version: 66.04
glider: 5
mission: 5
dive: 317
start: 1 12 109 14 10 8
data:
$ID,5
$MISSION,5
$DIVE,317
$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,-93607.977
$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,25
$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
$GPS1,140325,6050.868,-305.882,41,1.3,41,-5.9
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-55.9
$GPS2,140949,6050.920,-305.422,11,1.1,16,-5.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6050.920,-327.591
$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,275.9,20000,-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,-146.6,0.0,0.0,0,108,0.00,0.00,-89.95,0.000,6,0.000,0.000,421,1980,3430
$GC,112,-0.97,-146.6,2.8,-2.8,4,128,10.32,2.53,0.00,0.000,4,0.137,0.056,2407,581,3430
$GC,252,-0.53,-146.6,39.1,-15.8,9,258,0.47,2.53,0.00,0.000,6,0.089,0.051,2506,2002,3430
$GC,570,-0.35,-146.6,71.0,-10.8,24,572,0.20,0.00,0.00,0.000,6,0.084,0.000,2549,2009,3431
$GC,878,-0.35,-146.6,97.0,-8.4,39,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2009,3431
$GC,1187,-0.31,-146.6,122.5,-7.9,54,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2009,3431
$GC,1498,-0.31,-146.6,145.5,-7.4,69,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2009,3431
$GC,1805,-0.31,-146.6,167.9,-7.0,84,1810,0.00,2.58,0.00,0.000,4,0.000,0.064,2549,581,3431
$GC,1838,-0.31,-146.6,170.4,-7.8,85,1844,0.00,2.53,0.00,0.000,6,0.000,0.052,2549,2006,3431
$GC,2155,-0.31,-146.6,192.6,-7.0,101,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2007,3431
$GC,2463,-0.31,-146.6,215.0,-7.5,116,2468,0.00,2.58,0.00,0.000,4,0.000,0.064,2549,584,3431
$GC,2503,-0.31,-146.6,218.5,-8.7,118,2508,0.00,2.50,0.00,0.000,6,0.000,0.052,2549,1997,3431
$GC,2831,-0.31,-146.6,245.8,-8.0,134,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1998,3431
$GC,3139,-0.31,-146.6,270.1,-8.0,149,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1998,3431
$GC,3449,-0.31,-146.6,295.9,-8.3,164,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1998,3431
$GC,3759,-0.31,-146.6,320.5,-7.7,179,3763,0.00,2.58,0.00,0.000,4,0.000,0.066,2549,585,3431
$GC,3803,-0.31,-146.6,324.2,-8.5,181,3807,0.00,2.50,0.00,0.000,6,0.000,0.052,2549,1993,3431
$GC,4124,-0.31,-146.6,351.6,-8.9,197,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1993,3431
$GC,4434,-0.31,-146.6,376.3,-7.9,212,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1993,3431
$GC,4742,-0.31,-146.6,399.7,-7.5,227,4750,0.00,2.55,0.00,0.000,4,0.000,0.067,2549,3405,3431
$GC,4772,-0.31,-146.6,402.3,-8.1,228,4777,0.00,2.55,0.00,0.000,6,0.000,0.055,2549,1982,3431
$GC,5094,-0.31,-146.6,427.8,-7.7,244,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1981,3431
$GC,5403,-0.31,-146.6,450.9,-7.0,259,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1981,3431
$GC,5711,-0.31,-146.6,471.4,-6.8,274,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1981,3431
$GC,6022,-0.31,-146.6,489.9,-5.8,289,6026,0.00,2.60,0.00,0.000,4,0.000,0.067,2549,3405,3431
$GC,6066,-0.31,-146.6,492.5,-5.9,291,6070,0.00,2.55,0.00,0.000,6,0.000,0.057,2549,1984,3430
$GC,6387,-0.31,-146.6,510.8,-5.6,307,6391,0.00,2.60,0.00,0.000,4,0.000,0.067,2549,3404,3430
$GC,6437,-0.31,-146.6,514.2,-7.1,309,6442,0.00,2.53,0.00,0.000,6,0.000,0.056,2549,1995,3430
$GC,6753,-0.31,-146.6,534.6,-6.6,324,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1994,3430
$STATE,6895,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6895,begin apogee
$GC,6902,-0.33,0.0,544.0,6.6,331,7032,0.00,0.00,127.22,1.183,6,0.000,0.000,2549,2126,2832
$STATE,7032,end apogee,CONTROL_FINISHED_OK
$STATE,7032,begin climb
$GC,7036,0.97,146.6,551.2,0.0,337,7173,1.33,2.67,126.80,1.150,4,0.064,0.071,2834,3537,2234
$GC,7209,1.36,206.6,546.9,4.4,345,7268,0.40,2.62,52.60,1.115,6,0.048,0.061,2935,2104,1989
$GC,7576,1.36,206.6,522.7,6.7,363,7580,0.00,2.58,0.00,0.000,4,0.000,0.074,2935,719,1989
$GC,7706,1.32,206.6,513.8,6.4,369,7711,0.12,2.53,0.00,0.000,6,0.089,0.058,2908,2119,1990
$GC,8034,1.44,250.4,498.6,4.8,385,8080,0.12,2.72,38.28,1.128,4,0.059,0.071,2944,3528,1811
$GC,8103,1.44,250.4,494.2,7.4,388,8107,0.00,2.60,0.00,0.000,6,0.000,0.062,2944,2127,1811
$GC,8424,1.44,250.4,470.9,7.4,404,8428,0.00,2.62,0.00,0.000,4,0.000,0.071,2944,3529,1812
$GC,8474,1.44,250.4,466.9,8.0,406,8478,0.00,2.60,0.00,0.000,6,0.000,0.061,2944,2111,1812
$GC,8790,1.44,250.4,443.9,7.8,421,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2111,1811
$GC,9100,1.44,250.4,421.6,6.8,436,9101,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2111,1811
$GC,9408,1.44,250.4,399.2,7.8,451,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2111,1811
$GC,9717,1.44,250.4,373.5,8.6,466,9722,0.00,2.62,0.00,0.000,4,0.000,0.067,2944,3528,1811
$GC,9751,1.44,250.4,370.6,8.7,467,9757,0.00,2.55,0.00,0.000,6,0.000,0.055,2944,2116,1811
$GC,10069,1.44,250.4,344.8,7.9,483,10073,0.00,2.53,0.00,0.000,4,0.000,0.067,2945,717,1811
$GC,10096,1.44,250.4,342.2,8.2,484,10100,0.00,2.53,0.00,0.000,6,0.000,0.054,2945,2132,1811
$GC,10412,1.44,250.4,318.6,7.3,499,10414,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2131,1811
$GC,10721,1.44,250.4,296.4,7.4,514,10726,0.00,2.60,0.00,0.000,4,0.000,0.068,2945,714,1811
$GC,10754,1.44,250.4,293.6,8.4,515,10760,0.00,2.53,0.00,0.000,6,0.000,0.054,2945,2125,1811
$GC,11070,1.44,250.4,270.9,7.3,531,11071,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2126,1811
$GC,11380,1.44,250.4,248.5,7.2,546,11381,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2126,1811
$GC,11688,1.44,250.4,226.3,7.2,561,11693,0.00,2.58,0.00,0.000,4,0.000,0.066,2945,717,1812
$GC,11739,1.44,250.4,222.2,8.1,563,11743,0.00,2.50,0.00,0.000,6,0.000,0.052,2944,2119,1812
$GC,12055,1.44,250.4,197.7,7.5,578,12056,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2120,1812
$GC,12364,1.44,250.4,174.3,7.5,593,12368,0.00,2.55,0.00,0.000,4,0.000,0.066,2945,717,1812
$GC,12396,1.44,250.4,172.0,8.0,594,12402,0.00,2.50,0.00,0.000,6,0.000,0.052,2945,2124,1812
$GC,12714,1.44,250.4,148.2,8.2,610,12715,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2125,1812
$GC,13022,1.44,250.4,122.4,8.1,625,13023,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2125,1813
$GC,13331,1.44,250.4,100.1,7.2,640,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2125,1813
$GC,13641,1.44,250.4,77.2,7.1,655,13642,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2125,1813
$GC,13949,1.44,250.4,55.4,8.5,670,13951,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2143,1813
$GC,14260,1.44,250.4,28.8,8.3,685,14261,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2137,1814
$STATE,14524,end climb,SURFACE_DEPTH_REACHED
$STATE,14524,begin surface coast
$FINISH,0.5,1.027343
$STATE,14566,end surface coast,CONTROL_FINISHED_OK
$STATE,14567,begin surface
$SM_CCo,14590,0.25,0.149,0,0,1812,250.21
$SM_GC,2.41,0.00,0.00,0.25,0.000,0.000,0.149,421,1964,1812,-10.14,-1.02,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1819
$TCM_TEMP,17.20
$XPDR_PINGS,61
$ALTIM_BOTTOM_PING,475.4,77.8
$24V_AH,23.8,54.760
$10V_AH,10.1,26.961
$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,24.000,82.600,344.900,0.250,0.000,37.761,24.870,195.114,19.250,0.000,0.000,16.675,1245.192,11363.564,450.056,1403.491,515.257,0.000,1161.030,0.000,1377.640,0.000,28.195,0.000
$DEVICE_MAMPS,137.293,74.399,1182.714,148.798,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,519.941,471.807,463.721,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34704,700
$CAP_FILE_SIZE,96816,0
$CFSIZE,254472192,232996864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,120109,181531,6052.158,-302.020,93,1.3,93,-5.9