version: 66.04
glider: 5
mission: 5
dive: 293
start: 1 9 109 7 54 39
data:
$ID,5
$MISSION,5
$DIVE,293
$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,225
$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,-92953.883
$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,25
$R_STBD_OVSHOOT,19
$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
$GPS1,074425,6015.029,-446.359,40,1.1,40,-6.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-57.4
$GPS2,075420,6015.153,-445.721,12,1.2,12,-6.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6007.517,-501.052
$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,231.6,20000,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.28,0.000,2,0.000,0.000,424,1993,3297
$GC,102,-0.97,-146.6,4.1,-4.6,4,125,10.77,2.58,-3.33,0.000,4,0.133,0.075,2483,596,3431
$GC,187,-0.71,-146.6,21.1,-16.4,7,194,0.28,2.53,0.00,0.000,6,0.083,0.051,2542,2014,3432
$GC,505,-0.64,-146.6,45.9,-6.2,23,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2021,3432
$GC,813,-0.58,-146.6,72.4,-6.6,38,815,0.15,0.00,0.00,0.000,6,0.090,0.000,2573,2020,3432
$GC,1122,-0.58,-146.6,95.6,-7.9,53,1127,0.00,2.60,0.00,0.000,4,0.000,0.066,2573,588,3432
$GC,1163,-0.58,-146.6,99.1,-8.4,55,1167,0.00,2.50,0.00,0.000,6,0.000,0.051,2573,1998,3432
$GC,1490,-0.63,-146.6,123.5,-8.0,71,1494,0.00,2.53,0.00,0.000,4,0.000,0.061,2573,3410,3432
$GC,1524,-0.68,-146.6,126.1,-8.1,72,1531,0.00,2.53,0.00,0.000,6,0.000,0.047,2573,1982,3432
$GC,1840,-0.68,-146.6,148.8,-9.4,88,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1981,3432
$GC,2149,-0.68,-146.6,167.9,-6.1,103,2153,0.00,2.58,0.00,0.000,4,0.000,0.061,2573,3402,3432
$GC,2183,-0.74,-146.6,169.8,-5.8,104,2190,0.17,2.50,0.00,0.000,6,0.048,0.048,2524,1991,3432
$GC,2499,-0.64,-146.6,196.3,-8.9,120,2501,0.17,0.00,0.00,0.000,6,0.084,0.000,2562,1990,3432
$GC,2809,-0.64,-146.6,220.4,-7.9,135,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1989,3433
$GC,3117,-0.64,-146.6,240.1,-6.1,150,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1990,3432
$GC,3427,-0.64,-146.6,260.5,-6.9,165,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1990,3432
$GC,3736,-0.64,-146.6,282.5,-7.1,180,3741,0.00,2.58,0.00,0.000,4,0.000,0.061,2562,3410,3432
$GC,3776,-0.64,-146.6,285.4,-7.6,182,3781,0.00,2.50,0.00,0.000,6,0.000,0.049,2562,2000,3432
$GC,4103,-0.64,-146.6,309.1,-7.5,198,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1999,3432
$GC,4413,-0.64,-146.6,331.7,-6.9,213,4418,0.00,2.55,0.00,0.000,4,0.000,0.063,2562,3402,3432
$GC,4447,-0.64,-146.6,334.1,-7.2,214,4453,0.00,2.50,0.00,0.000,6,0.000,0.050,2562,1995,3432
$GC,4763,-0.64,-146.6,354.8,-5.9,230,4767,0.00,2.58,0.00,0.000,4,0.000,0.063,2562,3410,3432
$GC,4795,-0.64,-146.6,356.9,-6.3,231,4801,0.00,2.50,0.00,0.000,6,0.000,0.051,2561,2002,3433
$GC,5112,-0.64,-146.6,377.9,-6.9,247,5116,0.00,2.55,0.00,0.000,4,0.000,0.063,2562,3406,3432
$GC,5174,-0.64,-146.6,382.7,-7.5,250,5178,0.00,2.45,0.00,0.000,6,0.000,0.051,2561,2024,3432
$GC,5507,-0.64,-146.6,406.8,-7.3,266,5512,0.00,2.55,0.00,0.000,4,0.000,0.067,2562,597,3432
$GC,5535,-0.64,-146.6,409.0,-7.4,267,5539,0.00,2.55,0.00,0.000,6,0.000,0.051,2561,2032,3433
$GC,5851,-0.64,-146.6,431.6,-7.3,282,5855,0.00,2.47,0.00,0.000,4,0.000,0.066,2561,3410,3432
$GC,5907,-0.64,-146.6,436.0,-7.3,284,5911,0.00,2.45,0.00,0.000,6,0.000,0.054,2562,2039,3433
$GC,6223,-0.64,-146.6,458.7,-6.9,299,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2037,3432
$GC,6532,-0.64,-146.6,479.3,-6.7,314,6533,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2036,3432
$GC,6843,-0.64,-146.6,500.5,-6.6,329,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2036,3432
$GC,7151,-0.64,-146.6,519.1,-5.5,344,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2036,3432
$GC,7460,-0.64,-146.6,536.3,-5.7,359,7464,0.00,2.53,0.00,0.000,4,0.000,0.068,2561,3412,3432
$GC,7488,-0.64,-146.6,538.1,-6.1,360,7492,0.00,2.47,0.00,0.000,6,0.000,0.057,2561,2039,3432
$GC,7809,-0.64,-146.6,558.7,-6.9,376,7813,0.00,2.53,0.00,0.000,4,0.000,0.070,2562,3410,3432
$GC,7831,-0.68,-146.6,560.2,-6.6,377,7835,0.00,2.47,0.00,0.000,6,0.000,0.059,2561,2040,3432
$GC,8153,-0.72,-146.6,580.5,-6.6,393,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2040,3431
$GC,8462,-0.77,-146.6,599.2,-5.7,408,8467,0.12,2.55,0.00,0.000,4,0.063,0.074,2526,3409,3430
$GC,8508,-0.71,-146.6,602.3,-7.1,410,8512,0.00,2.47,0.00,0.000,6,0.000,0.063,2526,2051,3430
$GC,8830,-0.66,-146.6,625.3,-7.3,426,8835,0.15,2.65,0.00,0.000,4,0.095,0.077,2558,590,3429
$GC,8875,-0.70,-146.6,628.4,-6.2,428,8880,0.00,2.65,0.00,0.000,6,0.000,0.063,2558,2056,3429
$GC,9197,-0.75,-146.6,646.3,-6.0,444,9198,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2057,3428
$STATE,9338,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9338,begin apogee
$GC,9345,-0.33,0.0,656.1,6.9,451,9480,0.32,0.00,127.50,1.307,6,0.080,0.000,2626,2203,2832
$STATE,9480,end apogee,CONTROL_FINISHED_OK
$STATE,9480,begin climb
$GC,9483,0.97,146.6,661.3,0.0,458,9620,1.33,2.70,127.18,1.272,4,0.070,0.083,2909,3597,2233
$GC,9634,0.97,146.6,655.3,6.8,465,9639,0.00,2.62,0.00,0.000,6,0.000,0.069,2909,2201,2234
$GC,9956,0.99,160.3,636.5,5.6,481,9977,0.00,2.75,12.93,1.150,4,0.000,0.084,2909,790,2178
$GC,10041,0.99,160.3,631.2,6.4,484,10047,0.00,2.60,0.00,0.000,6,0.000,0.066,2909,2190,2178
$GC,10357,1.02,179.1,613.5,5.5,500,10380,0.00,2.78,17.38,1.205,4,0.000,0.081,2909,789,2101
$GC,10404,1.02,179.1,610.7,7.0,502,10408,0.00,2.60,0.00,0.000,6,0.000,0.067,2909,2183,2101
$GC,10731,1.07,208.6,592.3,5.2,518,10761,0.10,0.00,27.05,1.246,6,0.064,0.000,2939,2184,1981
$GC,11060,1.02,211.0,572.7,5.9,534,11066,0.00,0.00,3.88,0.805,6,0.000,0.000,2939,2184,1971
$GC,11369,1.02,211.0,552.3,6.7,549,11374,0.00,2.62,0.00,0.000,4,0.000,0.080,2939,792,1971
$GC,11425,0.95,211.0,548.1,7.3,551,11432,0.15,2.55,0.00,0.000,6,0.094,0.067,2908,2175,1970
$GC,11742,1.02,230.2,531.2,5.5,567,11764,0.00,2.67,17.58,1.200,4,0.000,0.077,2908,788,1893
$GC,11783,1.08,230.2,528.8,6.1,569,11789,0.12,2.55,0.00,0.000,6,0.062,0.064,2942,2169,1893
$GC,12111,1.03,230.2,505.4,7.1,585,12112,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2168,1893
$GC,12420,1.03,230.2,483.5,7.2,600,12425,0.00,2.58,0.00,0.000,4,0.000,0.074,2942,788,1893
$GC,12448,0.99,230.2,481.3,7.5,601,12454,0.15,2.50,0.00,0.000,6,0.090,0.061,2910,2164,1893
$GC,12765,1.04,230.2,461.7,6.4,616,12766,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2164,1893
$GC,13075,1.09,230.2,441.9,6.2,631,13077,0.12,0.00,0.00,0.000,6,0.060,0.000,2946,2163,1893
$GC,13383,1.09,230.2,419.9,7.2,646,13387,0.00,2.62,0.00,0.000,4,0.000,0.070,2946,3605,1893
$GC,13455,1.04,230.2,414.3,7.8,649,13460,0.00,2.62,0.00,0.000,6,0.000,0.056,2946,2147,1894
$GC,13772,1.00,230.2,393.7,6.4,664,13777,0.15,2.45,0.00,0.000,4,0.084,0.067,2915,789,1894
$GC,13813,1.08,251.0,391.3,5.4,666,13837,0.00,2.42,19.12,1.075,6,0.000,0.053,2914,2149,1808
$GC,14169,1.16,261.6,371.3,5.7,683,14186,0.17,2.55,10.90,0.993,4,0.050,0.064,2969,790,1764
$GC,14215,1.07,261.6,367.4,8.7,684,14220,0.20,2.42,0.00,0.000,6,0.077,0.053,2927,2137,1764
$GC,14537,1.11,261.6,346.6,6.6,700,14538,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2137,1765
$GC,14845,1.16,261.6,326.5,6.4,715,14850,0.10,2.50,0.00,0.000,4,0.056,0.064,2958,782,1766
$GC,14890,1.10,261.6,322.7,9.1,717,14894,0.00,2.42,0.00,0.000,6,0.000,0.051,2958,2142,1766
$GC,15212,1.06,261.6,297.1,8.1,733,15213,0.15,0.00,0.00,0.000,6,0.079,0.000,2927,2141,1766
$GC,15520,1.11,261.6,276.4,6.5,748,15524,0.00,2.47,0.00,0.000,4,0.000,0.065,2927,790,1767
$GC,15584,1.15,261.6,271.9,7.8,751,15589,0.10,2.38,0.00,0.000,6,0.057,0.051,2958,2128,1767
$GC,15910,1.15,261.6,245.3,8.4,767,15911,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2128,1768
$GC,16219,1.15,261.6,219.6,8.4,782,16220,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2128,1768
$GC,16529,1.15,261.6,193.5,8.6,797,16533,0.00,2.45,0.00,0.000,4,0.000,0.065,2959,782,1768
$GC,16557,1.11,261.6,190.9,9.5,798,16562,0.00,2.40,0.00,0.000,6,0.000,0.051,2958,2131,1768
$GC,16879,1.11,261.6,164.3,7.6,814,16880,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2132,1769
$GC,17190,1.11,261.6,141.7,7.0,829,17192,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2132,1769
$GC,17498,1.11,261.6,122.6,6.3,844,17499,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2132,1770
$GC,17807,1.07,261.6,100.1,7.0,859,17812,0.15,2.45,0.00,0.000,4,0.078,0.064,2927,785,1770
$GC,17825,1.07,261.6,98.7,6.8,860,17830,0.00,2.38,0.00,0.000,6,0.000,0.051,2927,2127,1770
$GC,18154,1.21,320.9,80.7,4.4,876,18206,0.17,0.00,49.25,0.851,6,0.044,0.000,2977,2146,1523
$GC,18503,1.21,320.9,48.5,10.3,893,18507,0.00,2.45,0.00,0.000,4,0.000,0.064,2977,785,1522
$GC,18531,1.16,320.9,46.2,7.8,894,18536,0.12,2.38,0.00,0.000,6,0.082,0.051,2951,2118,1522
$GC,18848,1.16,320.9,26.8,8.3,909,18852,0.00,2.42,0.00,0.000,4,0.000,0.064,2950,780,1522
$GC,18870,1.25,343.4,25.5,5.4,910,18895,0.00,2.35,19.02,0.788,6,0.000,0.049,2950,2106,1432
$STATE,19194,end climb,SURFACE_DEPTH_REACHED
$STATE,19194,begin surface coast
$FINISH,0.5,1.027315
$STATE,19219,end surface coast,CONTROL_FINISHED_OK
$STATE,19219,begin surface
$SM_CCo,19302,0.00,0.000,0,0,1429,343.91
$SM_GC,1.31,11.05,0.00,0.00,0.038,0.000,0.000,427,2001,1429,-10.38,0.03,343.91
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1769
$TCM_TEMP,17.40
$XPDR_PINGS,67
$ALTIM_BOTTOM_PING,575.0,90.9
$24V_AH,23.7,51.517
$10V_AH,10.1,25.597
$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,26.500,146.975,431.775,0.000,0.000,75.523,59.582,261.412,21.750,0.000,0.000,12.067,1687.531,15023.816,569.652,1870.676,738.153,0.000,1522.411,0.000,1834.362,0.000,34.876,0.000
$DEVICE_MAMPS,133.458,84.370,1306.968,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,678.562,625.071,582.515,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47376,927
$CAP_FILE_SIZE,142593,0
$CFSIZE,254472192,233947136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,46,0,0
$GPS,090109,131737,6014.310,-439.919,39,1.7,39,-6.5