version: 66.04
glider: 5
mission: 5
dive: 298
start: 1 10 109 4 41 48
data:
$ID,5
$MISSION,5
$DIVE,298
$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,-93134.898
$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,26
$R_STBD_OVSHOOT,27
$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
$GPS1,043544,6014.456,-417.771,82,2.2,101,-6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-52.9
$GPS2,044130,6014.546,-417.529,64,1.8,69,-6.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6006.910,-402.203
$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,141.3,20000,-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,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,-81.50,0.000,2,0.000,0.000,423,1990,3228
$GC,102,-0.97,-146.6,3.8,-4.0,4,125,10.10,2.58,-5.35,0.000,4,0.128,0.071,2405,3409,3429
$GC,378,-0.52,-146.6,51.5,-19.2,16,384,0.50,2.50,0.00,0.000,6,0.088,0.047,2510,2000,3430
$GC,702,-0.36,-146.6,82.5,-7.2,32,704,0.17,0.00,0.00,0.000,6,0.086,0.000,2547,1998,3429
$GC,1010,-0.31,-146.6,106.6,-10.0,47,1015,0.00,2.50,0.00,0.000,4,0.000,0.064,2547,594,3430
$GC,1055,-0.25,-146.6,112.7,-13.6,49,1060,0.10,2.47,0.00,0.000,6,0.091,0.049,2568,1998,3430
$GC,1377,-0.25,-146.6,144.4,-11.4,65,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2003,3430
$GC,1687,-0.25,-146.6,171.3,-5.5,80,1691,0.00,2.55,0.00,0.000,4,0.000,0.064,2568,590,3430
$GC,1749,-0.25,-146.6,173.9,-2.9,83,1753,0.00,2.47,0.00,0.000,6,0.000,0.050,2568,1988,3430
$GC,2076,-0.25,-146.6,191.7,-6.9,99,2080,0.00,2.50,0.00,0.000,4,0.000,0.061,2568,3403,3430
$GC,2160,-0.25,-146.6,198.3,-7.9,103,2165,0.00,2.50,0.00,0.000,6,0.000,0.048,2568,1989,3430
$GC,2487,-0.25,-146.6,228.9,-8.7,119,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1988,3430
$GC,2799,-0.25,-146.6,254.8,-7.8,134,2803,0.00,2.58,0.00,0.000,4,0.000,0.061,2568,3412,3430
$GC,2839,-0.29,-146.6,258.5,-9.4,136,2843,0.00,2.50,0.00,0.000,6,0.000,0.049,2568,1993,3429
$GC,3165,-0.29,-146.6,285.7,-9.5,152,3169,0.00,2.50,0.00,0.000,4,0.000,0.064,2567,588,3429
$GC,3205,-0.29,-146.6,289.3,-9.1,153,3211,0.00,2.47,0.00,0.000,6,0.000,0.050,2568,1996,3429
$STATE,3518,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3518,begin apogee
$GC,3525,-0.33,0.0,312.1,8.3,169,3649,0.00,0.00,121.53,0.992,6,0.000,0.000,2568,2127,2832
$STATE,3650,end apogee,CONTROL_FINISHED_OK
$STATE,3650,begin climb
$GC,3653,0.97,146.6,319.0,0.0,175,3782,1.23,2.67,120.50,0.960,4,0.065,0.065,2833,721,2235
$GC,3945,1.55,356.9,311.0,0.2,188,4128,0.57,2.50,170.45,0.937,6,0.039,0.048,2975,2146,1376
$GC,4455,1.55,356.9,262.8,9.4,213,4459,0.00,2.62,0.00,0.000,4,0.000,0.064,2975,710,1379
$GC,4487,1.55,356.9,259.5,9.5,214,4494,0.00,2.47,0.00,0.000,6,0.000,0.050,2975,2094,1378
$GC,4804,1.55,356.9,229.4,10.1,230,4808,0.00,2.58,0.00,0.000,4,0.000,0.062,2975,3529,1379
$GC,4825,1.55,356.9,227.0,10.4,231,4830,0.00,2.55,0.00,0.000,6,0.000,0.051,2975,2112,1379
$GC,5146,1.55,356.9,196.0,11.4,247,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2112,1379
$GC,5456,1.55,356.9,163.9,10.6,262,5460,0.00,2.58,0.00,0.000,4,0.000,0.060,2976,3525,1379
$GC,5477,1.55,356.9,161.5,11.0,263,5482,0.00,2.53,0.00,0.000,6,0.000,0.048,2975,2111,1379
$GC,5799,1.55,356.9,132.6,8.3,279,5803,0.00,2.53,0.00,0.000,4,0.000,0.067,2976,714,1379
$GC,5821,1.51,356.9,130.4,9.4,280,5826,0.12,2.50,0.00,0.000,6,0.080,0.048,2949,2124,1379
$GC,6144,1.58,356.9,100.5,10.0,296,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2144,1379
$GC,6452,1.63,356.9,75.0,10.2,311,6457,0.12,2.60,0.00,0.000,4,0.052,0.065,2989,714,1379
$GC,6520,1.58,356.9,66.2,14.8,314,6525,0.00,2.47,0.00,0.000,6,0.000,0.050,2989,2107,1379
$GC,6844,1.51,356.9,30.8,13.3,330,6849,0.17,2.55,0.00,0.000,4,0.077,0.061,2947,3528,1379
$GC,6889,1.62,356.9,25.3,11.2,332,6894,0.12,2.53,0.00,0.000,6,0.052,0.048,2984,2106,1379
$STATE,7127,end climb,SURFACE_DEPTH_REACHED
$STATE,7127,begin surface coast
$FINISH,0.4,1.001824
$STATE,7168,end surface coast,CONTROL_FINISHED_OK
$STATE,7168,begin surface
$SM_CCo,7251,0.00,0.000,0,0,1378,356.67
$SM_GC,0.93,11.07,0.00,0.00,0.035,0.000,0.000,419,1961,1378,-10.05,-1.10,356.67
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1800
$TCM_TEMP,17.50
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,251.6,69.5
$24V_AH,24.0,52.210
$10V_AH,10.1,25.903
$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,24.300,66.125,412.475,0.000,0.000,37.760,26.999,116.921,5.000,0.000,0.000,68.977,675.419,5176.327,460.889,942.216,345.734,0.000,946.473,0.000,867.035,0.000,13.855,0.000
$DEVICE_MAMPS,128.089,71.331,992.498,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,254.873,230.748,318.414,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15974,346
$CAP_FILE_SIZE,61085,0
$CFSIZE,254472192,233803776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,100109,064400,6014.743,-411.508,45,1.6,45,-6.3