version: 66.04
glider: 5
mission: 5
dive: 315
start: 1 12 109 5 7 39
data:
$ID,5
$MISSION,5
$DIVE,315
$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,270
$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,-93575.93
$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,27
$R_STBD_OVSHOOT,23
$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
$GPS1,050201,6045.404,-320.876,39,1.4,39,-6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-57.7
$GPS2,050720,6045.500,-320.578,14,1.5,14,-6.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6045.500,-342.685
$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,276.0,20000,-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,-146.6,0.0,0.0,0,118,0.00,0.00,-99.95,0.000,6,0.000,0.000,420,1985,3431
$GC,122,-0.97,-146.6,4.9,-4.5,5,138,10.45,0.00,0.00,0.000,6,0.137,0.000,2406,1973,3432
$GC,450,-0.56,-146.6,62.1,-15.4,21,455,0.43,2.53,0.00,0.000,4,0.094,0.063,2498,590,3432
$GC,558,-0.39,-146.6,74.9,-12.0,26,564,0.20,2.53,0.00,0.000,6,0.085,0.051,2541,2007,3432
$GC,887,-0.33,-146.6,102.1,-8.8,42,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2008,3432
$GC,1196,-0.33,-146.6,126.3,-7.4,57,1200,0.00,2.60,0.00,0.000,4,0.000,0.067,2540,593,3432
$GC,1246,-0.28,-146.6,129.4,-5.1,59,1251,0.12,2.50,0.00,0.000,6,0.091,0.051,2567,2005,3432
$GC,1563,-0.28,-146.6,146.1,-6.2,74,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2008,3432
$GC,1871,-0.28,-146.6,168.1,-6.8,89,1875,0.00,2.58,0.00,0.000,4,0.000,0.065,2568,586,3432
$GC,1911,-0.28,-146.6,170.5,-6.3,91,1915,0.00,2.50,0.00,0.000,6,0.000,0.052,2567,1990,3432
$GC,2238,-0.28,-146.6,195.6,-8.4,107,2242,0.00,2.55,0.00,0.000,4,0.000,0.065,2567,584,3432
$GC,2288,-0.28,-146.6,199.9,-9.4,109,2292,0.00,2.47,0.00,0.000,6,0.000,0.051,2567,1977,3432
$GC,2608,-0.28,-146.6,222.8,-6.5,125,2613,0.00,2.55,0.00,0.000,4,0.000,0.062,2567,3406,3432
$GC,2631,-0.28,-146.6,224.3,-6.3,126,2636,0.00,2.53,0.00,0.000,6,0.000,0.049,2567,1980,3432
$GC,2953,-0.28,-146.6,246.8,-6.8,142,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1978,3432
$GC,3262,-0.28,-146.6,265.4,-5.0,157,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1966,3432
$GC,3572,-0.28,-146.6,283.6,-5.8,172,3577,0.00,2.60,0.00,0.000,4,0.000,0.061,2567,3406,3432
$GC,3617,-0.28,-146.6,286.5,-6.6,174,3621,0.00,2.53,0.00,0.000,6,0.000,0.049,2567,1980,3432
$GC,3938,-0.28,-146.6,311.3,-8.4,190,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1981,3431
$GC,4247,-0.28,-146.6,334.3,-7.2,205,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1981,3431
$GC,4556,-0.28,-146.6,349.8,-4.5,220,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1978,3432
$GC,4865,-0.28,-146.6,367.5,-6.7,235,4870,0.00,2.60,0.00,0.000,4,0.000,0.064,2567,3411,3432
$GC,4900,-0.33,-146.6,370.0,-7.4,236,4906,0.00,2.53,0.00,0.000,6,0.000,0.051,2567,1991,3432
$GC,5215,-0.33,-146.6,390.6,-6.2,252,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1990,3432
$GC,5524,-0.33,-146.6,412.6,-7.6,267,5526,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1990,3432
$GC,5834,-0.33,-146.6,433.9,-6.3,282,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1990,3431
$GC,6143,-0.33,-146.6,452.9,-5.7,297,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1990,3431
$GC,6453,-0.33,-146.6,468.9,-5.6,312,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1990,3431
$GC,6763,-0.33,-146.6,483.8,-4.8,327,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1990,3431
$GC,7072,-0.37,-146.6,498.9,-5.0,342,7077,0.12,2.50,0.00,0.000,4,0.054,0.068,2531,595,3431
$GC,7140,-0.30,-146.6,503.8,-7.2,345,7145,0.12,2.50,0.00,0.000,6,0.093,0.054,2557,2005,3431
$GC,7461,-0.30,-146.6,521.4,-5.6,361,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2005,3431
$GC,7770,-0.30,-146.6,541.2,-6.5,376,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2005,3430
$GC,8080,-0.30,-146.6,561.5,-6.4,391,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2006,3429
$STATE,8118,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8118,begin apogee
$GC,8125,-0.33,0.0,564.2,6.7,393,8254,0.00,0.00,127.20,1.203,6,0.000,0.000,2557,2140,2833
$STATE,8255,end apogee,CONTROL_FINISHED_OK
$STATE,8255,begin climb
$GC,8258,0.97,146.6,571.2,0.0,399,8394,1.27,2.70,126.65,1.167,4,0.061,0.071,2834,3521,2234
$GC,8435,1.33,249.5,565.9,3.2,407,8532,0.35,2.60,88.62,1.140,6,0.047,0.064,2922,2123,1814
$GC,8860,1.33,249.5,537.2,6.7,428,8865,0.00,2.60,0.00,0.000,4,0.000,0.074,2922,713,1814
$GC,8900,1.33,249.5,533.9,8.3,430,8905,0.00,2.58,0.00,0.000,6,0.000,0.060,2922,2126,1814
$GC,9228,1.33,249.5,507.3,7.7,446,9232,0.00,2.60,0.00,0.000,4,0.000,0.074,2922,3532,1814
$GC,9256,1.33,249.5,505.0,8.0,447,9260,0.00,2.60,0.00,0.000,6,0.000,0.064,2922,2121,1814
$GC,9572,1.33,249.5,482.4,6.7,462,9576,0.00,2.58,0.00,0.000,4,0.000,0.074,2922,715,1814
$GC,9604,1.33,249.5,480.1,6.8,463,9610,0.00,2.58,0.00,0.000,6,0.000,0.059,2922,2133,1814
$GC,9921,1.40,293.0,463.3,4.8,479,9965,0.00,2.78,38.08,1.128,4,0.000,0.073,2922,706,1637
$GC,9993,1.51,326.7,459.3,5.1,482,10031,0.12,2.60,29.77,1.107,6,0.056,0.058,2960,2127,1500
$GC,10343,1.51,326.7,432.7,8.0,499,10348,0.00,2.65,0.00,0.000,4,0.000,0.074,2959,710,1500
$GC,10388,1.51,326.7,428.3,8.8,501,10393,0.00,2.55,0.00,0.000,6,0.000,0.058,2959,2117,1499
$GC,10709,1.51,326.7,397.1,10.9,517,10710,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2121,1499
$GC,11018,1.51,326.7,366.0,8.9,532,11023,0.00,2.60,0.00,0.000,4,0.000,0.071,2960,712,1499
$GC,11069,1.51,326.7,361.3,9.3,534,11074,0.00,2.50,0.00,0.000,6,0.000,0.055,2960,2102,1499
$GC,11385,1.51,326.7,335.5,8.5,549,11386,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2102,1499
$GC,11695,1.51,326.7,307.3,9.8,564,11699,0.00,2.58,0.00,0.000,4,0.000,0.070,2960,705,1499
$GC,11728,1.51,326.7,303.6,10.6,565,11734,0.00,2.47,0.00,0.000,6,0.000,0.055,2960,2084,1499
$GC,12044,1.51,326.7,273.7,8.9,581,12048,0.00,2.62,0.00,0.000,4,0.000,0.065,2960,3535,1499
$GC,12077,1.51,326.7,270.7,8.3,582,12083,0.00,2.60,0.00,0.000,6,0.000,0.054,2959,2086,1500
$GC,12393,1.51,326.7,244.5,8.2,598,12397,0.00,2.47,0.00,0.000,4,0.000,0.067,2960,714,1500
$GC,12426,1.51,326.7,241.5,8.7,599,12430,0.00,2.47,0.00,0.000,6,0.000,0.053,2960,2099,1500
$GC,12741,1.51,326.7,213.2,9.5,614,12743,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2103,1500
$GC,13051,1.51,326.7,185.3,9.9,629,13052,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2104,1500
$GC,13360,1.51,326.7,156.7,9.1,644,13361,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2104,1501
$GC,13670,1.51,326.7,129.4,8.7,659,13674,0.00,2.55,0.00,0.000,4,0.000,0.067,2960,717,1501
$GC,13697,1.51,326.7,126.9,9.0,660,13702,0.00,2.45,0.00,0.000,6,0.000,0.053,2960,2090,1501
$GC,14015,1.51,326.7,99.0,8.9,675,14019,0.00,2.58,0.00,0.000,4,0.000,0.062,2960,3525,1501
$GC,14042,1.51,326.7,96.1,10.0,676,14047,0.00,2.58,0.00,0.000,6,0.000,0.050,2960,2080,1501
$GC,14359,1.51,326.7,69.7,7.4,691,14360,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2080,1501
$GC,14668,1.51,326.7,41.7,9.5,706,14672,0.00,2.62,0.00,0.000,4,0.000,0.061,2960,3525,1502
$GC,14717,1.51,326.7,36.4,9.7,708,14721,0.00,2.58,0.00,0.000,6,0.000,0.051,2960,2084,1502
$GC,15033,1.51,326.7,8.0,7.4,723,15034,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2084,1502
$STATE,15092,end climb,SURFACE_DEPTH_REACHED
$STATE,15092,begin surface coast
$FINISH,0.2,1.008195
$STATE,15135,end surface coast,CONTROL_FINISHED_OK
$STATE,15135,begin surface
$SM_CCo,15217,0.00,0.000,0,0,1502,326.25
$SM_GC,0.90,11.00,0.00,0.00,0.038,0.000,0.000,418,1986,1502,-10.05,-0.37,326.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1828
$TCM_TEMP,17.30
$XPDR_PINGS,74
$ALTIM_BOTTOM_PING,500.2,72.9
$24V_AH,23.8,54.494
$10V_AH,10.1,26.821
$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,24.200,107.975,410.325,0.000,0.000,37.762,27.001,135.661,22.750,0.000,0.000,14.542,1309.118,11743.169,522.518,1490.569,470.663,0.000,1296.325,0.000,1461.215,0.000,29.771,0.000
$DEVICE_MAMPS,137.293,74.399,1202.656,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,533.407,489.889,465.478,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37907,728
$CAP_FILE_SIZE,105247,0
$CFSIZE,254472192,233091072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,120109,092236,6048.204,-314.178,39,1.1,44,-6.0