version: 66.04
glider: 5
mission: 5
dive: 307
start: 1 10 109 23 7 8
data:
$ID,5
$MISSION,5
$DIVE,307
$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,-93416.758
$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,24
$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
$GPS1,230157,6024.383,-347.246,13,2.1,32,-6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-43.0
$GPS2,230650,6024.433,-347.053,13,1.4,31,-6.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$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,302.3,128340,-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,-146.6,0.0,0.0,0,138,0.00,0.00,-120.75,0.000,2,0.000,0.000,420,1988,3137
$GC,142,-0.97,-146.6,3.4,-2.6,6,165,10.35,2.60,-7.32,0.000,4,0.133,0.080,2406,594,3432
$GC,317,-0.55,-146.6,36.2,-14.0,13,324,0.47,2.50,0.00,0.000,6,0.087,0.049,2506,2005,3431
$GC,635,-0.37,-146.6,60.6,-8.9,29,637,0.17,0.00,0.00,0.000,6,0.089,0.000,2542,2005,3431
$GC,943,-0.31,-146.6,93.8,-10.8,44,947,0.00,2.55,0.00,0.000,4,0.000,0.061,2542,592,3431
$GC,1010,-0.25,-146.6,99.9,-8.4,47,1015,0.15,2.50,0.00,0.000,6,0.087,0.050,2575,2006,3431
$GC,1334,-0.29,-146.6,125.9,-7.8,63,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2007,3431
$GC,1642,-0.29,-146.6,149.1,-8.7,78,1646,0.00,2.60,0.00,0.000,4,0.000,0.065,2574,586,3431
$GC,1697,-0.29,-146.6,155.4,-11.3,80,1704,0.00,2.50,0.00,0.000,6,0.000,0.051,2574,2001,3431
$GC,2013,-0.29,-146.6,183.0,-8.0,96,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2002,3431
$GC,2324,-0.33,-146.6,198.4,-4.6,111,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2002,3431
$GC,2633,-0.38,-146.6,215.6,-6.0,126,2638,0.15,2.58,0.00,0.000,4,0.053,0.063,2532,591,3431
$GC,2666,-0.28,-146.6,218.1,-8.5,127,2673,0.15,2.47,0.00,0.000,6,0.086,0.051,2564,1994,3431
$GC,2983,-0.28,-146.6,243.1,-6.6,143,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1994,3431
$GC,3291,-0.28,-146.6,266.4,-9.0,158,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1994,3431
$GC,3601,-0.28,-146.6,289.9,-7.4,173,3605,0.00,2.55,0.00,0.000,4,0.000,0.066,2564,590,3430
$GC,3628,-0.28,-146.6,292.3,-8.4,174,3632,0.00,2.47,0.00,0.000,6,0.000,0.051,2563,1995,3431
$GC,3950,-0.28,-146.6,309.0,-5.1,190,3954,0.00,2.53,0.00,0.000,4,0.000,0.064,2564,3405,3430
$GC,3983,-0.28,-146.6,311.2,-6.8,191,3989,0.00,2.55,0.00,0.000,6,0.000,0.053,2564,1977,3430
$GC,4299,-0.28,-146.6,336.1,-8.4,207,4303,0.00,2.47,0.00,0.000,4,0.000,0.067,2564,590,3430
$GC,4326,-0.28,-146.6,338.3,-6.5,208,4331,0.00,2.45,0.00,0.000,6,0.000,0.051,2564,1981,3430
$GC,4642,-0.28,-146.6,360.0,-8.4,223,4646,0.00,2.55,0.00,0.000,4,0.000,0.064,2563,3404,3430
$GC,4676,-0.28,-146.6,363.2,-9.9,224,4682,0.00,2.55,0.00,0.000,6,0.000,0.053,2563,1973,3430
$GC,4991,-0.28,-146.6,384.3,-6.1,240,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1970,3430
$STATE,5113,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5113,begin apogee
$GC,5120,-0.33,0.0,393.0,7.6,246,5245,0.00,0.00,123.20,1.045,6,0.000,0.000,2564,2130,2832
$STATE,5246,end apogee,CONTROL_FINISHED_OK
$STATE,5246,begin climb
$GC,5250,0.97,146.6,399.6,0.0,252,5376,1.27,0.00,122.00,1.015,6,0.069,0.000,2835,2130,2234
$GC,5683,1.46,262.3,388.1,2.8,273,5788,0.43,2.65,95.40,1.000,4,0.047,0.066,2945,717,1762
$GC,5849,1.46,262.3,377.2,7.4,280,5855,0.00,2.55,0.00,0.000,6,0.000,0.050,2945,2141,1763
$GC,6165,1.46,262.3,354.9,6.5,296,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2141,1764
$GC,6475,1.46,262.3,334.1,6.7,311,6479,0.00,2.53,0.00,0.000,4,0.000,0.064,2945,3535,1765
$GC,6508,1.46,262.3,331.1,8.5,312,6512,0.00,2.53,0.00,0.000,6,0.000,0.053,2945,2133,1765
$GC,6824,1.46,262.3,303.5,9.1,327,6828,0.00,2.55,0.00,0.000,4,0.000,0.064,2945,715,1765
$GC,6880,1.46,262.3,299.1,10.5,329,6886,0.00,2.50,0.00,0.000,6,0.000,0.049,2945,2124,1765
$GC,7195,1.46,262.3,274.2,7.9,345,7199,0.00,2.55,0.00,0.000,4,0.000,0.063,2945,3537,1765
$GC,7239,1.46,262.3,271.0,6.8,347,7244,0.00,2.55,0.00,0.000,6,0.000,0.052,2945,2113,1765
$GC,7561,1.50,290.5,252.9,5.2,363,7588,0.00,0.00,24.85,0.915,6,0.000,0.000,2945,2113,1647
$GC,7889,1.50,290.5,233.6,8.4,379,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2113,1647
$GC,8198,1.50,290.5,195.7,13.4,394,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2113,1647
$GC,8509,1.55,290.5,164.3,6.5,409,8513,0.00,2.50,0.00,0.000,4,0.000,0.064,2945,716,1647
$GC,8536,1.55,290.5,162.5,6.9,410,8541,0.00,2.53,0.00,0.000,6,0.000,0.050,2945,2136,1647
$GC,8858,1.55,290.5,145.5,9.8,426,8862,0.00,2.50,0.00,0.000,4,0.000,0.062,2945,3527,1647
$GC,8885,1.55,290.5,142.5,11.1,427,8889,0.00,2.50,0.00,0.000,6,0.000,0.049,2945,2122,1647
$GC,9202,1.70,384.1,123.8,3.4,442,9287,0.17,2.62,75.00,0.864,4,0.048,0.066,3000,721,1266
$GC,9329,1.64,384.1,112.3,11.2,447,9336,0.00,2.53,0.00,0.000,6,0.000,0.050,3000,2137,1265
$GC,9647,1.59,396.0,82.3,5.7,463,9665,0.15,0.00,11.27,0.761,6,0.077,0.000,2971,2139,1217
$GC,9976,1.59,396.0,64.6,6.1,479,9980,0.00,2.62,0.00,0.000,4,0.000,0.064,2971,711,1217
$GC,10008,1.59,396.0,61.7,8.6,480,10015,0.00,2.55,0.00,0.000,6,0.000,0.051,2971,2141,1217
$GC,10326,1.65,437.9,36.9,4.9,496,10368,0.00,2.70,34.30,0.799,4,0.000,0.064,2970,723,1046
$GC,10407,1.65,437.9,29.4,11.3,499,10414,0.00,2.53,0.00,0.000,6,0.000,0.051,2971,2133,1046
$STATE,10658,end climb,SURFACE_DEPTH_REACHED
$STATE,10659,begin surface coast
$FINISH,0.6,1.027324
$STATE,10703,end surface coast,CONTROL_FINISHED_OK
$STATE,10703,begin surface
$SM_CCo,10787,0.00,0.000,0,0,1045,438.35
$SM_GC,0.99,11.15,0.00,0.00,0.039,0.000,0.000,421,1988,1045,-10.05,-0.34,438.35
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1811
$TCM_TEMP,17.40
$XPDR_PINGS,31
$ALTIM_BOTTOM_PING,325.8,75.7
$24V_AH,24.0,53.391
$10V_AH,10.1,26.309
$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,24.625,86.925,486.025,0.000,0.000,37.758,25.746,105.223,10.250,0.000,0.000,31.839,937.447,8009.421,598.835,1159.557,380.588,0.000,1220.964,0.000,1117.390,0.000,18.635,0.000
$DEVICE_MAMPS,133.458,79.768,1044.654,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,374.009,343.287,408.707,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25384,514
$CAP_FILE_SIZE,79805,0
$CFSIZE,254472192,233480192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,110109,020806,6025.794,-347.113,34,1.5,34,-6.1