version: 66.04
glider: 5
mission: 5
dive: 351
start: 1 20 109 13 12 15
data:
$ID,5
$MISSION,5
$DIVE,351
$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,-94300.578
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,130706,6053.787,-545.078,40,0.8,40,-7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-67.9
$GPS2,131156,6053.811,-545.129,12,0.9,12,-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,145.0,109697,-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,-81.53,0.000,2,0.000,0.000,423,1976,3407
$GC,102,-0.97,-146.6,4.8,-5.4,4,125,11.00,2.62,-0.50,0.000,4,0.137,0.074,2524,3412,3431
$GC,378,-0.87,-146.6,39.0,-8.2,16,383,0.15,2.53,0.00,0.000,6,0.090,0.051,2555,2000,3431
$GC,700,-0.87,-146.6,62.4,-7.3,32,704,0.00,2.58,0.00,0.000,4,0.000,0.062,2555,3412,3431
$GC,755,-0.87,-146.6,66.7,-7.9,34,761,0.00,2.53,0.00,0.000,6,0.000,0.051,2555,1998,3431
$GC,1072,-0.87,-146.6,92.0,-9.4,50,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1998,3431
$GC,1382,-0.87,-146.6,113.6,-6.1,65,1386,0.00,2.58,0.00,0.000,4,0.000,0.063,2556,3410,3431
$GC,1409,-0.87,-146.6,115.9,-7.8,66,1414,0.00,2.53,0.00,0.000,6,0.000,0.051,2555,1996,3431
$GC,1726,-0.87,-146.6,138.8,-8.5,81,1731,0.00,2.53,0.00,0.000,4,0.000,0.066,2556,588,3431
$GC,1748,-0.87,-146.6,140.7,-7.8,82,1753,0.00,2.53,0.00,0.000,6,0.000,0.053,2555,2007,3431
$GC,2070,-0.87,-146.6,165.2,-7.3,98,2074,0.00,2.53,0.00,0.000,4,0.000,0.064,2555,3411,3431
$GC,2098,-0.87,-146.6,167.3,-7.9,99,2102,0.00,2.50,0.00,0.000,6,0.000,0.051,2555,2008,3431
$GC,2413,-0.87,-146.6,190.1,-7.3,114,2417,0.00,2.55,0.00,0.000,4,0.000,0.067,2556,588,3431
$GC,2440,-0.87,-146.6,192.4,-7.4,115,2444,0.00,2.53,0.00,0.000,6,0.000,0.053,2555,2007,3431
$GC,2757,-0.87,-146.6,214.7,-7.2,130,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2008,3431
$GC,3065,-0.87,-146.6,236.7,-7.2,145,3070,0.00,2.60,0.00,0.000,4,0.000,0.068,2556,586,3431
$GC,3092,-0.87,-146.6,238.7,-7.2,146,3097,0.00,2.53,0.00,0.000,6,0.000,0.054,2555,2004,3431
$GC,3410,-0.87,-146.6,259.4,-6.0,161,3414,0.00,2.53,0.00,0.000,4,0.000,0.066,2556,3408,3431
$GC,3465,-0.87,-146.6,263.3,-7.3,163,3472,0.00,2.50,0.00,0.000,6,0.000,0.054,2556,2012,3431
$GC,3781,-0.87,-146.6,282.8,-6.0,179,3786,0.00,2.55,0.00,0.000,4,0.000,0.067,2556,592,3431
$GC,3810,-0.87,-146.6,284.7,-6.9,180,3814,0.00,2.55,0.00,0.000,6,0.000,0.054,2556,2023,3431
$GC,4125,-0.87,-146.6,305.9,-6.9,195,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2022,3431
$GC,4435,-0.87,-146.6,325.6,-6.2,210,4439,0.00,2.50,0.00,0.000,4,0.000,0.067,2556,3411,3431
$GC,4485,-0.87,-146.6,329.1,-6.9,212,4490,0.00,2.50,0.00,0.000,6,0.000,0.056,2555,2022,3431
$STATE,4675,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4675,begin apogee
$GC,4682,-0.33,0.0,341.6,6.2,221,4810,0.55,0.00,125.00,1.035,6,0.071,0.000,2675,2131,2832
$STATE,4811,end apogee,CONTROL_FINISHED_OK
$STATE,4811,begin climb
$GC,4814,0.97,146.6,346.7,0.0,227,4947,1.27,2.72,124.20,1.002,4,0.058,0.071,2955,717,2234
$GC,5004,0.84,146.6,338.8,7.5,236,5010,0.15,2.55,0.00,0.000,6,0.084,0.055,2926,2121,2234
$GC,5332,0.84,146.6,317.5,6.0,252,5336,0.00,2.58,0.00,0.000,4,0.000,0.068,2926,3528,2233
$GC,5421,0.79,146.6,311.7,6.8,256,5426,0.00,2.53,0.00,0.000,6,0.000,0.058,2926,2143,2233
$GC,5743,0.89,207.2,296.2,4.3,272,5800,0.00,2.67,51.25,0.996,4,0.000,0.070,2926,712,1987
$GC,5818,0.91,217.0,292.2,5.7,274,5833,0.00,2.62,9.90,0.877,6,0.000,0.056,2926,2147,1947
$GC,6149,0.91,217.0,271.6,6.2,291,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2147,1947
$GC,6460,0.95,240.5,254.3,5.4,306,6483,0.10,0.00,20.85,0.953,6,0.058,0.000,2957,2147,1851
$GC,6791,0.90,240.5,230.4,8.0,322,6795,0.00,2.53,0.00,0.000,4,0.000,0.068,2957,3531,1851
$GC,6825,0.84,240.5,227.5,8.5,323,6830,0.15,2.50,0.00,0.000,6,0.084,0.054,2927,2149,1852
$GC,7141,0.85,245.0,208.0,5.9,338,7152,0.00,2.62,5.68,0.761,4,0.000,0.067,2927,717,1832
$GC,7181,0.85,245.0,205.2,7.4,340,7185,0.00,2.60,0.00,0.000,6,0.000,0.054,2926,2158,1832
$GC,7509,0.91,250.9,184.7,5.8,356,7517,0.00,0.00,6.78,0.797,6,0.000,0.000,2927,2159,1809
$GC,7818,0.96,250.9,165.6,6.3,371,7823,0.12,2.67,0.00,0.000,4,0.053,0.067,2965,713,1808
$GC,7864,0.88,250.9,161.6,9.0,373,7870,0.15,2.58,0.00,0.000,6,0.084,0.054,2935,2147,1808
$GC,8187,0.88,250.9,137.1,7.7,389,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2147,1808
$GC,8497,0.88,250.9,113.9,7.2,404,8501,0.00,2.62,0.00,0.000,4,0.000,0.067,2934,718,1808
$GC,8529,0.88,250.9,111.2,7.3,405,8536,0.00,2.55,0.00,0.000,6,0.000,0.054,2934,2142,1808
$GC,8847,0.92,250.9,89.4,7.1,421,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2142,1808
$GC,9157,0.96,250.9,68.1,7.1,436,9161,0.00,2.62,0.00,0.000,4,0.000,0.067,2934,712,1808
$GC,9184,0.96,250.9,65.8,8.0,437,9188,0.00,2.55,0.00,0.000,6,0.000,0.054,2934,2138,1809
$GC,9501,1.00,250.9,44.2,7.0,452,9506,0.12,2.53,0.00,0.000,4,0.053,0.063,2973,3536,1809
$GC,9523,1.00,250.9,42.2,8.2,453,9527,0.00,2.55,0.00,0.000,6,0.000,0.053,2973,2114,1809
$GC,9845,0.93,250.9,14.0,8.6,469,9850,0.12,2.62,0.00,0.000,4,0.087,0.063,2946,3538,1809
$GC,9868,0.93,250.9,11.8,9.1,470,9872,0.00,2.53,0.00,0.000,6,0.000,0.051,2946,2123,1809
$STATE,9980,end climb,SURFACE_DEPTH_REACHED
$STATE,9980,begin surface coast
$FINISH,0.3,1.027453
$STATE,10023,end surface coast,CONTROL_FINISHED_OK
$STATE,10023,begin surface
$SM_CCo,10105,0.00,0.000,0,0,1808,251.19
$SM_GC,1.19,11.05,0.00,0.00,0.041,0.000,0.000,422,1965,1808,-10.60,-0.96,251.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1829
$TCM_TEMP,15.70
$XPDR_PINGS,53
$ALTIM_BOTTOM_PING,300.2,51.0
$24V_AH,23.9,60.661
$10V_AH,10.1,29.901
$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,24.950,102.925,343.650,0.000,0.000,37.752,24.905,119.997,15.500,0.000,0.000,12.541,919.953,7531.150,444.244,1111.111,394.790,0.000,1027.525,0.000,1091.029,0.000,16.971,0.000
$DEVICE_MAMPS,136.526,74.399,1035.450,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,347.893,320.587,420.584,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22270,478
$CAP_FILE_SIZE,80939,0
$CFSIZE,254472192,230903808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,200109,160154,6052.956,-543.126,37,1.2,37,-7.3