632,0.50,0.00,124.57,1.025,6,0.073,0.000,2668,2119,2832
$STATE,4633,end apogee,CONTROL_FINISHED_OK
$STATE,4633,begin climb
$GC,4637,0.97,146.6,328.8,0.0,221,4768,1.30,2.67,123.10,0.991,4,0.061,0.063,2954,3509,2234
$GC,4826,0.82,146.6,319.2,7.5,230,4831,0.17,2.53,0.00,0.000,6,0.083,0.053,2920,2119,2234
$GC,5143,0.82,151.6,302.5,5.9,245,5154,0.00,2.60,6.15,0.778,4,0.000,0.063,2920,3506,2212
$GC,5176,0.82,151.6,300.2,6.6,246,5183,0.00,2.47,0.00,0.000,6,0.000,0.053,2920,2141,2212
$GC,5492,0.82,151.6,280.7,6.1,262,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2141,2212
$GC,5802,0.84,163.3,263.5,5.7,277,5818,0.00,2.58,11.05,0.889,4,0.000,0.064,2920,3513,2166
$GC,5874,0.84,163.3,258.9,6.1,279,5878,0.00,2.45,0.00,0.000,6,0.000,0.053,2920,2159,2165
$GC,6196,0.85,169.4,241.4,5.8,295,6205,0.00,0.00,6.72,0.806,6,0.000,0.000,2920,2159,2141
$GC,6506,0.90,197.6,224.5,5.2,310,6538,0.00,2.75,24.70,0.941,4,0.000,0.067,2920,709,2024
$GC,6551,0.90,198.9,221.8,6.0,312,6555,0.00,2.60,0.00,0.000,6,0.000,0.053,2920,2141,2024
$GC,6871,0.90,198.9,201.4,6.7,328,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2141,2024
$GC,7181,0.90,198.9,180.0,6.8,343,7186,0.00,2.62,0.00,0.000,4,0.000,0.068,2920,716,2024
$GC,7209,0.90,198.9,178.1,7.2,344,7213,0.00,2.60,0.00,0.000,6,0.000,0.054,2920,2162,2024
$GC,7528,0.95,231.9,160.7,5.1,359,7563,0.12,2.72,29.10,0.911,4,0.055,0.067,2958,718,1885
$GC,7581,0.89,231.9,157.3,6.4,361,7586,0.00,2.60,0.00,0.000,6,0.000,0.053,2959,2148,1886
$GC,7898,0.86,247.6,138.7,5.6,376,7921,0.12,2.60,14.40,0.858,4,0.085,0.064,2933,3533,1822
$GC,7950,0.96,277.4,136.2,5.2,378,7981,0.00,2.53,25.38,0.880,6,0.000,0.053,2933,2143,1701
$GC,8297,1.05,301.2,119.7,5.3,394,8323,0.17,2.65,20.45,0.863,4,0.050,0.068,2983,715,1604
$GC,8375,0.94,301.2,112.9,9.8,397,8382,0.17,2.55,0.00,0.000,6,0.075,0.051,2948,2135,1604
$GC,8693,0.94,301.2,89.9,7.7,413,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2135,1603
$GC,9000,0.94,301.2,66.4,7.7,428,9005,0.00,2.62,0.00,0.000,4,0.000,0.068,2948,712,1603
$GC,9034,0.94,301.2,63.9,7.2,429,9041,0.00,2.58,0.00,0.000,6,0.000,0.053,2948,2148,1603
$GC,9352,0.94,301.2,44.1,6.5,445,9356,0.00,2.65,0.00,0.000,4,0.000,0.067,2948,718,1603
$GC,9369,0.94,301.2,42.8,6.4,446,9374,0.00,2.55,0.00,0.000,6,0.000,0.054,2948,2141,1603
$GC,9697,0.94,301.2,14.8,7.9,462,9702,0.00,2.62,0.00,0.000,4,0.000,0.067,2948,711,1604
$GC,9725,0.94,301.2,12.4,8.4,463,9729,0.00,2.53,0.00,0.000,6,0.000,0.053,2948,2123,1604
$STATE,9854,end climb,SURFACE_DEPTH_REACHED
$STATE,9854,begin surface coast
$FINISH,-0.0,1.027472
$STATE,9895,end surface coast,CONTROL_FINISHED_OK
$STATE,9895,begin surface
$SM_CCo,9977,0.00,0.000,0,0,1603,301.47
$SM_GC,0.79,11.00,0.00,0.00,0.038,0.000,0.000,423,1984,1603,-10.59,-0.45,301.47
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1813
$TCM_TEMP,16.80
$XPDR_PINGS,61
$ALTIM_BOTTOM_PING,250.7,83.5
$24V_AH,23.9,60.191
$10V_AH,10.1,29.700
$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,28.225,113.425,385.625,0.000,0.000,113.271,102.784,280.085,17.000,0.000,0.000,31.080,915.137,7464.341,509.601,1123.157,735.569,0.000,1113.232,0.000,1082.607,0.000,14.477,0.000
$DEVICE_MAMPS,134.992,68.263,1025.479,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,350.694,315.218,449.829,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22291,471
$CAP_FILE_SIZE,90148,0
$CFSIZE,254472192,231034880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
$GPS,200109,050736,6055.510,-548.078,39,1.2,39,-7.3