version: 66.04
glider: 5
mission: 5
dive: 352
start: 1 20 109 16 7 14
data:
$ID,5
$MISSION,5
$DIVE,352
$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,-94317.016
$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,35
$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
$GPS1,160154,6052.956,-543.126,37,1.2,37,-7.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-65.5
$GPS2,160655,6052.967,-543.110,15,1.2,15,-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,145.2,107291,-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,-81.57,0.000,2,0.000,0.000,422,1961,3352
$GC,102,-0.97,-146.6,4.2,-4.7,4,125,11.12,2.65,-1.83,0.000,4,0.142,0.073,2527,3404,3432
$GC,366,-0.88,-146.6,36.8,-9.0,15,373,0.12,2.50,0.00,0.000,6,0.092,0.048,2553,2000,3432
$GC,682,-0.88,-146.6,60.4,-7.7,31,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2000,3432
$GC,992,-0.88,-146.6,83.8,-7.9,46,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2000,3432
$GC,1301,-0.88,-146.6,106.3,-7.6,61,1305,0.00,2.58,0.00,0.000,4,0.000,0.063,2553,3406,3432
$GC,1340,-0.88,-146.6,109.2,-8.1,63,1345,0.00,2.50,0.00,0.000,6,0.000,0.049,2553,1999,3432
$GC,1669,-0.88,-146.6,132.3,-7.4,79,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1999,3432
$GC,1977,-0.88,-146.6,152.5,-5.9,94,1981,0.00,2.58,0.00,0.000,4,0.000,0.063,2553,3411,3432
$GC,1999,-0.88,-146.6,153.9,-5.9,95,2003,0.00,2.50,0.00,0.000,6,0.000,0.051,2553,2011,3432
$GC,2321,-0.88,-146.6,170.4,-5.1,111,2325,0.00,2.55,0.00,0.000,4,0.000,0.067,2553,585,3432
$GC,2344,-0.88,-146.6,171.9,-5.7,112,2349,0.00,2.55,0.00,0.000,6,0.000,0.053,2553,2018,3432
$GC,2671,-0.88,-146.6,192.0,-6.4,128,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2019,3432
$GC,2981,-0.88,-146.6,210.1,-6.8,143,2986,0.00,2.62,0.00,0.000,4,0.000,0.069,2553,585,3432
$GC,3031,-0.88,-146.6,214.0,-7.3,145,3036,0.00,2.53,0.00,0.000,6,0.000,0.054,2553,2007,3432
$GC,3347,-0.88,-146.6,240.0,-9.1,160,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2007,3432
$GC,3657,-0.88,-146.6,265.0,-7.6,175,3662,0.00,2.60,0.00,0.000,4,0.000,0.071,2554,592,3432
$GC,3712,-0.88,-146.6,269.7,-9.4,177,3719,0.00,2.50,0.00,0.000,6,0.000,0.054,2553,1993,3432
$GC,4028,-0.88,-146.6,291.3,-5.3,193,4033,0.00,2.53,0.00,0.000,4,0.000,0.068,2553,3404,3432
$GC,4057,-0.88,-146.6,292.6,-4.9,194,4062,0.00,2.53,0.00,0.000,6,0.000,0.056,2553,2000,3432
$GC,4373,-0.88,-146.6,309.2,-5.7,209,4378,0.00,2.55,0.00,0.000,4,0.000,0.073,2553,589,3431
$GC,4436,-0.88,-146.6,313.2,-6.7,212,4440,0.00,2.53,0.00,0.000,6,0.000,0.055,2553,2005,3432
$GC,4764,-0.88,-146.6,333.2,-5.7,228,4768,0.00,2.53,0.00,0.000,4,0.000,0.069,2553,3404,3432
$GC,4786,-0.88,-146.6,334.6,-5.7,229,4790,0.00,2.55,0.00,0.000,6,0.000,0.058,2553,1992,3431
$GC,5108,-0.88,-146.6,354.8,-6.3,245,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1991,3431
$STATE,5372,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5372,begin apogee
$GC,5380,-0.33,0.0,374.1,7.0,258,5509,0.55,0.00,125.53,1.069,6,0.074,0.000,2672,2135,2832
$STATE,5510,end apogee,CONTROL_FINISHED_OK
$STATE,5510,begin climb
$GC,5513,0.97,146.6,378.5,0.0,264,5645,1.27,2.72,124.35,1.035,4,0.061,0.071,2952,707,2234
$GC,5684,0.94,218.3,375.2,4.0,272,5751,0.00,2.60,61.45,1.010,6,0.000,0.056,2952,2134,1941
$GC,6073,0.89,218.3,346.4,7.9,291,6077,0.00,2.58,0.00,0.000,4,0.000,0.070,2952,3532,1941
$GC,6159,0.81,218.3,338.5,9.2,295,6164,0.17,2.55,0.00,0.000,6,0.082,0.058,2917,2134,1942
$GC,6487,1.02,316.1,322.1,3.3,311,6575,0.17,2.65,81.82,1.018,4,0.052,0.069,2971,718,1542
$GC,6625,0.97,316.1,312.7,8.9,317,6629,0.00,2.60,0.00,0.000,6,0.000,0.056,2971,2143,1543
$GC,6941,0.92,316.1,288.2,6.9,332,6943,0.12,0.00,0.00,0.000,6,0.087,0.000,2945,2144,1543
$GC,7250,0.92,316.1,267.3,7.9,347,7255,0.00,2.65,0.00,0.000,4,0.000,0.069,2945,716,1543
$GC,7313,0.92,316.1,261.4,9.6,350,7317,0.00,2.53,0.00,0.000,6,0.000,0.056,2945,2117,1543
$GC,7640,0.92,316.1,229.7,9.5,366,7644,0.00,2.60,0.00,0.000,4,0.000,0.069,2945,711,1543
$GC,7680,0.92,316.1,225.9,10.2,368,7684,0.00,2.50,0.00,0.000,6,0.000,0.055,2945,2099,1543
$GC,8006,0.92,316.1,196.7,8.7,384,8011,0.00,2.58,0.00,0.000,4,0.000,0.070,2945,708,1543
$GC,8024,0.92,316.1,195.0,8.9,385,8028,0.00,2.47,0.00,0.000,6,0.000,0.054,2945,2082,1543
$GC,8352,0.96,316.1,165.8,9.1,401,8356,0.00,2.53,0.00,0.000,4,0.000,0.068,2945,716,1543
$GC,8374,1.00,316.1,163.6,9.4,402,8378,0.00,2.45,0.00,0.000,6,0.000,0.054,2945,2078,1543
$GC,8696,1.05,316.1,136.6,7.9,418,8698,0.12,0.00,0.00,0.000,6,0.053,0.000,2981,2079,1543
$GC,9006,0.98,316.1,108.5,8.7,433,9008,0.12,0.00,0.00,0.000,6,0.080,0.000,2957,2079,1543
$GC,9315,0.98,316.1,86.1,7.3,448,9319,0.00,2.53,0.00,0.000,4,0.000,0.068,2957,708,1543
$GC,9333,0.98,316.1,84.7,7.5,449,9337,0.00,2.42,0.00,0.000,6,0.000,0.054,2957,2062,1543
$GC,9666,0.98,316.1,58.5,8.0,465,9671,0.00,2.65,0.00,0.000,4,0.000,0.064,2957,3533,1543
$GC,9688,0.98,316.1,56.5,8.8,466,9693,0.00,2.65,0.00,0.000,6,0.000,0.053,2957,2057,1544
$GC,10012,0.98,316.1,30.2,7.9,482,10013,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2057,1544
$STATE,10316,end climb,SURFACE_DEPTH_REACHED
$STATE,10317,begin surface coast
$FINISH,0.0,1.014157
$STATE,10360,end surface coast,CONTROL_FINISHED_OK
$STATE,10360,begin surface
$SM_CCo,10445,0.00,0.000,0,0,1542,316.44
$SM_GC,0.96,11.15,0.00,0.00,0.044,0.000,0.000,422,1968,1542,-10.60,-0.88,316.44
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1830
$TCM_TEMP,16.70
$XPDR_PINGS,33
$ALTIM_BOTTOM_PING,301.0,83.0
$24V_AH,23.8,60.788
$10V_AH,10.1,29.955
$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,24.950,92.475,393.150,0.000,0.000,37.760,29.129,122.870,10.500,0.000,0.000,15.810,936.508,7797.299,466.017,1147.074,403.259,0.000,1070.109,0.000,1120.295,0.000,17.059,0.000
$DEVICE_MAMPS,141.895,82.836,1069.198,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,366.995,335.092,418.866,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25477,499
$CAP_FILE_SIZE,80216,0
$CFSIZE,254472192,230858752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,200109,190236,6051.829,-541.275,40,1.1,40,-7.2