version: 66.04
glider: 5
mission: 5
dive: 349
start: 1 20 109 7 55 20
data:
$ID,5
$MISSION,5
$DIVE,349
$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,-94273.836
$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,39
$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
$GPS1,075009,6055.218,-546.747,37,1.3,40,-7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-66.3
$GPS2,075501,6055.223,-546.793,11,0.9,17,-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,145.3,112666,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.82,0.000,2,0.000,0.000,420,1974,3385
$GC,123,-0.97,-146.6,4.4,-3.9,5,137,11.02,0.00,-1.02,0.000,6,0.136,0.000,2525,1971,3431
$GC,451,-0.85,-146.6,39.9,-7.4,20,453,0.15,0.00,0.00,0.000,6,0.092,0.000,2557,1972,3432
$GC,759,-0.85,-146.6,60.0,-8.0,35,763,0.00,2.62,0.00,0.000,4,0.000,0.063,2557,3415,3432
$GC,792,-0.85,-146.6,62.4,-7.0,36,798,0.00,2.50,0.00,0.000,6,0.000,0.050,2557,2015,3432
$GC,1109,-0.85,-146.6,84.8,-7.0,52,1114,0.00,2.55,0.00,0.000,4,0.000,0.066,2557,594,3432
$GC,1177,-0.85,-146.6,90.4,-8.2,55,1182,0.00,2.47,0.00,0.000,6,0.000,0.053,2557,1983,3432
$GC,1499,-0.85,-146.6,114.3,-7.8,71,1503,0.00,2.55,0.00,0.000,4,0.000,0.064,2557,3412,3432
$GC,1520,-0.85,-146.6,115.9,-7.2,72,1525,0.00,2.58,0.00,0.000,6,0.000,0.052,2557,1974,3432
$GC,1842,-0.85,-146.6,141.4,-7.6,88,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1975,3432
$GC,2150,-0.85,-146.6,168.8,-9.1,103,2154,0.00,2.60,0.00,0.000,4,0.000,0.062,2557,3412,3432
$GC,2177,-0.85,-146.6,171.3,-8.7,104,2182,0.00,2.55,0.00,0.000,6,0.000,0.051,2557,1980,3431
$GC,2494,-0.85,-146.6,200.0,-9.0,119,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1981,3432
$GC,2802,-0.85,-146.6,228.6,-9.7,134,2806,0.00,2.50,0.00,0.000,4,0.000,0.067,2557,586,3431
$GC,2830,-0.85,-146.6,231.5,-10.1,135,2834,0.00,2.47,0.00,0.000,6,0.000,0.053,2557,1978,3431
$GC,3146,-0.85,-146.6,260.9,-8.7,150,3151,0.00,2.58,0.00,0.000,4,0.000,0.064,2557,3413,3431
$GC,3180,-0.85,-146.6,263.5,-7.5,151,3186,0.00,2.58,0.00,0.000,6,0.000,0.052,2557,1971,3432
$GC,3495,-0.85,-146.6,287.8,-8.2,167,3499,0.00,2.47,0.00,0.000,4,0.000,0.069,2557,595,3432
$GC,3564,-0.85,-146.6,293.8,-9.1,170,3568,0.00,2.45,0.00,0.000,6,0.000,0.054,2557,1971,3432
$GC,3891,-0.85,-146.6,320.2,-7.2,186,3896,0.00,2.58,0.00,0.000,4,0.000,0.067,2557,3403,3431
$GC,3919,-0.85,-146.6,322.4,-7.4,187,3924,0.00,2.58,0.00,0.000,6,0.000,0.057,2557,1972,3431
$STATE,4067,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4067,begin apogee
$GC,4075,-0.33,0.0,331.4,4.7,194,4203,0.52,0.00,124.30,1.032,6,0.072,0.000,2670,2132,2832
$STATE,4203,end apogee,CONTROL_FINISHED_OK
$STATE,4203,begin climb
$GC,4206,0.97,146.6,334.6,0.0,200,4337,1.27,2.62,123.50,0.996,4,0.058,0.067,2951,3525,2234
$GC,4361,0.83,146.6,327.9,6.7,207,4366,0.15,2.58,0.00,0.000,6,0.085,0.058,2922,2122,2234
$GC,4677,0.91,198.8,312.9,4.6,222,4727,0.00,2.67,44.55,0.976,4,0.000,0.065,2923,3527,2021
$GC,4745,0.94,217.8,309.3,5.5,225,4770,0.12,2.55,17.45,0.920,6,0.058,0.055,2957,2137,1943
$GC,5095,0.87,217.8,287.2,6.1,242,5097,0.12,0.00,0.00,0.000,6,0.085,0.000,2932,2137,1942
$GC,5401,0.94,263.8,272.4,4.7,257,5442,0.00,0.00,39.17,0.973,6,0.000,0.000,2932,2137,1756
$GC,5752,1.09,330.3,255.2,4.2,274,5815,0.20,2.65,56.08,0.969,4,0.050,0.069,2987,718,1483
$GC,5850,1.01,330.3,246.3,10.4,278,5855,0.12,2.58,0.00,0.000,6,0.087,0.055,2964,2130,1483
$GC,6166,1.01,330.3,216.2,8.3,293,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2130,1484
$GC,6474,1.01,330.3,191.6,8.4,308,6479,0.00,2.62,0.00,0.000,4,0.000,0.070,2964,715,1484
$GC,6508,1.01,330.3,188.5,9.6,309,6514,0.00,2.55,0.00,0.000,6,0.000,0.056,2963,2126,1484
$GC,6824,1.01,330.3,160.5,9.1,325,6829,0.00,2.60,0.00,0.000,4,0.000,0.069,2964,716,1484
$GC,6846,1.01,330.3,158.3,9.5,326,6850,0.00,2.50,0.00,0.000,6,0.000,0.054,2964,2105,1484
$GC,7167,1.01,330.3,131.1,7.9,342,7169,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2106,1484
$GC,7477,1.01,330.3,103.7,8.1,357,7482,0.00,2.55,0.00,0.000,4,0.000,0.068,2964,718,1484
$GC,7505,1.01,330.3,101.5,7.9,358,7509,0.00,2.47,0.00,0.000,6,0.000,0.054,2964,2098,1484
$GC,7823,1.01,330.3,75.1,7.8,373,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2099,1484
$GC,8130,1.01,330.3,47.7,10.0,388,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2099,1484
$GC,8440,1.01,330.3,19.7,9.2,403,8445,0.00,2.55,0.00,0.000,4,0.000,0.070,2964,716,1484
$GC,8462,1.01,330.3,17.4,9.1,404,8467,0.00,2.47,0.00,0.000,6,0.000,0.053,2964,2099,1484
$STATE,8616,end climb,SURFACE_DEPTH_REACHED
$STATE,8616,begin surface coast
$FINISH,0.0,1.027512
$STATE,8659,end surface coast,CONTROL_FINISHED_OK
$STATE,8659,begin surface
$SM_CCo,8743,0.00,0.000,0,0,1483,330.66
$SM_GC,0.98,11.10,0.00,0.00,0.038,0.000,0.000,421,1979,1483,-10.60,-0.74,330.66
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1818
$TCM_TEMP,15.70
$XPDR_PINGS,45
$ALTIM_BOTTOM_PING,251.7,89.2
$24V_AH,23.9,60.440
$10V_AH,10.1,29.797
$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,24.800,77.075,405.050,0.000,0.000,37.763,35.176,106.483,13.000,0.000,0.000,16.976,771.974,6495.096,508.372,899.840,365.836,0.000,991.780,0.000,882.405,0.000,13.894,0.000
$DEVICE_MAMPS,135.759,69.797,1031.615,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,304.563,276.786,384.499,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19093,414
$CAP_FILE_SIZE,66396,0
$CFSIZE,254472192,230985728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,200109,102206,6054.549,-545.908,26,1.1,26,-7.3