version: 66.04
glider: 5
mission: 5
dive: 297
start: 1 10 109 1 45 46
data:
$ID,5
$MISSION,5
$DIVE,297
$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,135
$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,-93065.289
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2625
$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,58
$R_STBD_OVSHOOT,45
$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
$GPS1,013637,6014.266,-423.011,40,1.2,40,-6.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-50.3
$GPS2,014528,6014.388,-422.915,16,2.3,35,-6.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6006.752,-407.590
$TGT_RADIUS,1852.000
$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,141.4,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.97,-146.6,0.0,0.0,0,121,0.00,0.00,-101.70,0.000,2,0.000,0.000,416,1963,2986
$GC,125,-0.97,-146.6,3.7,-2.4,5,155,10.25,2.62,-12.75,0.000,4,0.130,0.072,2407,3395,3431
$GC,313,-0.53,-146.6,30.8,-15.4,13,318,0.47,2.42,0.00,0.000,6,0.086,0.050,2507,2028,3430
$GC,630,-0.37,-146.6,56.8,-4.5,28,632,0.17,0.00,0.00,0.000,6,0.084,0.000,2543,2015,3431
$GC,939,-0.32,-146.6,75.3,-7.0,43,943,0.00,2.55,0.00,0.000,4,0.000,0.062,2543,591,3431
$GC,984,-0.25,-146.6,79.6,-10.1,45,989,0.12,2.45,0.00,0.000,6,0.087,0.050,2571,1967,3431
$GC,1306,-0.25,-146.6,98.8,-6.9,61,1310,0.00,2.50,0.00,0.000,4,0.000,0.065,2570,593,3431
$GC,1378,-0.30,-146.6,105.0,-10.4,64,1382,0.00,2.45,0.00,0.000,6,0.000,0.051,2571,1979,3431
$GC,1696,-0.30,-146.6,128.9,-5.9,79,1700,0.00,2.53,0.00,0.000,4,0.000,0.064,2571,593,3431
$GC,1735,-0.30,-146.6,131.9,-7.0,81,1740,0.00,2.40,0.00,0.000,6,0.000,0.051,2571,1951,3431
$GC,2064,-0.34,-146.6,159.2,-10.2,97,2068,0.00,2.58,0.00,0.000,4,0.000,0.059,2571,3405,3431
$GC,2108,-0.39,-146.6,161.7,-6.1,99,2113,0.15,2.58,0.00,0.000,6,0.051,0.048,2527,1948,3431
$GC,2430,-0.28,-146.6,187.5,-11.2,115,2435,0.17,2.65,0.00,0.000,4,0.081,0.060,2570,3405,3431
$GC,2475,-0.34,-146.6,191.8,-9.1,117,2479,0.00,2.53,0.00,0.000,6,0.000,0.048,2570,1975,3430
$GC,2796,-0.34,-146.6,207.1,-1.7,133,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1974,3431
$GC,3105,-0.34,-146.6,221.4,-3.7,148,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1974,3431
$GC,3415,-0.34,-146.6,243.8,-8.5,163,3419,0.00,2.60,0.00,0.000,4,0.000,0.061,2570,3415,3431
$GC,3482,-0.41,-146.6,249.1,-7.9,166,3487,0.15,2.53,0.00,0.000,6,0.053,0.048,2526,1986,3431
$GC,3806,-0.30,-146.6,282.3,-9.1,182,3811,0.15,2.47,0.00,0.000,4,0.089,0.063,2558,594,3431
$GC,3862,-0.30,-146.6,288.3,-9.8,184,3868,0.00,2.45,0.00,0.000,6,0.000,0.050,2558,1991,3431
$GC,4177,-0.30,-146.6,314.8,-8.2,200,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2011,3430
$GC,4487,-0.30,-146.6,337.6,-7.4,215,4492,0.00,2.55,0.00,0.000,4,0.000,0.067,2558,595,3430
$GC,4537,-0.30,-146.6,341.9,-8.2,217,4541,0.00,2.42,0.00,0.000,6,0.000,0.051,2558,1975,3430
$GC,4859,-0.30,-146.6,365.7,-7.0,233,4863,0.00,2.55,0.00,0.000,4,0.000,0.063,2558,3404,3430
$GC,4887,-0.30,-146.6,367.6,-6.9,234,4891,0.00,2.55,0.00,0.000,6,0.000,0.051,2558,1969,3430
$STATE,5038,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5038,begin apogee
$GC,5045,-0.33,0.0,378.9,7.2,241,5170,0.00,0.00,122.43,1.039,6,0.000,0.000,2558,2140,2832
$STATE,5170,end apogee,CONTROL_FINISHED_OK
$STATE,5170,begin climb
$GC,5173,0.97,146.6,380.3,0.0,247,5303,1.25,2.67,121.85,1.005,4,0.053,0.063,2836,717,2234
$GC,5413,1.40,239.2,373.2,3.5,258,5497,0.43,2.50,77.05,0.981,6,0.037,0.048,2948,2135,1855
$GC,5819,1.40,239.2,345.0,6.4,278,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2134,1857
$GC,6128,1.40,239.2,319.2,8.0,293,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2121,1857
$GC,6438,1.38,248.2,296.4,5.8,308,6452,0.12,2.60,9.18,0.839,4,0.081,0.064,2923,714,1820
$GC,6493,1.47,266.3,293.2,5.5,310,6515,0.10,2.47,16.40,0.907,6,0.054,0.050,2956,2099,1746
$GC,6833,1.47,266.3,269.1,7.8,327,6838,0.00,2.58,0.00,0.000,4,0.000,0.063,2956,3524,1746
$GC,6867,1.47,266.3,266.5,7.4,328,6874,0.00,2.53,0.00,0.000,6,0.000,0.051,2956,2118,1746
$GC,7183,1.47,266.3,243.9,7.7,344,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2118,1746
$GC,7492,1.47,266.3,219.2,9.2,359,7497,0.00,2.58,0.00,0.000,4,0.000,0.061,2956,3530,1746
$GC,7542,1.47,266.3,214.0,10.6,361,7547,0.00,2.50,0.00,0.000,6,0.000,0.049,2956,2126,1746
$GC,7860,1.48,302.1,188.4,5.0,376,7893,0.00,0.00,30.05,0.894,6,0.000,0.000,2956,2126,1600
$GC,8211,1.48,302.1,166.3,7.3,393,8212,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2126,1599
$GC,8522,1.48,302.1,144.4,7.3,408,8523,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2114,1599
$GC,8830,1.48,302.1,107.7,12.6,423,8831,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2113,1599
$GC,9141,1.48,302.1,74.0,9.9,438,9142,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2113,1599
$GC,9449,1.48,302.1,48.8,13.0,453,9451,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2114,1599
$GC,9758,1.48,302.1,15.8,11.0,468,9762,0.00,2.55,0.00,0.000,4,0.000,0.058,2956,3532,1599
$GC,9785,1.52,302.1,13.2,9.3,469,9790,0.00,2.47,0.00,0.000,6,0.000,0.048,2956,2137,1599
$STATE,9934,end climb,SURFACE_DEPTH_REACHED
$STATE,9934,begin surface coast
$FINISH,0.5,1.027305
$STATE,9976,end surface coast,CONTROL_FINISHED_OK
$STATE,9976,begin surface
$SM_CCo,10059,0.00,0.000,0,0,1597,302.95
$SM_GC,1.69,11.02,0.00,0.00,0.039,0.000,0.000,424,1975,1597,-10.05,-0.71,302.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1796
$TCM_TEMP,17.50
$XPDR_PINGS,25
$ALTIM_BOTTOM_PING,300.1,87.7
$24V_AH,23.9,52.088
$10V_AH,10.1,25.858
$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,24.575,76.325,376.950,0.000,0.000,75.521,54.264,200.220,8.500,0.000,0.000,36.185,897.934,7566.069,467.576,1118.777,541.750,0.000,1046.128,0.000,1072.908,0.000,17.378,0.000
$DEVICE_MAMPS,129.623,72.098,1038.518,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,345.568,320.155,392.232,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22305,478
$CAP_FILE_SIZE,79749,0
$CFSIZE,254472192,233811968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,100109,043544,6014.456,-417.771,82,2.2,101,-6.3