version: 66.04
glider: 5
mission: 5
dive: 319
start: 1 12 109 23 5 18
data:
$ID,5
$MISSION,5
$DIVE,319
$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,315
$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,-93655.812
$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,41
$R_STBD_OVSHOOT,26
$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
$GPS1,224931,6056.500,-253.686,65,1.7,65,-5.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-47.7
$GPS2,230458,6056.799,-252.299,12,2.7,31,-5.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6104.435,-308.087
$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,320.8,20000,-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,-97.55,0.000,6,0.000,0.000,421,1978,3429
$GC,121,-0.97,-146.6,6.3,-6.3,5,136,10.27,2.47,0.00,0.000,4,0.135,0.058,2407,611,3430
$GC,390,-0.47,-146.6,53.1,-14.4,16,396,0.52,2.47,0.00,0.000,6,0.087,0.050,2518,2006,3430
$GC,713,-0.38,-146.6,82.9,-8.8,32,718,0.12,2.55,0.00,0.000,4,0.094,0.061,2544,609,3431
$GC,837,-0.31,-146.6,96.2,-4.3,37,844,0.00,2.47,0.00,0.000,6,0.000,0.052,2544,1997,3430
$GC,1154,-0.24,-146.6,121.3,-8.9,53,1159,0.15,2.55,0.00,0.000,4,0.087,0.063,2576,606,3431
$GC,1204,-0.29,-146.6,125.8,-7.6,55,1208,0.00,2.47,0.00,0.000,6,0.000,0.052,2576,1997,3431
$GC,1521,-0.34,-146.6,147.6,-7.5,70,1526,0.12,2.55,0.00,0.000,4,0.054,0.063,2541,604,3431
$GC,1617,-0.28,-146.6,156.3,-9.9,74,1621,0.10,2.45,0.00,0.000,6,0.093,0.052,2561,1981,3431
$GC,1933,-0.28,-146.6,185.0,-8.5,89,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1993,3431
$GC,2241,-0.28,-146.6,209.4,-9.1,104,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2002,3431
$GC,2551,-0.28,-146.6,235.3,-7.4,119,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2002,3430
$GC,2861,-0.28,-146.6,258.8,-7.6,134,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2002,3430
$GC,3169,-0.28,-146.6,281.6,-7.1,149,3174,0.00,2.53,0.00,0.000,4,0.000,0.066,2561,606,3430
$GC,3219,-0.28,-146.6,285.3,-6.8,151,3223,0.00,2.42,0.00,0.000,6,0.000,0.052,2561,1973,3430
$GC,3541,-0.28,-146.6,306.4,-7.3,167,3546,0.00,2.58,0.00,0.000,4,0.000,0.064,2560,3411,3430
$GC,3569,-0.28,-146.6,308.9,-8.4,168,3574,0.00,2.55,0.00,0.000,6,0.000,0.053,2561,1981,3430
$GC,3885,-0.28,-146.6,337.3,-9.2,183,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1981,3430
$GC,4195,-0.28,-146.6,362.9,-7.2,198,4199,0.00,2.60,0.00,0.000,4,0.000,0.064,2561,3407,3430
$GC,4234,-0.28,-146.6,365.7,-7.5,200,4239,0.00,2.55,0.00,0.000,6,0.000,0.053,2561,1977,3430
$GC,4562,-0.28,-146.6,385.1,-6.0,216,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1976,3430
$GC,4872,-0.28,-146.6,404.4,-6.3,231,4876,0.00,2.60,0.00,0.000,4,0.000,0.066,2561,3403,3429
$GC,4921,-0.28,-146.6,407.9,-6.7,233,4926,0.00,2.53,0.00,0.000,6,0.000,0.054,2561,1988,3429
$GC,5237,-0.28,-146.6,427.7,-6.3,248,5241,0.00,2.50,0.00,0.000,4,0.000,0.067,2561,589,3429
$GC,5281,-0.28,-146.6,430.7,-6.9,250,5286,0.00,2.47,0.00,0.000,6,0.000,0.053,2561,1988,3429
$GC,5604,-0.28,-146.6,446.6,-4.0,266,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1989,3429
$GC,5913,-0.28,-146.6,460.6,-5.7,281,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1990,3428
$GC,6222,-0.28,-146.6,484.0,-8.4,296,6227,0.00,2.58,0.00,0.000,4,0.000,0.072,2561,585,3429
$GC,6273,-0.28,-146.6,488.5,-8.6,298,6277,0.00,2.50,0.00,0.000,6,0.000,0.057,2561,1987,3429
$GC,6588,-0.28,-146.6,514.0,-7.7,313,6593,0.00,2.58,0.00,0.000,4,0.000,0.071,2561,3406,3428
$GC,6629,-0.33,-146.6,517.2,-8.5,315,6634,0.00,2.55,0.00,0.000,6,0.000,0.061,2561,1993,3428
$GC,6956,-0.33,-146.6,541.2,-7.4,331,6960,0.00,2.55,0.00,0.000,4,0.000,0.076,2561,589,3428
$GC,6989,-0.33,-146.6,544.0,-8.0,332,6995,0.00,2.53,0.00,0.000,6,0.000,0.061,2561,1996,3428
$GC,7305,-0.33,-146.6,568.2,-7.3,348,7310,0.00,2.58,0.00,0.000,4,0.000,0.074,2561,3405,3427
$GC,7346,-0.37,-146.6,571.2,-7.8,350,7350,0.00,2.58,0.00,0.000,6,0.000,0.063,2561,1988,3427
$GC,7673,-0.37,-146.6,594.0,-6.8,366,7678,0.00,2.55,0.00,0.000,4,0.000,0.076,2561,584,3426
$GC,7701,-0.43,-146.6,596.0,-7.1,367,7707,0.15,2.53,0.00,0.000,6,0.058,0.061,2520,1988,3426
$STATE,7726,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7726,begin apogee
$GC,7733,-0.33,0.0,597.9,7.4,368,7868,0.15,0.00,128.70,1.242,6,0.094,0.000,2550,2137,2832
$STATE,7869,end apogee,CONTROL_FINISHED_OK
$STATE,7869,begin climb
$GC,7873,0.97,146.6,607.0,0.0,375,8007,1.33,0.00,130.18,1.205,6,0.075,0.000,2830,2137,2234
$GC,8308,1.35,190.5,590.3,4.8,396,8351,0.38,0.00,38.97,1.177,6,0.055,0.000,2925,2137,2055
$GC,8663,1.48,202.2,569.6,5.7,413,8684,0.00,2.78,11.60,1.087,4,0.000,0.075,2925,717,2007
$GC,8775,1.49,207.2,563.0,5.9,418,8787,0.10,2.58,6.07,0.941,6,0.065,0.061,2953,2123,1987
$GC,9106,1.40,207.2,541.6,6.0,434,9111,0.12,2.62,0.00,0.000,4,0.091,0.076,2930,3531,1987
$GC,9139,1.42,219.3,539.3,5.7,435,9159,0.00,2.60,12.20,1.107,6,0.000,0.067,2930,2121,1937
$GC,9476,1.42,219.3,519.5,6.8,452,9480,0.00,2.60,0.00,0.000,4,0.000,0.077,2930,714,1937
$GC,9516,1.42,219.3,516.5,7.5,454,9520,0.00,2.58,0.00,0.000,6,0.000,0.061,2930,2124,1937
$GC,9842,1.42,219.3,492.3,7.0,470,9843,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2125,1937
$GC,10151,1.42,219.3,468.6,8.4,485,10153,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2125,1936
$GC,10461,1.42,219.3,443.8,7.2,500,10466,0.00,2.60,0.00,0.000,4,0.000,0.074,2930,3535,1936
$GC,10495,1.42,219.3,441.1,7.4,501,10501,0.00,2.60,0.00,0.000,6,0.000,0.064,2930,2114,1936
$GC,10811,1.46,246.5,422.6,5.3,517,10837,0.00,0.00,24.35,1.125,6,0.000,0.000,2930,2115,1826
$GC,11140,1.50,271.2,406.0,5.3,533,11170,0.00,2.72,22.02,1.098,4,0.000,0.070,2930,3530,1726
$GC,11188,1.54,271.2,403.0,6.2,535,11193,0.15,2.60,0.00,0.000,6,0.057,0.058,2968,2119,1726
$GC,11511,1.47,271.2,378.8,8.4,551,11513,0.12,0.00,0.00,0.000,6,0.086,0.000,2943,2119,1727
$GC,11819,1.47,271.2,355.6,7.7,566,11820,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2119,1727
$GC,12128,1.47,271.2,330.4,8.5,581,12132,0.00,2.55,0.00,0.000,4,0.000,0.069,2943,714,1727
$GC,12151,1.47,271.2,328.2,10.0,582,12155,0.00,2.55,0.00,0.000,6,0.000,0.054,2943,2135,1727
$GC,12472,1.47,271.2,301.7,7.8,598,12473,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2135,1728
$GC,12781,1.47,271.2,276.9,7.8,613,12785,0.00,2.62,0.00,0.000,4,0.000,0.068,2943,707,1728
$GC,12814,1.47,271.2,274.1,8.0,614,12821,0.00,2.55,0.00,0.000,6,0.000,0.054,2943,2130,1728
$GC,13130,1.47,271.2,247.3,8.5,630,13131,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2130,1728
$GC,13439,1.47,271.2,222.4,7.6,645,13443,0.00,2.60,0.00,0.000,4,0.000,0.068,2943,715,1729
$GC,13472,1.47,271.2,219.8,7.7,646,13478,0.00,2.53,0.00,0.000,6,0.000,0.054,2943,2126,1729
$GC,13790,1.50,286.0,200.4,5.6,662,13812,0.00,2.65,14.62,0.910,4,0.000,0.069,2943,717,1665
$GC,13835,1.50,286.0,197.6,6.1,664,13840,0.00,2.53,0.00,0.000,6,0.000,0.053,2943,2117,1665
$GC,14163,1.50,286.0,177.3,6.0,680,14164,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2117,1665
$GC,14471,1.50,286.0,158.2,6.5,695,14476,0.00,2.58,0.00,0.000,4,0.000,0.069,2943,716,1665
$GC,14499,1.50,286.0,155.9,8.3,696,14503,0.00,2.50,0.00,0.000,6,0.000,0.054,2943,2116,1665
$GC,14815,1.50,286.0,132.8,7.1,711,14816,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2116,1665
$GC,15124,1.50,286.0,106.4,8.1,726,15125,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2115,1665
$GC,15433,1.50,287.1,86.3,6.0,741,15435,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2130,1666
$GC,15745,1.50,287.1,60.3,8.4,756,15746,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2130,1666
$GC,16052,1.50,289.0,34.5,5.9,771,16061,0.00,2.55,4.50,0.618,4,0.000,0.063,2943,714,1652
$GC,16090,1.56,289.0,30.8,9.8,772,16096,0.00,2.47,0.00,0.000,6,0.000,0.053,2943,2095,1653
$STATE,16343,end climb,SURFACE_DEPTH_REACHED
$STATE,16343,begin surface coast
$FINISH,0.8,1.027404
$STATE,16363,end surface coast,CONTROL_FINISHED_OK
$STATE,16364,begin surface
$SM_CCo,16447,0.00,0.000,0,0,1652,289.70
$SM_GC,0.82,10.95,0.00,0.00,0.039,0.000,0.000,422,1988,1652,-10.04,-0.34,289.70
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1818
$TCM_TEMP,17.10
$XPDR_PINGS,48
$ALTIM_BOTTOM_PING,526.3,80.7
$24V_AH,23.8,55.067
$10V_AH,10.1,27.116
$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,24.750,128.225,393.225,0.000,0.000,151.049,180.304,263.914,16.500,0.000,0.000,32.719,1433.263,12812.234,540.332,1683.001,905.428,0.000,1386.087,0.000,1628.056,0.000,31.964,0.000
$DEVICE_MAMPS,134.992,76.700,1241.773,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,575.593,529.167,486.101,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41165,786
$CAP_FILE_SIZE,124595,0
$CFSIZE,254472192,232857600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,0,0
$GPS,130109,034055,6059.850,-247.982,36,2.0,54,-5.8