version: 66.04
glider: 5
mission: 5
dive: 299
start: 1 10 109 6 49 22
data:
$ID,5
$MISSION,5
$DIVE,299
$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,-93166.141
$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,29
$R_STBD_OVSHOOT,26
$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
$GPS1,064400,6014.743,-411.508,45,1.6,45,-6.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-40.7
$GPS2,064904,6014.825,-411.278,10,2.2,29,-6.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6007.189,-355.950
$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,-146.6,0.0,0.0,0,98,0.00,0.00,-80.70,0.000,2,0.000,0.000,419,1973,3043
$GC,101,-0.97,-146.6,3.7,-4.5,4,128,10.27,2.60,-10.45,0.000,4,0.133,0.071,2405,3406,3430
$GC,281,-0.55,-146.6,31.1,-14.1,12,287,0.47,2.50,0.00,0.000,6,0.088,0.047,2505,1995,3430
$GC,604,-0.37,-146.6,61.0,-10.4,28,608,0.17,2.50,0.00,0.000,4,0.086,0.063,2545,594,3430
$GC,660,-0.32,-146.6,68.9,-16.2,30,667,0.00,2.45,0.00,0.000,6,0.000,0.050,2545,1978,3430
$GC,978,-0.26,-146.6,112.4,-9.6,46,980,0.10,0.00,0.00,0.000,6,0.091,0.000,2566,2000,3430
$GC,1286,-0.26,-146.6,127.6,-5.5,61,1290,0.00,2.53,0.00,0.000,4,0.000,0.064,2566,593,3430
$GC,1314,-0.26,-146.6,128.9,-4.6,62,1319,0.00,2.50,0.00,0.000,6,0.000,0.051,2566,2007,3429
$GC,1632,-0.26,-146.6,147.7,-7.0,77,1636,0.00,2.50,0.00,0.000,4,0.000,0.062,2566,3407,3429
$GC,1666,-0.26,-146.6,150.3,-7.5,78,1672,0.00,2.50,0.00,0.000,6,0.000,0.048,2566,1990,3430
$GC,1982,-0.26,-146.6,174.1,-7.8,94,1986,0.00,2.50,0.00,0.000,4,0.000,0.064,2566,583,3429
$GC,2009,-0.26,-146.6,176.6,-8.6,95,2013,0.00,2.50,0.00,0.000,6,0.000,0.051,2566,2000,3429
$GC,2330,-0.26,-146.6,196.6,-5.5,111,2335,0.00,2.50,0.00,0.000,4,0.000,0.061,2566,3405,3430
$GC,2365,-0.26,-146.6,198.6,-5.5,112,2371,0.00,2.50,0.00,0.000,6,0.000,0.048,2566,1991,3429
$GC,2680,-0.26,-146.6,220.2,-6.5,128,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1990,3429
$GC,2990,-0.26,-146.6,242.1,-7.4,143,2994,0.00,2.50,0.00,0.000,4,0.000,0.066,2566,591,3429
$GC,3036,-0.26,-146.6,245.1,-6.4,145,3040,0.00,2.50,0.00,0.000,6,0.000,0.050,2566,2006,3429
$STATE,3133,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3133,begin apogee
$GC,3140,-0.33,0.0,253.1,8.2,150,3263,0.00,0.00,121.22,0.942,6,0.000,0.000,2566,2119,2832
$STATE,3264,end apogee,CONTROL_FINISHED_OK
$STATE,3264,begin climb
$GC,3267,0.97,146.6,254.7,0.0,156,3395,1.20,2.62,120.05,0.915,4,0.055,0.062,2833,716,2234
$GC,3597,1.27,154.5,242.3,5.8,171,3614,0.30,2.50,8.15,0.767,6,0.043,0.048,2916,2125,2202
$GC,3923,1.27,154.5,223.5,6.1,187,3928,0.00,2.53,0.00,0.000,4,0.000,0.061,2916,3534,2201
$GC,4041,1.30,169.4,216.0,5.6,192,4060,0.00,2.50,13.77,0.838,6,0.000,0.048,2916,2130,2140
$GC,4383,1.30,169.4,197.8,7.1,209,4387,0.00,2.55,0.00,0.000,4,0.000,0.064,2916,713,2139
$GC,4412,1.30,169.4,195.7,7.6,210,4417,0.00,2.53,0.00,0.000,6,0.000,0.049,2916,2134,2139
$GC,4728,1.36,210.0,179.2,4.9,225,4771,0.00,2.60,33.72,0.879,4,0.000,0.060,2916,3527,1974
$GC,4795,1.44,221.7,176.1,5.7,228,4811,0.00,2.50,11.00,0.802,6,0.000,0.048,2916,2134,1928
$GC,5121,1.44,221.7,152.2,8.2,243,5125,0.00,2.55,0.00,0.000,4,0.000,0.065,2916,717,1927
$GC,5167,1.44,222.1,149.7,6.0,245,5172,0.00,2.53,0.00,0.000,6,0.000,0.049,2916,2141,1927
$GC,5495,1.49,222.1,124.8,7.5,261,5500,0.12,2.50,0.00,0.000,4,0.049,0.061,2959,3532,1927
$GC,5529,1.57,311.2,123.2,3.6,262,5606,0.00,2.47,71.80,0.855,6,0.000,0.048,2959,2135,1562
$GC,5930,1.57,311.2,81.2,14.5,282,5934,0.00,2.58,0.00,0.000,4,0.000,0.066,2958,714,1563
$GC,5979,1.57,311.2,73.9,14.1,284,5984,0.00,2.53,0.00,0.000,6,0.000,0.048,2958,2140,1562
$GC,6296,1.57,311.2,36.5,12.2,299,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2161,1563
$GC,6605,1.57,311.2,8.1,12.3,314,6610,0.00,2.47,0.00,0.000,4,0.000,0.059,2959,3532,1563
$GC,6656,2.14,630.4,4.8,-2.7,316,6670,0.57,2.50,7.45,0.673,2,0.039,0.052,3100,2141,1534
$STATE,6671,end climb,SURFACE_DEPTH_REACHED
$STATE,6671,begin surface coast
$FINISH,0.3,1.027306
$STATE,6697,end surface coast,CONTROL_FINISHED_OK
$STATE,6697,begin surface
$SM_CCo,6780,0.00,0.000,0,0,1533,318.64
$SM_GC,1.17,11.77,0.00,0.00,0.041,0.000,0.000,419,1973,1533,-10.06,-0.76,318.64
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1807
$TCM_TEMP,19.30
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,200.0,61.6
$24V_AH,24.0,52.318
$10V_AH,10.1,25.945
$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,25.000,75.875,387.175,0.000,0.000,37.757,28.628,117.593,6.000,0.000,0.000,30.618,642.579,4773.384,453.597,872.700,348.817,0.000,933.354,0.000,834.200,0.000,10.649,0.000
$DEVICE_MAMPS,133.458,70.564,941.876,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,234.772,211.892,318.493,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15996,318
$CAP_FILE_SIZE,61860,0
$CFSIZE,254472192,233766912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,100109,084337,6015.097,-405.319,37,1.1,37,-6.2