version: 66.04
glider: 5
mission: 5
dive: 311
start: 1 11 109 12 14 53
data:
$ID,5
$MISSION,5
$DIVE,311
$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,-93497.375
$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,28
$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
$GPS1,120331,6032.784,-341.320,43,1.4,43,-6.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-56.5
$GPS2,121432,6032.955,-340.893,15,1.3,15,-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,294.8,127442,-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,-81.30,0.000,2,0.000,0.000,421,1967,3407
$GC,102,-0.97,-146.6,4.1,-4.3,4,119,10.35,2.53,-0.50,0.000,4,0.135,0.073,2406,587,3430
$GC,340,-0.52,-146.6,47.9,-14.8,13,347,0.50,2.50,0.00,0.000,6,0.097,0.050,2511,1998,3430
$GC,658,-0.37,-146.6,78.7,-7.6,29,663,0.15,2.58,0.00,0.000,4,0.085,0.064,2543,597,3431
$GC,725,-0.29,-146.6,83.7,-7.3,32,729,0.00,2.47,0.00,0.000,6,0.000,0.051,2542,1992,3431
$GC,1048,-0.24,-146.6,104.6,-5.3,48,1050,0.15,0.00,0.00,0.000,6,0.084,0.000,2575,1999,3430
$GC,1357,-0.24,-146.6,124.6,-7.8,63,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1999,3430
$GC,1665,-0.24,-146.6,146.8,-7.1,78,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2000,3431
$GC,1974,-0.24,-146.6,165.9,-6.2,93,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1999,3431
$GC,2283,-0.24,-146.6,186.1,-6.7,108,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2000,3431
$GC,2593,-0.24,-146.6,206.5,-6.6,123,2597,0.00,2.53,0.00,0.000,4,0.000,0.064,2575,3407,3430
$GC,2633,-0.29,-146.6,209.1,-6.8,125,2637,0.00,2.50,0.00,0.000,6,0.000,0.050,2575,1996,3430
$GC,2959,-0.29,-146.6,230.2,-6.6,141,2964,0.00,2.50,0.00,0.000,4,0.000,0.065,2575,594,3430
$GC,3005,-0.34,-146.6,233.5,-7.4,143,3010,0.10,2.47,0.00,0.000,6,0.061,0.051,2545,1998,3430
$GC,3329,-0.29,-146.6,258.0,-7.3,159,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1999,3430
$GC,3636,-0.24,-146.6,279.5,-7.2,174,3641,0.12,2.58,0.00,0.000,4,0.086,0.065,2571,588,3430
$GC,3686,-0.24,-146.6,283.0,-7.0,176,3690,0.00,2.47,0.00,0.000,6,0.000,0.051,2571,1996,3430
$GC,4008,-0.24,-146.6,305.0,-7.1,192,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1997,3430
$GC,4318,-0.24,-146.6,325.3,-6.3,207,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1997,3430
$GC,4627,-0.24,-146.6,345.5,-6.5,222,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1997,3430
$GC,4935,-0.24,-146.6,364.7,-6.0,237,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1997,3430
$GC,5246,-0.24,-146.6,381.9,-5.4,252,5250,0.00,2.55,0.00,0.000,4,0.000,0.067,2571,591,3430
$GC,5290,-0.24,-146.6,384.7,-6.3,254,5294,0.00,2.45,0.00,0.000,6,0.000,0.051,2571,1985,3430
$GC,5611,-0.24,-146.6,401.8,-4.7,270,5615,0.00,2.53,0.00,0.000,4,0.000,0.064,2571,3402,3430
$GC,5650,-0.24,-146.6,404.3,-6.5,272,5655,0.00,2.53,0.00,0.000,6,0.000,0.054,2571,1984,3430
$GC,5978,-0.24,-146.6,424.7,-5.7,288,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1971,3430
$GC,6287,-0.24,-146.6,443.9,-5.8,303,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1971,3430
$GC,6597,-0.28,-146.6,467.2,-7.6,318,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1971,3430
$GC,6906,-0.34,-146.6,490.3,-8.1,333,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1967,3429
$STATE,7068,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7068,begin apogee
$GC,7075,-0.33,0.0,501.2,7.3,341,7202,0.00,0.00,125.10,1.118,6,0.000,0.000,2571,2129,2832
$STATE,7203,end apogee,CONTROL_FINISHED_OK
$STATE,7203,begin climb
$GC,7207,0.97,146.6,508.4,0.0,347,7339,1.25,2.67,124.90,1.095,4,0.073,0.064,2834,708,2233
$GC,7387,1.28,226.8,506.8,3.8,356,7463,0.32,2.55,68.12,1.068,6,0.052,0.051,2909,2132,1906
$GC,7791,1.34,226.8,482.0,8.5,376,7795,0.00,2.55,0.00,0.000,4,0.000,0.066,2909,3525,1907
$GC,7835,1.43,226.8,477.9,9.6,378,7840,0.10,2.53,0.00,0.000,6,0.063,0.056,2942,2133,1907
$GC,8157,1.43,226.8,456.3,6.7,394,8161,0.00,2.58,0.00,0.000,4,0.000,0.066,2942,706,1907
$GC,8197,1.44,234.3,453.7,5.8,396,8211,0.00,2.55,8.20,0.899,6,0.000,0.052,2942,2138,1875
$GC,8528,1.44,234.3,428.2,7.4,412,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2140,1875
$GC,8838,1.44,234.3,405.0,7.4,427,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2137,1875
$GC,9146,1.44,234.3,381.3,7.4,442,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2137,1875
$GC,9456,1.44,234.3,358.2,7.7,457,9460,0.00,2.60,0.00,0.000,4,0.000,0.064,2943,711,1875
$GC,9483,1.44,234.3,355.9,8.4,458,9487,0.00,2.53,0.00,0.000,6,0.000,0.051,2942,2130,1875
$GC,9799,1.44,234.3,330.8,8.0,473,9800,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2129,1874
$GC,10109,1.44,234.3,306.1,8.0,488,10110,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2130,1875
$GC,10417,1.44,234.3,281.9,7.6,503,10421,0.00,2.58,0.00,0.000,4,0.000,0.064,2942,714,1875
$GC,10445,1.44,234.3,279.5,8.7,504,10449,0.00,2.50,0.00,0.000,6,0.000,0.051,2942,2125,1875
$GC,10760,1.44,234.3,255.2,7.7,519,10761,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2125,1875
$GC,11070,1.44,234.3,231.9,7.5,534,11071,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2125,1875
$GC,11380,1.44,234.3,209.3,7.3,549,11381,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2125,1875
$GC,11688,1.44,234.3,187.4,6.6,564,11692,0.00,2.58,0.00,0.000,4,0.000,0.064,2942,715,1875
$GC,11715,1.44,234.3,185.5,6.3,565,11719,0.00,2.50,0.00,0.000,6,0.000,0.051,2943,2125,1875
$GC,12032,1.55,303.4,169.6,4.1,580,12091,0.00,0.00,56.67,0.894,6,0.000,0.000,2942,2125,1594
$GC,12400,1.55,303.4,143.2,7.1,598,12405,0.00,2.60,0.00,0.000,4,0.000,0.065,2942,716,1594
$GC,12428,1.59,303.4,140.7,8.7,599,12433,0.12,2.50,0.00,0.000,6,0.053,0.051,2980,2121,1594
$GC,12747,1.53,303.4,105.5,12.7,614,12749,0.12,0.00,0.00,0.000,6,0.081,0.000,2955,2139,1594
$GC,13053,1.53,303.4,79.3,8.7,629,13055,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2140,1594
$GC,13364,1.58,336.3,52.7,5.1,644,13396,0.00,2.62,27.65,0.808,4,0.000,0.064,2956,717,1460
$GC,13421,1.60,350.2,49.6,5.6,646,13443,0.00,2.53,12.38,0.757,6,0.000,0.051,2956,2125,1404
$GC,13754,1.65,350.2,25.0,9.2,662,13756,0.12,0.00,0.00,0.000,6,0.052,0.000,2994,2125,1404
$STATE,13956,end climb,SURFACE_DEPTH_REACHED
$STATE,13956,begin surface coast
$FINISH,0.4,1.027315
$STATE,13979,end surface coast,CONTROL_FINISHED_OK
$STATE,13979,begin surface
$SM_CCo,14063,0.00,0.000,0,0,1402,350.53
$SM_GC,1.07,11.20,0.00,0.00,0.039,0.000,0.000,421,1986,1402,-10.05,-0.37,350.53
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1818
$TCM_TEMP,17.50
$XPDR_PINGS,64
$ALTIM_BOTTOM_PING,425.9,85.3
$24V_AH,23.9,53.919
$10V_AH,10.1,26.544
$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,24.625,76.650,423.025,0.000,0.000,113.287,103.114,203.327,19.500,0.000,0.000,15.638,1207.930,10981.270,524.180,1343.292,673.273,0.000,1194.560,0.000,1319.013,0.000,27.508,0.000
$DEVICE_MAMPS,134.992,72.865,1118.286,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,495.102,453.068,450.233,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34757,673
$CAP_FILE_SIZE,96586,0
$CFSIZE,254472192,233299968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,110109,161031,6035.427,-340.333,39,1.2,39,-6.1