version: 66.04
glider: 5
mission: 5
dive: 353
start: 1 20 109 19 7 51
data:
$ID,5
$MISSION,5
$DIVE,353
$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,-94331.492
$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,24
$R_STBD_OVSHOOT,25
$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
$GPS1,190236,6051.829,-541.275,40,1.1,40,-7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-61.8
$GPS2,190732,6051.832,-541.318,13,1.2,13,-7.2
$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,145.0,104624,-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,-146.6,0.0,0.0,0,118,0.00,0.00,-97.57,0.000,6,0.000,0.000,422,1981,3429
$GC,121,-0.97,-146.6,6.1,-6.1,5,137,11.07,2.60,0.00,0.000,4,0.138,0.061,2528,3405,3429
$GC,311,-0.88,-146.6,34.2,-8.8,12,319,0.12,2.53,0.00,0.000,6,0.097,0.048,2553,1991,3431
$GC,628,-0.88,-146.6,59.4,-7.7,28,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1991,3431
$GC,938,-0.88,-146.6,82.6,-7.8,43,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1991,3431
$GC,1247,-0.88,-146.6,106.1,-7.5,58,1251,0.00,2.58,0.00,0.000,4,0.000,0.062,2553,3405,3431
$GC,1268,-0.88,-146.6,107.9,-7.4,59,1272,0.00,2.50,0.00,0.000,6,0.000,0.050,2553,2001,3431
$GC,1590,-0.88,-146.6,131.4,-7.4,75,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2001,3431
$GC,1899,-0.88,-146.6,154.2,-7.3,90,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2000,3431
$GC,2208,-0.88,-146.6,178.3,-8.1,105,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2000,3431
$GC,2517,-0.88,-146.6,204.4,-8.4,120,2521,0.00,2.58,0.00,0.000,4,0.000,0.063,2553,3408,3431
$GC,2538,-0.88,-146.6,206.4,-8.5,121,2543,0.00,2.53,0.00,0.000,6,0.000,0.051,2553,1993,3431
$GC,2860,-0.88,-146.6,234.0,-8.7,137,2865,0.00,2.53,0.00,0.000,4,0.000,0.067,2553,587,3431
$GC,2890,-0.88,-146.6,236.7,-9.3,138,2894,0.00,2.53,0.00,0.000,6,0.000,0.054,2553,2005,3431
$GC,3206,-0.88,-146.6,264.6,-8.8,153,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2009,3431
$GC,3515,-0.88,-146.6,288.1,-7.4,168,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2008,3431
$GC,3824,-0.88,-146.6,311.6,-8.1,183,3828,0.00,2.60,0.00,0.000,4,0.000,0.068,2553,584,3431
$GC,3868,-0.88,-146.6,315.5,-8.7,185,3872,0.00,2.50,0.00,0.000,6,0.000,0.054,2553,1994,3431
$GC,4190,-0.88,-146.6,339.4,-6.9,201,4194,0.00,2.55,0.00,0.000,4,0.000,0.066,2553,3411,3431
$GC,4234,-0.88,-146.6,342.7,-7.7,203,4238,0.00,2.53,0.00,0.000,6,0.000,0.055,2553,2003,3431
$GC,4556,-0.88,-146.6,363.6,-6.8,219,4560,0.00,2.58,0.00,0.000,4,0.000,0.065,2553,3409,3431
$GC,4584,-0.88,-146.6,365.7,-8.1,220,4589,0.00,2.55,0.00,0.000,6,0.000,0.056,2553,1990,3431
$GC,4900,-0.88,-146.6,391.7,-8.1,235,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1991,3431
$GC,5209,-0.88,-146.6,416.5,-7.5,250,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1990,3430
$STATE,5289,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5289,begin apogee
$GC,5296,-0.33,0.0,422.7,7.5,254,5425,0.55,0.00,126.18,1.095,6,0.074,0.000,2672,2126,2832
$STATE,5426,end apogee,CONTROL_FINISHED_OK
$STATE,5426,begin climb
$GC,5429,0.97,146.6,426.9,0.0,260,5562,1.27,2.65,125.03,1.063,4,0.061,0.067,2950,3534,2234
$GC,5642,0.83,146.6,417.4,7.3,270,5647,0.12,2.58,0.00,0.000,6,0.089,0.058,2926,2127,2234
$GC,5970,0.90,190.2,402.4,4.8,286,6010,0.00,0.00,38.30,1.036,6,0.000,0.000,2926,2127,2056
$GC,6319,0.90,190.2,381.1,6.3,303,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2127,2055
$GC,6628,0.93,208.8,364.0,5.5,318,6650,0.00,2.70,16.83,0.996,4,0.000,0.066,2926,3526,1980
$GC,6697,0.96,228.8,360.1,5.5,321,6721,0.12,2.55,18.52,1.004,6,0.057,0.058,2961,2127,1899
$GC,7052,0.88,228.8,335.2,7.6,338,7057,0.12,2.62,0.00,0.000,4,0.089,0.065,2937,3533,1899
$GC,7108,0.88,228.8,330.8,7.6,340,7114,0.00,2.50,0.00,0.000,6,0.000,0.056,2936,2153,1900
$GC,7425,0.88,228.9,311.9,6.0,356,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2152,1900
$GC,7733,0.88,228.9,291.8,7.0,371,7738,0.00,2.55,0.00,0.000,4,0.000,0.065,2937,3535,1900
$GC,7767,0.88,228.9,289.3,7.5,372,7773,0.00,2.50,0.00,0.000,6,0.000,0.054,2937,2149,1900
$GC,8083,0.88,228.9,268.4,6.6,388,8087,0.00,2.60,0.00,0.000,4,0.000,0.066,2937,709,1900
$GC,8116,0.88,228.9,265.9,7.5,389,8122,0.00,2.60,0.00,0.000,6,0.000,0.054,2937,2161,1900
$GC,8431,0.88,228.9,244.6,6.9,405,8433,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2160,1900
$GC,8742,0.93,257.5,226.6,5.2,420,8772,0.00,2.70,25.20,0.952,4,0.000,0.065,2936,719,1782
$GC,8794,0.93,257.5,223.4,6.2,422,8799,0.00,2.58,0.00,0.000,6,0.000,0.053,2936,2146,1781
$GC,9110,0.93,257.5,202.0,7.0,437,9111,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2146,1781
$GC,9420,0.93,257.5,182.2,6.5,452,9425,0.00,2.62,0.00,0.000,4,0.000,0.067,2937,717,1782
$GC,9460,0.93,257.5,179.4,7.2,454,9465,0.00,2.55,0.00,0.000,6,0.000,0.054,2937,2142,1782
$GC,9787,0.93,257.5,157.3,7.5,470,9788,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2142,1782
$GC,10099,0.93,257.5,136.5,6.8,485,10103,0.00,2.62,0.00,0.000,4,0.000,0.067,2936,711,1782
$GC,10139,0.93,257.5,133.4,7.6,487,10143,0.00,2.55,0.00,0.000,6,0.000,0.054,2936,2136,1782
$GC,10466,0.93,257.5,110.3,7.9,503,10467,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2137,1782
$GC,10776,0.94,264.6,90.4,5.8,518,10790,0.00,2.65,7.70,0.765,4,0.000,0.064,2936,720,1752
$GC,10821,0.94,264.6,87.3,7.4,520,10825,0.00,2.53,0.00,0.000,6,0.000,0.053,2936,2125,1752
$GC,11149,0.98,264.6,66.1,7.0,536,11150,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2126,1752
$GC,11458,0.98,264.6,46.6,6.3,551,11463,0.10,2.60,0.00,0.000,4,0.054,0.066,2968,715,1752
$GC,11480,0.98,264.6,45.0,6.5,552,11485,0.00,2.50,0.00,0.000,6,0.000,0.053,2968,2110,1752
$GC,11801,0.98,264.6,19.8,8.8,568,11802,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2111,1752
$STATE,12004,end climb,SURFACE_DEPTH_REACHED
$STATE,12005,begin surface coast
$FINISH,0.6,1.027460
$STATE,12047,end surface coast,CONTROL_FINISHED_OK
$STATE,12047,begin surface
$SM_CCo,12131,0.00,0.000,0,0,1751,264.92
$SM_GC,1.10,11.10,0.00,0.00,0.039,0.000,0.000,421,1975,1751,-10.60,-0.71,264.92
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1824
$TCM_TEMP,16.70
$XPDR_PINGS,60
$ALTIM_BOTTOM_PING,350.2,82.1
$24V_AH,23.8,60.906
$10V_AH,10.1,30.014
$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,24.600,87.900,357.750,0.000,0.000,37.763,37.082,109.978,17.750,0.000,0.000,13.848,1055.521,9267.124,468.602,1226.388,414.056,0.000,1099.579,0.000,1205.831,0.000,20.234,0.000
$DEVICE_MAMPS,138.060,68.263,1094.509,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.491,389.404,463.428,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28581,580
$CAP_FILE_SIZE,84141,0
$CFSIZE,254472192,230817792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,200109,223107,6050.011,-541.341,29,1.3,29,-7.2