version: 66.04
glider: 5
mission: 5
dive: 348
start: 1 20 109 5 13 7
data:
$ID,5
$MISSION,5
$DIVE,348
$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,-94256.234
$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,42
$R_STBD_OVSHOOT,22
$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
$GPS1,050736,6055.510,-548.078,39,1.2,39,-7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-64.1
$GPS2,051249,6055.539,-548.092,14,1.2,31,-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,145.1,113901,-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,-146.6,0.0,0.0,0,117,0.00,0.00,-94.55,0.000,6,0.000,0.000,423,1979,3431
$GC,120,-0.97,-146.6,6.9,-6.8,5,136,10.93,2.62,0.00,0.000,4,0.135,0.063,2527,3416,3432
$GC,193,-0.92,-146.6,24.3,-10.1,7,197,0.00,2.53,0.00,0.000,6,0.000,0.051,2527,2009,3432
$GC,510,-0.81,-146.6,50.7,-8.2,22,512,0.20,0.00,0.00,0.000,6,0.089,0.000,2569,2008,3432
$GC,818,-0.81,-146.6,74.6,-7.4,37,822,0.00,2.55,0.00,0.000,4,0.000,0.067,2569,588,3433
$GC,873,-0.81,-146.6,78.5,-8.0,39,880,0.00,2.53,0.00,0.000,6,0.000,0.053,2569,2009,3432
$GC,1192,-0.81,-146.6,101.0,-7.8,55,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2009,3432
$GC,1499,-0.81,-146.6,121.5,-6.0,70,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2009,3432
$GC,1808,-0.81,-146.6,142.2,-6.9,85,1812,0.00,2.60,0.00,0.000,4,0.000,0.070,2569,592,3432
$GC,1848,-0.81,-146.6,145.1,-8.2,87,1853,0.00,2.50,0.00,0.000,6,0.000,0.054,2569,2001,3432
$GC,2175,-0.81,-146.6,168.0,-7.8,103,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2001,3432
$GC,2485,-0.81,-146.6,192.4,-8.3,118,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2001,3432
$GC,2794,-0.81,-146.6,217.7,-7.6,133,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2001,3432
$GC,3103,-0.81,-146.6,238.8,-6.7,148,3107,0.00,2.60,0.00,0.000,4,0.000,0.070,2569,584,3432
$GC,3130,-0.81,-146.6,240.9,-7.4,149,3134,0.00,2.50,0.00,0.000,6,0.000,0.054,2569,1989,3432
$GC,3447,-0.81,-146.6,266.0,-7.9,164,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1990,3432
$GC,3755,-0.81,-146.6,291.8,-7.7,179,3759,0.00,2.58,0.00,0.000,4,0.000,0.070,2569,585,3432
$GC,3806,-0.85,-146.6,296.0,-8.6,181,3810,0.00,2.50,0.00,0.000,6,0.000,0.054,2569,1991,3432
$GC,4122,-0.85,-146.6,318.1,-6.8,196,4126,0.00,2.55,0.00,0.000,4,0.000,0.068,2569,3402,3432
$GC,4149,-0.85,-146.6,320.3,-7.7,197,4153,0.00,2.55,0.00,0.000,6,0.000,0.055,2569,1983,3432
$STATE,4339,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4339,begin apogee
$GC,4347,-0.33,0.0,334.9,8.1,206,4474,0.47,0.00,124.30,1.034,6,0.071,0.000,2672,2134,2832
$STATE,4475,end apogee,CONTROL_FINISHED_OK
$STATE,4475,begin climb
$GC,4478,0.97,146.6,339.4,0.0,212,4610,1.27,2.72,123.00,1.001,4,0.058,0.070,2953,718,2234
$GC,4806,0.84,146.6,321.7,8.1,227,4811,0.15,2.53,0.00,0.000,6,0.088,0.052,2924,2123,2234
$GC,5134,0.88,172.8,305.6,5.3,243,5164,0.00,2.65,22.92,0.955,4,0.000,0.066,2924,3521,2127
$GC,5228,0.94,210.6,300.8,5.0,247,5268,0.10,2.53,32.72,0.969,6,0.062,0.055,2952,2135,1973
$GC,5596,0.88,210.6,278.3,7.6,265,5600,0.00,2.58,0.00,0.000,4,0.000,0.067,2952,714,1972
$GC,5624,0.80,210.6,275.7,9.4,266,5629,0.17,2.55,0.00,0.000,6,0.084,0.054,2917,2131,1972
$GC,5941,0.85,210.6,250.6,7.7,281,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2132,1973
$GC,6250,0.98,256.4,233.5,4.7,296,6292,0.17,0.00,39.05,0.960,6,0.051,0.000,2971,2132,1785
$GC,6602,0.90,256.4,206.5,8.4,313,6604,0.15,0.00,0.00,0.000,6,0.084,0.000,2940,2132,1786
$GC,6910,0.90,256.4,181.9,7.7,328,6915,0.00,2.60,0.00,0.000,4,0.000,0.067,2940,714,1786
$GC,6938,0.90,256.4,179.8,7.5,329,6942,0.00,2.53,0.00,0.000,6,0.000,0.054,2940,2118,1786
$GC,7255,0.90,256.4,157.4,6.3,344,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2119,1786
$GC,7564,0.90,256.4,139.9,6.0,359,7568,0.00,2.58,0.00,0.000,4,0.000,0.067,2940,718,1786
$GC,7585,0.90,256.4,138.4,6.6,360,7590,0.00,2.50,0.00,0.000,6,0.000,0.054,2940,2111,1785
$GC,7908,0.95,283.0,119.3,5.3,376,7938,0.00,2.65,23.05,0.876,4,0.000,0.062,2940,3524,1677
$GC,7967,1.10,337.7,116.2,4.5,378,8020,0.20,2.58,45.33,0.880,6,0.050,0.052,2991,2105,1454
$GC,8348,1.02,337.7,80.0,10.0,397,8353,0.12,2.53,0.00,0.000,4,0.086,0.066,2967,716,1453
$GC,8376,1.02,337.7,77.3,9.6,398,8380,0.00,2.53,0.00,0.000,6,0.000,0.052,2966,2121,1453
$GC,8693,1.02,337.7,50.6,8.3,413,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2122,1453
$GC,9002,1.02,337.7,20.4,9.8,428,9006,0.00,2.60,0.00,0.000,4,0.000,0.068,2967,709,1453
$GC,9023,1.02,337.7,18.3,9.8,429,9028,0.00,2.53,0.00,0.000,6,0.000,0.053,2966,2118,1453
$STATE,9219,end climb,SURFACE_DEPTH_REACHED
$STATE,9219,begin surface coast
$FINISH,0.0,1.013520
$STATE,9260,end surface coast,CONTROL_FINISHED_OK
$STATE,9260,begin surface
$SM_CCo,9345,0.00,0.000,0,0,1453,338.27
$SM_GC,1.05,11.07,0.00,0.00,0.037,0.000,0.000,420,1977,1453,-10.60,-0.62,338.27
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1813
$TCM_TEMP,16.70
$XPDR_PINGS,45
$ALTIM_BOTTOM_PING,276.2,67.9
$24V_AH,23.9,60.316
$10V_AH,10.1,29.750
$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,25.025,72.275,410.375,0.000,0.000,37.763,30.968,114.786,13.250,0.000,0.000,31.069,824.454,6948.301,485.179,1023.966,378.407,0.000,1024.736,0.000,986.569,0.000,15.429,0.000
$DEVICE_MAMPS,134.992,69.797,1033.916,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,323.589,295.115,399.907,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22228,441
$CAP_FILE_SIZE,70545,0
$CFSIZE,254472192,231014400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,200109,075009,6055.218,-546.747,37,1.3,40,-7.3