version: 66.04
glider: 5
mission: 5
dive: 283
start: 1 6 109 4 54 15
data:
$ID,5
$MISSION,5
$DIVE,283
$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,-92806
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,17
$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,4
$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
$GPS1,044737,6031.535,-406.555,36,1.0,36,-6.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-57.4
$GPS2,045356,6031.592,-406.428,12,1.3,12,-6.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6031.592,-428.377
$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,276.3,20000,-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,-146.6,0.0,0.0,0,118,0.00,0.00,-96.50,0.000,6,0.000,0.000,419,1974,3429
$GC,122,-0.97,-146.6,6.3,-5.9,5,138,10.75,2.62,0.00,0.000,4,0.135,0.061,2480,3415,3430
$GC,172,-0.73,-146.6,23.4,-17.0,6,177,0.28,2.53,0.00,0.000,6,0.082,0.048,2539,2001,3431
$GC,490,-0.67,-146.6,52.7,-8.3,21,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2001,3431
$GC,798,-0.60,-146.6,82.2,-10.0,36,800,0.15,0.00,0.00,0.000,6,0.089,0.000,2570,2000,3431
$GC,1106,-0.60,-146.6,105.4,-6.7,51,1110,0.00,2.53,0.00,0.000,4,0.000,0.066,2570,594,3431
$GC,1151,-0.60,-146.6,108.9,-7.4,53,1155,0.00,2.53,0.00,0.000,6,0.000,0.051,2570,2012,3431
$GC,1473,-0.60,-146.6,129.6,-7.2,69,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2013,3431
$GC,1781,-0.60,-146.6,154.1,-9.8,84,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2014,3431
$GC,2090,-0.60,-146.6,179.0,-7.3,99,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2013,3431
$GC,2400,-0.60,-146.6,203.0,-7.5,114,2404,0.00,2.50,0.00,0.000,4,0.000,0.063,2570,3409,3431
$GC,2428,-0.64,-146.6,205.3,-8.2,115,2432,0.00,2.53,0.00,0.000,6,0.000,0.050,2571,1991,3431
$GC,2743,-0.64,-146.6,232.2,-7.6,130,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1991,3431
$GC,3054,-0.64,-146.6,250.0,-4.9,145,3061,0.00,2.60,0.00,0.000,4,0.000,0.063,2570,3419,3431
$GC,3107,-0.69,-146.6,252.7,-5.4,147,3111,0.00,2.53,0.00,0.000,6,0.000,0.051,2570,2000,3431
$GC,3428,-0.69,-146.6,270.2,-6.2,163,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2000,3431
$GC,3738,-0.69,-146.6,291.1,-6.8,178,3742,0.00,2.58,0.00,0.000,4,0.000,0.064,2570,3409,3431
$GC,3788,-0.74,-146.6,294.8,-7.0,180,3793,0.15,2.50,0.00,0.000,6,0.055,0.051,2528,2007,3431
$GC,4104,-0.66,-146.6,320.8,-8.2,195,4106,0.12,0.00,0.00,0.000,6,0.090,0.000,2555,2007,3431
$GC,4412,-0.66,-146.6,343.8,-7.7,210,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2006,3431
$GC,4722,-0.66,-146.6,367.4,-7.5,225,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2006,3431
$GC,5032,-0.66,-146.6,387.9,-6.3,240,5036,0.00,2.58,0.00,0.000,4,0.000,0.066,2555,3415,3431
$GC,5071,-0.66,-146.6,390.4,-6.8,242,5075,0.00,2.50,0.00,0.000,6,0.000,0.053,2555,2015,3431
$GC,5397,-0.66,-146.6,412.4,-6.7,258,5402,0.00,2.55,0.00,0.000,4,0.000,0.069,2555,595,3430
$GC,5442,-0.66,-146.6,415.9,-7.6,260,5447,0.00,2.53,0.00,0.000,6,0.000,0.054,2555,2019,3430
$GC,5764,-0.66,-146.6,438.4,-6.8,276,5768,0.00,2.50,0.00,0.000,4,0.000,0.067,2555,3407,3431
$GC,5786,-0.66,-146.6,440.1,-7.2,277,5790,0.00,2.50,0.00,0.000,6,0.000,0.054,2555,2012,3430
$GC,6107,-0.66,-146.6,461.7,-6.8,293,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2012,3430
$GC,6416,-0.66,-146.6,483.6,-6.8,308,6420,0.00,2.58,0.00,0.000,4,0.000,0.071,2555,584,3430
$GC,6460,-0.66,-146.6,486.8,-7.1,310,6464,0.00,2.55,0.00,0.000,6,0.000,0.056,2554,2013,3430
$GC,6782,-0.66,-146.6,507.1,-6.1,326,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2014,3430
$GC,7090,-0.66,-146.6,527.1,-6.7,341,7094,0.00,2.53,0.00,0.000,4,0.000,0.074,2555,3404,3429
$GC,7140,-0.70,-146.6,530.8,-7.2,343,7144,0.00,2.53,0.00,0.000,6,0.000,0.063,2555,2017,3429
$GC,7456,-0.70,-146.6,551.8,-6.1,358,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2017,3428
$GC,7765,-0.70,-146.6,569.7,-5.7,373,7770,0.00,2.60,0.00,0.000,4,0.000,0.080,2555,3404,3428
$GC,7810,-0.70,-146.6,572.7,-6.5,375,7814,0.00,2.53,0.00,0.000,6,0.000,0.069,2555,2034,3428
$GC,8132,-0.70,-146.6,595.2,-7.3,391,8136,0.00,2.67,0.00,0.000,4,0.000,0.087,2555,593,3427
$GC,8171,-0.70,-146.6,598.1,-8.2,393,8176,0.00,2.62,0.00,0.000,6,0.000,0.068,2555,2029,3427
$GC,8498,-0.70,-146.6,616.5,-4.7,409,8500,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2030,3425
$GC,8807,-0.70,-146.6,638.2,-8.2,424,8808,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2030,3424
$GC,9116,-0.70,-146.6,652.9,-5.4,439,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2030,3422
$GC,9426,-0.75,-146.6,677.5,-7.8,454,9431,0.00,2.75,0.00,0.000,4,0.000,0.096,2555,594,3420
$GC,9467,-0.79,-146.6,681.1,-9.2,456,9473,0.12,2.65,0.00,0.000,6,0.071,0.076,2523,2023,3420
$STATE,9668,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9668,begin apogee
$GC,9676,-0.33,0.0,697.7,8.2,466,9811,0.50,0.00,128.15,1.417,6,0.088,0.000,2626,2203,2832
$STATE,9811,end apogee,CONTROL_FINISHED_OK
$STATE,9811,begin climb
$GC,9815,0.97,146.6,703.5,0.0,473,9952,1.38,0.00,130.82,1.358,6,0.077,0.000,2912,2203,2234
$GC,10266,1.00,199.2,686.1,4.6,495,10318,0.00,2.83,47.28,1.335,4,0.000,0.093,2912,793,2018
$GC,10371,1.00,199.2,679.6,6.2,500,10375,0.00,2.65,0.00,0.000,6,0.000,0.077,2912,2190,2018
$GC,10698,1.00,199.2,660.5,6.2,516,10702,0.00,2.72,0.00,0.000,4,0.000,0.094,2911,792,2018
$GC,10747,1.00,199.2,656.9,7.2,518,10752,0.00,2.62,0.00,0.000,6,0.000,0.077,2912,2184,2017
$GC,11063,1.00,199.2,636.3,6.2,533,11065,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2185,2017
$GC,11372,1.00,201.4,618.0,5.9,548,11377,0.00,2.67,0.00,0.000,4,0.000,0.092,2912,793,2016
$GC,11422,1.00,201.4,614.4,6.7,550,11426,0.00,2.60,0.00,0.000,6,0.000,0.077,2912,2173,2016
$GC,11738,1.00,201.4,594.4,6.9,565,11743,0.00,2.67,0.00,0.000,4,0.000,0.094,2912,793,2015
$GC,11765,1.00,201.4,592.2,7.8,566,11770,0.00,2.58,0.00,0.000,6,0.000,0.077,2912,2165,2015
$GC,12082,1.00,201.4,570.8,6.1,581,12083,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2165,2014
$GC,12391,1.01,207.4,552.5,5.8,596,12405,0.00,2.72,8.00,1.197,4,0.000,0.091,2912,793,1986
$GC,12445,1.01,207.4,549.1,6.2,598,12449,0.00,2.58,0.00,0.000,6,0.000,0.077,2912,2155,1985
$GC,12763,1.05,233.5,532.4,5.3,613,12789,0.00,0.00,24.02,1.324,6,0.000,0.000,2912,2156,1879
$GC,13090,1.18,310.2,518.0,3.9,629,13163,0.17,2.70,66.85,1.327,4,0.063,0.087,2961,790,1566
$GC,13211,1.09,310.2,508.7,8.9,634,13218,0.12,2.55,0.00,0.000,6,0.096,0.074,2939,2141,1566
$GC,13527,1.09,310.2,485.0,7.1,650,13528,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2141,1567
$GC,13836,1.09,310.2,463.2,6.7,665,13841,0.00,2.58,0.00,0.000,4,0.000,0.081,2939,786,1568
$GC,13881,1.09,310.2,460.1,7.3,667,13885,0.00,2.50,0.00,0.000,6,0.000,0.067,2939,2137,1568
$GC,14208,1.09,310.2,437.2,7.8,683,14212,0.00,2.55,0.00,0.000,4,0.000,0.078,2939,783,1568
$GC,14240,1.09,310.2,434.2,8.6,684,14246,0.00,2.47,0.00,0.000,6,0.000,0.064,2939,2131,1568
$GC,14557,1.09,310.2,407.5,8.3,700,14561,0.00,2.53,0.00,0.000,4,0.000,0.076,2939,782,1569
$GC,14589,1.09,310.2,404.5,8.6,701,14595,0.00,2.45,0.00,0.000,6,0.000,0.061,2939,2126,1569
$GC,14905,1.09,310.2,377.7,8.5,717,14909,0.00,2.50,0.00,0.000,4,0.000,0.074,2939,784,1570
$GC,14943,1.09,310.2,374.2,8.3,718,14949,0.00,2.42,0.00,0.000,6,0.000,0.059,2939,2122,1570
$GC,15260,1.09,310.2,349.4,7.4,734,15264,0.00,2.47,0.00,0.000,4,0.000,0.071,2939,787,1570
$GC,15287,1.09,310.2,347.1,8.3,735,15291,0.00,2.40,0.00,0.000,6,0.000,0.058,2939,2117,1571
$GC,15603,1.09,310.2,324.9,6.5,750,15604,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2118,1571
$GC,15912,1.09,310.2,304.7,6.3,765,15917,0.00,2.45,0.00,0.000,4,0.000,0.071,2939,789,1573
$GC,15952,1.09,310.2,301.8,7.7,767,15956,0.00,2.38,0.00,0.000,6,0.000,0.055,2939,2112,1573
$GC,16280,1.09,310.2,279.5,6.9,783,16281,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2111,1573
$GC,16589,1.13,310.2,256.7,7.9,798,16593,0.00,2.42,0.00,0.000,4,0.000,0.068,2939,790,1574
$GC,16633,1.13,310.2,252.7,9.6,800,16637,0.00,2.35,0.00,0.000,6,0.000,0.054,2939,2104,1574
$GC,16956,1.17,310.2,227.0,8.0,816,16957,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2105,1575
$GC,17264,1.22,310.2,196.9,10.5,831,17274,0.12,2.45,3.70,0.627,4,0.054,0.067,2976,790,1566
$GC,17313,1.15,310.2,190.9,12.2,833,17318,0.12,2.35,0.00,0.000,6,0.083,0.054,2950,2101,1567
$GC,17635,1.15,310.2,158.9,10.9,849,17636,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2101,1567
$GC,17944,1.15,310.2,128.2,8.0,864,17948,0.00,2.72,0.00,0.000,4,0.000,0.065,2950,3613,1568
$GC,17971,1.20,310.2,126.1,7.7,865,17976,0.00,2.72,0.00,0.000,6,0.000,0.051,2950,2080,1568
$GC,18289,1.20,310.2,97.9,11.9,880,18291,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2080,1569
$GC,18597,1.20,310.2,70.2,9.4,895,18598,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2063,1569
$GC,18906,1.20,310.2,52.0,7.0,910,18910,0.00,2.83,0.00,0.000,4,0.000,0.064,2950,3620,1570
$GC,18928,1.27,310.2,49.6,10.5,911,18934,0.12,2.75,0.00,0.000,6,0.056,0.054,2985,2085,1570
$GC,19251,1.19,310.2,13.8,7.5,927,19253,0.15,0.00,0.00,0.000,6,0.084,0.000,2955,2070,1570
$STATE,19391,end climb,SURFACE_DEPTH_REACHED
$STATE,19391,begin surface coast
$FINISH,0.5,1.027381
$STATE,19434,end surface coast,CONTROL_FINISHED_OK
$STATE,19434,begin surface
$SM_CCo,19517,0.00,0.000,0,0,1569,309.81
$SM_GC,1.17,11.10,0.00,0.00,0.041,0.000,0.000,423,1970,1569,-10.39,-0.85,309.81
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1816
$TCM_TEMP,17.00
$XPDR_PINGS,101
$ALTIM_BOTTOM_PING,625.7,80.7
$24V_AH,23.7,49.589
$10V_AH,10.1,24.499
$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,25.375,149.225,408.825,0.000,0.000,37.763,30.270,177.412,30.750,0.000,0.000,12.862,1688.458,15186.614,571.050,1865.607,580.762,0.000,1518.625,0.000,1830.947,0.000,37.736,0.000
$DEVICE_MAMPS,134.992,95.875,1417.416,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,691.637,632.241,548.113,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47372,936
$CAP_FILE_SIZE,136387,0
$CFSIZE,254472192,234754048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,46,0,0
$GPS,060109,102101,6034.202,-408.850,52,1.7,52,-6.4