version: 66.04
glider: 5
mission: 5
dive: 295
start: 1 9 109 18 3 43
data:
$ID,5
$MISSION,5
$DIVE,295
$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,180
$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,-92994.383
$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,33
$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
$GPS1,175640,6014.167,-435.017,43,0.9,43,-6.5
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-47.8
$GPS2,180325,6014.261,-434.641,18,1.0,24,-6.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6003.461,-434.641
$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,186.5,20000,-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,15,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-81.47,0.000,2,0.000,0.000,419,1972,3268
$GC,103,-0.97,-146.6,4.2,-4.6,4,125,10.70,2.50,-3.97,0.000,4,0.133,0.073,2482,590,3431
$GC,379,-0.74,-146.6,45.5,-10.6,16,384,0.28,2.50,0.00,0.000,6,0.089,0.049,2540,2002,3432
$GC,702,-0.67,-146.6,71.8,-7.5,32,705,0.00,2.53,0.00,0.000,4,0.000,0.061,2540,3416,3432
$GC,907,-0.67,-146.6,90.0,-7.9,41,912,0.00,2.53,0.00,0.000,6,0.000,0.048,2540,1990,3432
$GC,1237,-0.61,-146.6,116.0,-7.5,57,1239,0.12,0.00,0.00,0.000,6,0.091,0.000,2567,1976,3432
$GC,1544,-0.61,-146.6,136.1,-6.4,72,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1977,3432
$GC,1853,-0.61,-146.6,163.8,-9.0,87,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1967,3432
$GC,2163,-0.61,-146.6,190.8,-8.0,102,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1976,3432
$GC,2471,-0.61,-146.6,215.5,-6.7,117,2475,0.00,2.58,0.00,0.000,4,0.000,0.060,2566,3406,3432
$GC,2515,-0.61,-146.6,219.3,-8.4,119,2520,0.00,2.47,0.00,0.000,6,0.000,0.048,2567,2003,3432
$GC,2837,-0.61,-146.6,241.4,-6.1,135,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2003,3432
$GC,3145,-0.61,-146.6,259.0,-5.4,150,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2003,3432
$GC,3454,-0.61,-146.6,277.1,-6.2,165,3459,0.00,2.55,0.00,0.000,4,0.000,0.061,2567,3412,3432
$GC,3505,-0.61,-146.6,280.5,-7.1,167,3509,0.00,2.47,0.00,0.000,6,0.000,0.049,2567,2015,3432
$GC,3821,-0.61,-146.6,298.8,-5.2,182,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2014,3432
$GC,4131,-0.61,-146.6,319.3,-7.2,197,4135,0.00,2.53,0.00,0.000,4,0.000,0.061,2567,3409,3432
$GC,4154,-0.61,-146.6,321.0,-7.0,198,4158,0.00,2.47,0.00,0.000,6,0.000,0.050,2567,2010,3432
$GC,4480,-0.61,-146.6,345.7,-7.8,214,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2009,3432
$GC,4789,-0.61,-146.6,368.2,-7.0,229,4794,0.00,2.53,0.00,0.000,4,0.000,0.062,2567,3407,3432
$GC,4823,-0.61,-146.6,370.7,-7.4,230,4830,0.00,2.45,0.00,0.000,6,0.000,0.050,2567,2023,3432
$GC,5140,-0.61,-146.6,392.2,-7.0,246,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2021,3431
$GC,5449,-0.61,-146.6,413.2,-6.9,261,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2021,3432
$GC,5759,-0.61,-146.6,435.2,-8.2,276,5763,0.00,2.53,0.00,0.000,4,0.000,0.063,2567,3414,3431
$GC,5786,-0.65,-146.6,437.8,-8.9,277,5790,0.00,2.45,0.00,0.000,6,0.000,0.051,2567,2029,3431
$GC,6103,-0.65,-146.6,460.6,-5.6,292,6107,0.00,2.55,0.00,0.000,4,0.000,0.066,2566,596,3431
$GC,6153,-0.65,-146.6,463.5,-5.8,294,6158,0.00,2.53,0.00,0.000,6,0.000,0.051,2567,2032,3431
$GC,6475,-0.65,-146.6,482.6,-5.6,310,6479,0.00,2.47,0.00,0.000,4,0.000,0.065,2566,3413,3431
$GC,6503,-0.70,-146.6,484.5,-6.7,311,6508,0.00,2.47,0.00,0.000,6,0.000,0.054,2567,2023,3431
$GC,6820,-0.70,-146.6,505.0,-5.3,326,6824,0.00,2.53,0.00,0.000,4,0.000,0.064,2567,3402,3431
$GC,6837,-0.75,-146.6,506.0,-6.1,327,6842,0.15,2.45,0.00,0.000,6,0.051,0.051,2524,2018,3431
$GC,7168,-1.01,-146.6,521.5,0.0,343,7173,0.17,2.53,0.00,0.000,4,0.058,0.061,2472,3404,3431
$STATE,7402,end dive,NO_VERTICAL_VELOCITY
$STATE,7402,begin apogee
$GC,7411,-0.33,0.0,521.6,0.0,353,7540,0.65,0.00,125.78,1.138,6,0.054,0.000,2628,2161,2832
$STATE,7541,end apogee,CONTROL_FINISHED_OK
$STATE,7541,begin climb
$GC,7544,0.97,146.6,521.0,0.0,360,7677,1.27,2.58,124.70,1.107,4,0.053,0.062,2912,802,2234
$GC,7748,1.00,164.5,509.3,5.5,369,7769,0.00,2.53,16.48,1.015,6,0.000,0.052,2912,2200,2161
$GC,8086,1.03,183.6,488.3,5.5,386,8109,0.00,2.65,17.50,1.020,4,0.000,0.065,2912,3602,2083
$GC,8132,1.03,183.6,485.1,7.5,388,8136,0.00,2.53,0.00,0.000,6,0.000,0.054,2912,2211,2083
$GC,8459,1.03,183.6,464.2,6.4,404,8463,0.00,2.55,0.00,0.000,4,0.000,0.065,2912,792,2083
$GC,8492,1.03,183.6,462.1,6.1,405,8496,0.00,2.55,0.00,0.000,6,0.000,0.052,2912,2218,2083
$GC,8808,1.08,215.3,445.2,5.1,420,8843,0.10,2.70,27.92,1.052,4,0.056,0.064,2946,794,1954
$GC,8896,1.00,215.3,439.5,7.1,424,8901,0.15,2.50,0.00,0.000,6,0.085,0.052,2916,2188,1954
$GC,9226,1.09,244.2,421.7,5.2,440,9257,0.00,2.65,25.85,1.038,4,0.000,0.064,2916,786,1835
$GC,9281,1.15,250.1,418.2,5.8,442,9293,0.15,2.53,6.53,0.852,6,0.050,0.051,2960,2187,1812
$GC,9617,1.09,250.1,391.5,8.0,459,9622,0.12,2.60,0.00,0.000,4,0.085,0.064,2934,782,1812
$GC,9641,1.09,250.1,389.4,8.1,460,9645,0.00,2.47,0.00,0.000,6,0.000,0.051,2934,2169,1812
$GC,9962,1.09,250.1,366.2,7.3,476,9966,0.00,2.53,0.00,0.000,4,0.000,0.065,2934,789,1812
$GC,9989,1.09,250.1,364.1,7.6,477,9993,0.00,2.45,0.00,0.000,6,0.000,0.051,2934,2164,1813
$GC,10305,1.09,250.1,343.3,6.3,492,10307,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2164,1813
$GC,10614,1.09,250.1,324.0,6.6,507,10618,0.00,2.50,0.00,0.000,4,0.000,0.064,2934,792,1813
$GC,10670,1.09,250.1,319.9,6.8,509,10674,0.00,2.42,0.00,0.000,6,0.000,0.051,2934,2155,1813
$GC,10986,1.09,250.1,297.8,7.1,524,10991,0.00,2.50,0.00,0.000,4,0.000,0.064,2934,784,1813
$GC,11020,1.09,250.1,295.2,8.2,525,11026,0.00,2.42,0.00,0.000,6,0.000,0.051,2934,2151,1813
$GC,11336,1.09,250.1,271.9,7.2,541,11340,0.00,2.47,0.00,0.000,4,0.000,0.064,2934,790,1813
$GC,11363,1.09,250.1,269.5,8.4,542,11368,0.00,2.40,0.00,0.000,6,0.000,0.051,2934,2141,1813
$GC,11686,1.10,258.4,248.6,5.8,558,11697,0.00,0.00,9.15,0.845,6,0.000,0.000,2934,2143,1778
$GC,11994,1.10,258.4,230.6,6.6,573,11998,0.00,2.47,0.00,0.000,4,0.000,0.064,2934,787,1777
$GC,12046,1.10,258.4,226.8,7.7,575,12050,0.00,2.40,0.00,0.000,6,0.000,0.050,2934,2140,1777
$GC,12368,1.11,263.4,204.6,5.9,591,12379,0.00,2.47,5.90,0.744,4,0.000,0.063,2934,791,1757
$GC,12401,1.11,263.4,202.6,6.1,592,12407,0.00,2.38,0.00,0.000,6,0.000,0.051,2934,2123,1757
$GC,12718,1.20,318.6,186.1,4.5,608,12771,0.12,2.53,45.15,0.908,4,0.051,0.064,2974,793,1532
$GC,12782,1.15,318.6,181.4,7.9,611,12787,0.12,2.38,0.00,0.000,6,0.081,0.050,2948,2113,1532
$GC,13104,1.18,337.8,163.2,5.5,627,13123,0.00,0.00,17.10,0.853,6,0.000,0.000,2948,2114,1454
$GC,13433,1.23,337.8,138.7,9.6,643,13438,0.00,2.42,0.00,0.000,4,0.000,0.065,2948,788,1454
$GC,13474,1.28,337.8,134.4,10.9,645,13479,0.12,2.33,0.00,0.000,6,0.051,0.051,2985,2108,1454
$GC,13808,1.23,337.8,98.7,6.5,661,13812,0.00,2.67,0.00,0.000,4,0.000,0.061,2987,3603,1454
$GC,13858,1.18,337.8,95.2,8.0,663,13863,0.15,2.62,0.00,0.000,6,0.082,0.048,2956,2118,1453
$GC,14174,1.18,337.8,65.7,12.4,678,14178,0.00,2.38,0.00,0.000,4,0.000,0.064,2956,790,1453
$GC,14230,1.18,337.8,59.6,10.4,680,14236,0.00,2.38,0.00,0.000,6,0.000,0.050,2956,2127,1453
$GC,14547,1.18,337.8,40.0,10.4,696,14548,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2137,1453
$GC,14856,1.31,362.7,14.5,5.3,711,14879,0.12,0.00,20.58,0.777,6,0.051,0.000,2996,2143,1353
$STATE,14955,end climb,SURFACE_DEPTH_REACHED
$STATE,14955,begin surface coast
$FINISH,0.5,1.013983
$STATE,14977,end surface coast,CONTROL_FINISHED_OK
$STATE,14977,begin surface
$SM_CCo,15061,0.00,0.000,0,0,1352,363.04
$SM_GC,1.42,11.25,0.00,0.00,0.037,0.000,0.000,421,1959,1352,-10.40,-1.13,363.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1780
$TCM_TEMP,17.40
$XPDR_PINGS,74
$24V_AH,23.9,51.810
$10V_AH,10.1,25.743
$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,25.775,135.000,442.625,0.000,0.000,37.763,43.480,185.745,22.500,0.000,0.000,24.453,1345.335,11376.117,544.620,1636.988,560.815,0.000,1390.202,0.000,1589.604,0.000,26.739,0.000
$DEVICE_MAMPS,132.691,72.865,1138.228,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,528.058,482.033,467.331,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34915,717
$CAP_FILE_SIZE,117403,0
$CFSIZE,254472192,233861120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,41,0,0
$GPS,090109,221620,6014.659,-426.268,41,1.1,60,-6.4