version: 66.04
glider: 5
mission: 5
dive: 354
start: 1 20 109 22 36 51
data:
$ID,5
$MISSION,5
$DIVE,354
$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,-94363.336
$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,30
$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
$GPS1,223107,6050.011,-541.341,29,1.3,29,-7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-64.6
$GPS2,223634,6049.979,-541.446,11,2.2,30,-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,143.6,102190,-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,13,begin dive
$GC,16,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-80.93,0.000,2,0.000,0.000,421,1962,3298
$GC,102,-0.97,-146.6,3.9,-4.4,4,125,11.07,2.65,-3.25,0.000,4,0.137,0.074,2527,3416,3431
$GC,321,-0.86,-146.6,35.0,-13.1,13,328,0.12,2.53,0.00,0.000,6,0.094,0.050,2554,2003,3431
$GC,639,-0.86,-146.6,64.8,-7.9,29,643,0.00,2.55,0.00,0.000,4,0.000,0.067,2554,585,3431
$GC,679,-0.86,-146.6,68.1,-8.1,31,683,0.00,2.55,0.00,0.000,6,0.000,0.054,2554,2012,3431
$GC,1006,-0.86,-146.6,95.9,-9.0,47,1011,0.00,2.62,0.00,0.000,4,0.000,0.067,2554,591,3431
$GC,1028,-0.86,-146.6,98.2,-9.1,48,1033,0.00,2.53,0.00,0.000,6,0.000,0.054,2554,2005,3431
$GC,1352,-0.86,-146.6,124.0,-7.3,64,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2006,3431
$GC,1659,-0.86,-146.6,144.6,-6.9,79,1664,0.00,2.58,0.00,0.000,4,0.000,0.067,2554,596,3431
$GC,1700,-0.86,-146.6,147.5,-8.1,81,1704,0.00,2.45,0.00,0.000,6,0.000,0.054,2554,1974,3431
$GC,2033,-0.86,-146.6,172.2,-7.4,97,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1984,3431
$GC,2341,-0.86,-146.6,202.4,-9.9,112,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1984,3431
$GC,2651,-0.86,-146.6,227.9,-6.2,127,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1985,3431
$GC,2961,-0.86,-146.6,248.0,-6.6,142,2965,0.00,2.58,0.00,0.000,4,0.000,0.064,2554,3414,3431
$GC,2982,-0.86,-146.6,249.8,-7.8,143,2990,0.00,2.58,0.00,0.000,6,0.000,0.054,2554,1976,3431
$GC,3312,-0.86,-146.6,274.8,-7.3,159,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1976,3431
$GC,3622,-0.86,-146.6,295.8,-7.0,174,3626,0.00,2.60,0.00,0.000,4,0.000,0.064,2554,3404,3431
$GC,3662,-0.86,-146.6,299.1,-8.3,176,3667,0.00,2.55,0.00,0.000,6,0.000,0.053,2554,1975,3431
$GC,3988,-0.86,-146.6,322.0,-6.8,192,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1976,3431
$GC,4299,-0.86,-146.6,339.8,-4.8,207,4303,0.00,2.62,0.00,0.000,4,0.000,0.064,2554,3412,3431
$GC,4328,-0.86,-146.6,341.2,-4.6,208,4332,0.00,2.55,0.00,0.000,6,0.000,0.054,2553,1991,3431
$GC,4644,-0.86,-146.6,357.4,-6.3,223,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1991,3431
$GC,4954,-0.86,-146.6,386.8,-9.9,238,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1991,3431
$GC,5262,-0.86,-146.6,412.8,-9.2,253,5267,0.00,2.58,0.00,0.000,4,0.000,0.065,2554,3404,3431
$GC,5318,-0.86,-146.6,418.0,-9.1,255,5325,0.00,2.50,0.00,0.000,6,0.000,0.054,2554,2002,3431
$GC,5635,-0.86,-146.6,439.6,-5.5,271,5640,0.00,2.58,0.00,0.000,4,0.000,0.066,2554,3411,3431
$GC,5663,-0.86,-146.6,441.4,-6.3,272,5667,0.00,2.50,0.00,0.000,6,0.000,0.055,2553,2015,3431
$GC,5979,-0.86,-146.6,462.8,-8.6,287,5983,0.00,2.55,0.00,0.000,4,0.000,0.066,2553,3411,3431
$GC,5990,-0.86,-146.6,464.0,-9.8,287,5996,0.00,2.47,0.00,0.000,6,0.000,0.054,2554,2026,3431
$GC,6306,-0.86,-146.6,480.7,-3.4,303,6311,0.00,2.60,0.00,0.000,4,0.000,0.071,2554,586,3431
$GC,6370,-0.86,-146.6,483.8,-6.1,306,6374,0.00,2.55,0.00,0.000,6,0.000,0.056,2554,2015,3431
$STATE,6467,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6467,begin apogee
$GC,6475,-0.33,0.0,489.9,5.6,311,6609,0.55,0.00,127.30,1.144,6,0.071,0.000,2672,2129,2832
$STATE,6610,end apogee,CONTROL_FINISHED_OK
$STATE,6610,begin climb
$GC,6613,0.97,146.6,493.6,0.0,318,6747,1.27,2.62,126.50,1.109,4,0.062,0.068,2951,3521,2233
$GC,6847,0.83,146.6,486.3,7.6,329,6853,0.12,2.55,0.00,0.000,6,0.090,0.060,2929,2129,2233
$GC,7175,0.77,146.6,463.3,7.9,345,7179,0.00,2.60,0.00,0.000,4,0.000,0.067,2928,3527,2233
$GC,7225,0.70,146.6,458.6,9.6,347,7231,0.15,2.50,0.00,0.000,6,0.094,0.059,2897,2153,2233
$GC,7542,0.75,146.6,440.4,6.6,362,7546,0.00,2.55,0.00,0.000,4,0.000,0.067,2898,3525,2232
$GC,7574,0.75,146.6,437.9,7.3,363,7580,0.00,2.50,0.00,0.000,6,0.000,0.058,2897,2149,2232
$GC,7891,0.87,190.6,419.7,4.8,379,7936,0.17,2.72,37.88,1.084,4,0.054,0.068,2948,720,2055
$GC,7970,0.76,190.6,414.7,7.3,382,7975,0.20,2.60,0.00,0.000,6,0.081,0.055,2908,2148,2055
$GC,8287,0.81,190.6,392.4,7.7,397,8290,0.00,2.53,0.00,0.000,4,0.000,0.069,2908,3531,2054
$GC,8325,0.81,190.6,389.3,7.8,398,8332,0.00,2.50,0.00,0.000,6,0.000,0.057,2908,2154,2054
$GC,8641,0.86,190.6,367.0,6.8,414,8646,0.10,2.62,0.00,0.000,4,0.062,0.068,2938,712,2054
$GC,8675,0.80,190.6,364.4,7.5,415,8681,0.00,2.60,0.00,0.000,6,0.000,0.055,2938,2156,2054
$GC,8992,0.80,190.6,344.2,6.4,431,8993,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2156,2054
$GC,9300,0.80,190.6,321.4,8.3,446,9305,0.00,2.65,0.00,0.000,4,0.000,0.068,2938,717,2054
$GC,9322,0.76,190.6,319.6,7.5,447,9327,0.15,2.58,0.00,0.000,6,0.087,0.054,2907,2148,2054
$GC,9644,0.82,190.6,298.7,6.7,463,9648,0.00,2.53,0.00,0.000,4,0.000,0.067,2906,3538,2054
$GC,9667,0.88,190.6,296.9,7.5,464,9672,0.12,2.50,0.00,0.000,6,0.057,0.054,2943,2146,2054
$GC,9988,0.83,190.6,270.4,8.2,480,9992,0.00,2.60,0.00,0.000,4,0.000,0.067,2943,709,2054
$GC,10011,0.78,190.6,268.3,9.2,481,10016,0.15,2.60,0.00,0.000,6,0.084,0.054,2912,2158,2054
$GC,10332,0.82,190.6,247.3,6.1,497,10336,0.00,2.50,0.00,0.000,4,0.000,0.066,2912,3538,2054
$GC,10355,0.82,190.6,245.9,6.5,498,10360,0.00,2.50,0.00,0.000,6,0.000,0.053,2912,2144,2054
$GC,10683,0.88,200.8,226.5,5.7,514,10699,0.10,2.62,10.05,0.879,4,0.058,0.067,2943,713,2013
$GC,10716,0.84,200.8,224.4,6.5,514,10722,0.00,2.60,0.00,0.000,6,0.000,0.053,2943,2155,2012
$GC,11033,0.84,200.8,204.4,6.3,530,11037,0.00,2.50,0.00,0.000,4,0.000,0.064,2943,3537,2012
$GC,11060,0.79,200.8,202.4,7.7,531,11065,0.12,2.50,0.00,0.000,6,0.088,0.051,2917,2144,2013
$GC,11377,0.86,241.8,184.2,4.9,546,11419,0.00,2.65,34.62,0.937,4,0.000,0.067,2917,720,1846
$GC,11448,0.92,241.8,180.0,6.8,549,11453,0.12,2.58,0.00,0.000,6,0.054,0.051,2951,2148,1846
$GC,11769,0.92,241.8,156.5,6.9,565,11770,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2148,1846
$GC,12080,0.92,241.8,137.4,6.5,580,12081,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2148,1846
$GC,12388,0.92,241.8,116.2,6.7,595,12392,0.00,2.62,0.00,0.000,4,0.000,0.067,2951,719,1846
$GC,12421,0.88,241.8,114.0,6.6,596,12428,0.00,2.55,0.00,0.000,6,0.000,0.053,2951,2144,1846
$GC,12740,0.88,241.8,94.6,6.2,612,12741,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2144,1846
$GC,13046,0.88,241.8,73.0,7.4,627,13048,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2144,1847
$GC,13356,0.88,241.8,49.5,6.9,642,13357,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2145,1847
$GC,13666,0.88,241.8,26.6,7.4,657,13670,0.00,2.62,0.00,0.000,4,0.000,0.067,2952,712,1847
$GC,13698,0.88,241.8,24.2,7.5,658,13705,0.00,2.55,0.00,0.000,6,0.000,0.054,2952,2140,1847
$STATE,13991,end climb,SURFACE_DEPTH_REACHED
$STATE,13991,begin surface coast
$FINISH,0.2,1.027535
$STATE,14034,end surface coast,CONTROL_FINISHED_OK
$STATE,14034,begin surface
$SM_CCo,14056,7.43,0.708,1,0,1812,250.21
$SM_GC,1.64,0.00,0.00,7.43,0.000,0.000,0.708,421,1970,1812,-10.69,-0.90,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1813
$TCM_TEMP,16.60
$XPDR_PINGS,79
$ALTIM_BOTTOM_PING,425.1,73.9
$24V_AH,23.8,61.025
$10V_AH,10.1,30.082
$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,25.625,133.850,336.350,7.425,0.000,37.761,26.276,127.268,23.250,0.000,0.000,31.221,1250.646,10730.363,483.301,1469.337,467.842,0.000,1242.230,0.000,1422.402,0.000,24.998,0.000
$DEVICE_MAMPS,137.293,74.399,1144.364,707.941,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,497.910,453.474,489.289,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34776,675
$CAP_FILE_SIZE,107325,0
$CFSIZE,254472192,230744064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,38,1,0
$GPS,210109,023236,6048.941,-542.880,35,1.7,35,-7.2