version: 66.04
glider: 5
mission: 5
dive: 294
start: 1 9 109 13 24 15
data:
$ID,5
$MISSION,5
$DIVE,294
$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,-92969.305
$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,30
$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
$GPS1,131737,6014.310,-439.919,39,1.7,39,-6.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-52.7
$GPS2,132356,6014.368,-439.695,14,1.9,14,-6.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6006.731,-455.020
$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,231.5,20000,-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,16,-0.97,-146.6,0.0,0.0,0,118,0.00,0.00,-96.25,0.000,6,0.000,0.000,426,1985,3430
$GC,122,-0.97,-146.6,6.3,-5.6,5,138,10.70,2.53,0.00,0.000,4,0.132,0.056,2483,587,3431
$GC,150,0.56,-146.6,20.2,-44.8,5,161,1.58,2.55,0.00,0.000,6,0.072,0.050,2818,2010,3432
$GC,473,-0.03,-146.6,61.3,-12.7,21,478,0.57,2.50,0.00,0.000,4,0.053,0.060,2687,3409,3432
$GC,559,-0.59,-146.6,73.5,-14.3,25,565,0.52,2.53,0.00,0.000,6,0.056,0.044,2569,1969,3432
$GC,887,-0.59,-146.6,97.1,-3.9,41,892,0.00,2.60,0.00,0.000,4,0.000,0.060,2568,3406,3432
$GC,982,-0.59,-146.6,103.8,-6.9,45,987,0.00,2.50,0.00,0.000,6,0.000,0.046,2568,1994,3432
$GC,1299,-0.59,-146.6,127.8,-8.5,60,1303,0.00,2.50,0.00,0.000,4,0.000,0.064,2568,588,3432
$GC,1340,-0.59,-146.6,131.1,-8.8,61,1346,0.00,2.53,0.00,0.000,6,0.000,0.050,2568,2019,3432
$GC,1656,-0.59,-146.6,154.3,-7.1,77,1660,0.00,2.47,0.00,0.000,4,0.000,0.061,2568,3405,3432
$GC,1689,-0.59,-146.6,156.8,-7.6,78,1695,0.00,2.50,0.00,0.000,6,0.000,0.048,2568,1996,3432
$GC,2005,-0.59,-146.6,176.9,-5.9,94,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1996,3432
$GC,2314,-0.59,-146.6,195.1,-6.1,109,2318,0.00,2.55,0.00,0.000,4,0.000,0.061,2568,3405,3432
$GC,2354,-0.59,-146.6,197.5,-6.4,111,2359,0.00,2.47,0.00,0.000,6,0.000,0.048,2568,2003,3432
$GC,2680,-0.59,-146.6,218.8,-6.4,127,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2002,3432
$GC,2990,-0.59,-146.6,238.4,-6.3,142,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2002,3432
$GC,3299,-0.59,-146.6,257.0,-5.9,157,3304,0.00,2.55,0.00,0.000,4,0.000,0.061,2568,3412,3431
$GC,3344,-0.63,-146.6,259.9,-6.5,159,3348,0.00,2.47,0.00,0.000,6,0.000,0.049,2568,2014,3431
$GC,3666,-0.63,-146.6,279.5,-6.2,175,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2015,3431
$GC,3975,-0.63,-146.6,300.0,-6.6,190,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2015,3431
$GC,4284,-0.63,-146.6,320.3,-6.6,205,4288,0.00,2.53,0.00,0.000,4,0.000,0.062,2568,3410,3431
$GC,4311,-0.63,-146.6,322.1,-6.9,206,4315,0.00,2.47,0.00,0.000,6,0.000,0.050,2567,2014,3431
$GC,4628,-0.63,-146.6,342.9,-6.6,221,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2014,3431
$GC,4936,-0.63,-146.6,363.9,-6.7,236,4941,0.00,2.53,0.00,0.000,4,0.000,0.062,2568,3405,3431
$GC,4964,-0.63,-146.6,365.8,-7.0,237,4968,0.00,2.47,0.00,0.000,6,0.000,0.050,2568,2008,3431
$GC,5280,-0.63,-146.6,386.1,-6.5,252,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2009,3431
$GC,5589,-0.63,-146.6,406.9,-6.8,267,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2007,3431
$GC,5899,-0.63,-146.6,428.5,-6.6,282,5903,0.00,2.53,0.00,0.000,4,0.000,0.063,2568,3405,3431
$GC,5943,-0.68,-146.6,431.6,-7.2,284,5947,0.00,2.47,0.00,0.000,6,0.000,0.051,2568,2008,3431
$GC,6264,-0.68,-146.6,452.8,-6.4,300,6268,0.00,2.53,0.00,0.000,4,0.000,0.062,2568,3404,3431
$GC,6309,-0.73,-146.6,455.8,-6.7,302,6314,0.12,2.47,0.00,0.000,6,0.054,0.051,2531,2008,3431
$GC,6630,-0.66,-146.6,482.6,-8.6,318,6632,0.12,0.00,0.00,0.000,6,0.089,0.000,2558,2009,3431
$GC,6939,-0.66,-146.6,503.8,-6.7,333,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2009,3431
$GC,7249,-0.66,-146.6,523.4,-6.0,348,7253,0.00,2.53,0.00,0.000,4,0.000,0.063,2557,3405,3431
$GC,7276,-0.66,-146.6,525.3,-6.6,349,7281,0.00,2.45,0.00,0.000,6,0.000,0.051,2557,2024,3431
$GC,7598,-0.66,-146.6,545.1,-5.9,365,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2011,3431
$GC,7908,-0.66,-146.6,563.2,-5.6,380,7912,0.00,2.55,0.00,0.000,4,0.000,0.065,2558,3414,3431
$GC,7970,-0.70,-146.6,567.0,-6.8,383,7975,0.00,2.45,0.00,0.000,6,0.000,0.055,2557,2037,3430
$STATE,8177,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8177,begin apogee
$GC,8185,-0.33,0.0,579.7,5.8,393,8314,0.32,0.00,126.22,1.198,6,0.074,0.000,2628,2214,2832
$STATE,8314,end apogee,CONTROL_FINISHED_OK
$STATE,8314,begin climb
$GC,8317,0.97,146.6,584.3,0.0,399,8453,1.27,2.70,126.10,1.164,4,0.061,0.066,2906,793,2234
$GC,8470,0.97,146.6,579.3,6.3,407,8474,0.00,2.55,0.00,0.000,6,0.000,0.054,2906,2197,2233
$GC,8791,0.97,147.7,560.2,6.0,423,8796,0.00,2.60,0.00,0.000,4,0.000,0.073,2906,3606,2233
$GC,8949,0.93,147.7,550.0,7.7,430,8953,0.00,2.50,0.00,0.000,6,0.000,0.060,2907,2229,2232
$GC,9276,0.93,147.7,527.8,6.0,446,9281,0.00,2.62,0.00,0.000,4,0.000,0.072,2906,792,2232
$GC,9349,0.93,147.7,522.7,6.8,449,9353,0.00,2.58,0.00,0.000,6,0.000,0.058,2907,2216,2232
$GC,9665,0.97,173.0,505.6,5.3,464,9690,0.00,0.00,23.02,1.121,6,0.000,0.000,2906,2217,2126
$GC,9995,1.04,216.2,489.1,4.8,480,10038,0.00,2.75,37.97,1.134,4,0.000,0.067,2906,789,1949
$GC,10085,1.15,261.8,484.6,4.8,484,10131,0.17,2.58,39.70,1.122,6,0.050,0.056,2955,2210,1764
$GC,10458,1.10,261.8,457.6,7.6,502,10463,0.00,2.62,0.00,0.000,4,0.000,0.067,2956,789,1765
$GC,10499,1.04,261.8,454.5,7.8,504,10504,0.15,2.53,0.00,0.000,6,0.082,0.054,2926,2193,1765
$GC,10830,1.10,271.4,435.3,5.7,520,10845,0.00,2.65,10.27,0.983,4,0.000,0.065,2926,783,1725
$GC,10897,1.10,271.4,430.7,6.8,522,10902,0.00,2.50,0.00,0.000,6,0.000,0.051,2926,2176,1724
$GC,11219,1.15,271.4,410.6,6.4,538,11224,0.10,2.55,0.00,0.000,4,0.058,0.067,2957,792,1724
$GC,11260,1.09,271.4,407.3,9.0,540,11264,0.00,2.45,0.00,0.000,6,0.000,0.053,2957,2163,1725
$GC,11587,1.05,271.4,382.9,6.9,556,11589,0.15,0.00,0.00,0.000,6,0.077,0.000,2926,2163,1725
$GC,11897,1.15,297.9,366.2,5.3,571,11927,0.10,2.60,23.15,1.017,4,0.056,0.065,2958,794,1617
$GC,11978,1.11,297.9,360.2,8.0,574,11985,0.00,2.45,0.00,0.000,6,0.000,0.051,2958,2159,1617
$GC,12295,1.11,297.9,334.4,8.3,590,12299,0.00,2.53,0.00,0.000,4,0.000,0.067,2958,785,1617
$GC,12322,1.11,297.9,331.9,8.7,591,12326,0.00,2.45,0.00,0.000,6,0.000,0.051,2958,2156,1617
$GC,12638,1.11,297.9,304.7,8.6,606,12642,0.00,2.50,0.00,0.000,4,0.000,0.064,2958,787,1617
$GC,12666,1.11,297.9,302.0,9.6,607,12670,0.00,2.40,0.00,0.000,6,0.000,0.051,2958,2135,1617
$GC,12982,1.11,297.9,276.5,7.7,622,12983,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2136,1617
$GC,13291,1.11,297.9,256.6,6.0,637,13295,0.00,2.45,0.00,0.000,4,0.000,0.064,2958,789,1618
$GC,13318,1.11,297.9,254.7,6.7,638,13323,0.00,2.38,0.00,0.000,6,0.000,0.051,2958,2128,1618
$GC,13640,1.11,297.9,232.0,8.4,654,13642,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2129,1618
$GC,13950,1.11,297.9,206.7,7.2,669,13954,0.00,2.45,0.00,0.000,4,0.000,0.065,2958,784,1618
$GC,13983,1.11,297.9,204.2,7.3,670,13989,0.00,2.38,0.00,0.000,6,0.000,0.051,2958,2124,1618
$GC,14300,1.11,297.9,180.4,8.1,686,14301,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2123,1619
$GC,14608,1.13,309.9,158.0,5.7,701,14622,0.00,0.00,11.68,0.829,6,0.000,0.000,2958,2124,1567
$GC,14918,1.13,309.9,129.0,9.7,716,14922,0.00,2.47,0.00,0.000,4,0.000,0.065,2958,781,1568
$GC,14941,1.13,309.9,127.1,8.0,717,14946,0.00,2.38,0.00,0.000,6,0.000,0.051,2958,2117,1567
$GC,15263,1.13,309.9,99.1,7.7,733,15267,0.00,2.42,0.00,0.000,4,0.000,0.065,2958,786,1567
$GC,15285,1.13,309.9,96.7,9.9,734,15289,0.00,2.35,0.00,0.000,6,0.000,0.051,2958,2112,1568
$GC,15607,1.13,309.9,64.3,11.9,750,15609,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2130,1568
$GC,15915,1.13,309.9,31.2,11.1,765,15917,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2113,1567
$STATE,16160,end climb,SURFACE_DEPTH_REACHED
$STATE,16160,begin surface coast
$FINISH,1.7,1.027315
$STATE,16182,end surface coast,CONTROL_FINISHED_OK
$STATE,16182,begin surface
$SM_CCo,16266,0.00,0.000,0,0,1567,310.30
$SM_GC,1.26,11.23,0.00,0.00,0.048,0.000,0.000,420,1975,1567,-10.39,-0.71,310.30
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1793
$TCM_TEMP,17.40
$XPDR_PINGS,88
$ALTIM_BOTTOM_PING,501.1,87.7
$24V_AH,23.8,51.662
$10V_AH,10.1,25.671
$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,27.125,136.175,398.125,0.000,0.000,37.765,26.603,173.747,26.250,0.000,0.000,14.800,1428.534,12487.817,552.417,1625.666,545.873,0.000,1383.834,0.000,1591.385,0.000,29.803,0.000
$DEVICE_MAMPS,131.924,72.865,1198.054,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,569.486,524.129,469.013,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37997,778
$CAP_FILE_SIZE,119701,0
$CFSIZE,254472192,233910272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,43,0,0
$GPS,090109,175640,6014.167,-435.017,43,0.9,43,-6.5