version: 66.04
glider: 5
mission: 5
dive: 337
start: 1 18 109 12 44 44
data:
$ID,5
$MISSION,5
$DIVE,337
$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,-1
$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,-93964.68
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$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,30
$R_STBD_OVSHOOT,51
$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
$GPS1,123407,6057.000,-507.574,36,1.6,37,-7.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-46.6
$GPS2,124425,6057.094,-507.291,17,2.0,17,-7.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_NW
$TGT_LATLONG,6058.000,-547.000
$TGT_RADIUS,5000.000
$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,279.7,35730,-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,-146.6,0.0,0.0,0,168,0.00,0.00,-149.07,0.000,6,0.000,0.000,421,1968,3431
$GC,172,-0.97,-146.6,5.3,-4.9,8,188,11.05,2.53,0.00,0.000,4,0.136,0.061,2525,588,3431
$GC,315,-0.89,-146.6,22.5,1.0,13,320,0.12,2.50,0.00,0.000,6,0.096,0.054,2552,1980,3432
$GC,632,-0.80,-146.6,57.9,-8.4,28,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1987,3432
$GC,941,-0.80,-146.6,82.0,-4.9,43,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1984,3431
$GC,1251,-0.75,-146.6,98.2,-4.0,58,1253,0.15,0.00,0.00,0.000,6,0.086,0.000,2583,1984,3431
$GC,1560,-0.83,-146.6,110.9,-3.1,73,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1984,3432
$GC,1871,-0.89,-146.6,123.0,-6.7,88,1873,0.15,0.00,0.00,0.000,6,0.051,0.000,2545,1986,3432
$GC,2178,-0.84,-146.6,149.0,-7.9,103,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1997,3432
$GC,2487,-0.79,-146.6,177.4,-9.7,118,2489,0.12,0.00,0.00,0.000,6,0.091,0.000,2571,1986,3431
$GC,2797,-0.79,-146.6,203.2,-8.7,133,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2003,3432
$GC,3105,-0.79,-146.6,223.8,-6.5,148,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2001,3431
$GC,3414,-0.79,-146.6,244.4,-6.8,163,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1996,3432
$GC,3724,-0.79,-146.6,265.2,-7.1,178,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1996,3432
$GC,4033,-0.79,-146.6,290.9,-8.4,193,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1997,3432
$GC,4342,-0.79,-146.6,312.0,-6.2,208,4346,0.00,2.55,0.00,0.000,4,0.000,0.066,2571,3408,3431
$GC,4393,-0.84,-146.6,315.6,-6.9,210,4397,0.00,2.53,0.00,0.000,6,0.000,0.054,2571,2000,3432
$GC,4708,-0.84,-146.6,336.7,-6.7,225,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2000,3432
$GC,5019,-0.84,-146.6,353.4,-5.1,240,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2000,3432
$GC,5327,-0.84,-146.6,378.0,-10.0,255,5331,0.00,2.58,0.00,0.000,4,0.000,0.066,2570,3407,3432
$GC,5367,-0.89,-146.6,381.5,-8.5,257,5371,0.00,2.53,0.00,0.000,6,0.000,0.054,2571,1998,3432
$GC,5695,-0.93,-146.6,399.4,-5.9,273,5697,0.12,0.00,0.00,0.000,6,0.061,0.000,2536,1998,3431
$GC,6003,-0.87,-146.6,429.8,-10.4,288,6007,0.00,2.60,0.00,0.000,4,0.000,0.068,2536,3409,3432
$GC,6031,-0.82,-146.6,432.5,-9.4,289,6036,0.15,2.53,0.00,0.000,6,0.091,0.058,2567,2014,3432
$GC,6347,-0.82,-146.6,455.9,-7.3,304,6348,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2014,3431
$GC,6656,-0.86,-146.6,474.6,-6.1,319,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2013,3431
$GC,6966,-0.91,-146.6,490.4,-5.3,334,6971,0.00,2.58,0.00,0.000,4,0.000,0.071,2567,3406,3431
$GC,7000,-0.97,-146.6,492.6,-6.6,335,7007,0.15,2.53,0.00,0.000,6,0.062,0.060,2528,2011,3431
$GC,7317,-0.91,-146.6,517.0,-8.0,351,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2012,3430
$GC,7627,-0.84,-146.6,543.6,-8.6,366,7629,0.15,0.00,0.00,0.000,6,0.096,0.000,2559,2010,3430
$GC,7935,-0.84,-146.6,565.4,-6.8,381,7936,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2010,3429
$GC,8245,-0.88,-146.6,583.4,-5.9,396,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2010,3429
$GC,8555,-0.88,-146.6,599.7,-5.7,411,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2010,3428
$GC,8863,-0.88,-146.6,622.3,-7.5,426,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2010,3427
$GC,9172,-0.88,-146.6,640.5,-5.1,441,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2010,3426
$GC,9483,-0.94,-146.6,657.9,-6.2,456,9484,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2010,3425
$GC,9791,-0.98,-146.6,678.3,-6.5,471,9796,0.12,2.65,0.00,0.000,4,0.069,0.084,2527,3405,3423
$GC,9848,-0.98,-146.6,682.6,-8.6,473,9854,0.00,2.60,0.00,0.000,6,0.000,0.074,2527,2009,3423
$GC,10164,-0.94,-146.6,705.4,-7.5,489,10168,0.00,2.65,0.00,0.000,4,0.000,0.087,2527,589,3422
$GC,10197,-0.89,-146.6,708.0,-7.9,490,10204,0.12,2.62,0.00,0.000,6,0.107,0.074,2552,2007,3422
$GC,10514,-0.89,-146.6,728.2,-6.2,506,10515,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2007,3421
$GC,10823,-0.89,-146.6,747.4,-5.9,521,10824,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2008,3419
$STATE,11005,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11005,begin apogee
$GC,11013,-0.33,0.0,758.3,5.8,530,11148,0.57,0.00,131.57,1.457,6,0.090,0.000,2669,2135,2832
$STATE,11149,end apogee,CONTROL_FINISHED_OK
$STATE,11149,begin climb
$GC,11152,0.97,146.6,762.6,0.0,537,11294,1.35,2.85,134.25,1.398,4,0.070,0.092,2953,707,2234
$GC,11362,0.78,146.6,753.0,8.0,547,11367,0.20,2.70,0.00,0.000,6,0.097,0.077,2917,2128,2233
$GC,11679,0.72,146.6,733.1,6.1,562,11680,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2129,2233
$GC,11987,0.68,146.6,713.6,6.2,577,11993,0.12,2.70,0.00,0.000,4,0.100,0.089,2892,3536,2232
$GC,12016,0.68,146.6,711.9,6.6,578,12020,0.00,2.70,0.00,0.000,6,0.000,0.079,2892,2119,2232
$GC,12332,0.76,197.7,696.4,4.6,593,12385,0.00,2.80,46.58,1.397,4,0.000,0.091,2892,713,2025
$GC,12403,0.83,243.4,692.9,4.7,596,12455,0.17,2.70,42.05,1.373,6,0.063,0.075,2934,2130,1839
$GC,12768,0.83,243.4,668.2,7.2,614,12772,0.00,2.75,0.00,0.000,4,0.000,0.092,2934,709,1840
$GC,12812,0.79,243.4,664.3,8.5,616,12817,0.00,2.67,0.00,0.000,6,0.000,0.076,2934,2125,1841
$GC,13134,0.79,243.4,640.6,7.3,632,13135,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2126,1841
$GC,13443,0.79,243.4,618.5,6.7,647,13444,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2126,1840
$GC,13752,0.79,243.4,596.9,8.1,662,13757,0.00,2.72,0.00,0.000,4,0.000,0.091,2934,714,1840
$GC,13793,0.79,243.4,593.2,9.9,664,13798,0.00,2.62,0.00,0.000,6,0.000,0.074,2934,2116,1840
$GC,14120,0.79,243.4,565.7,7.8,680,14121,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2117,1840
$GC,14429,0.79,243.4,541.0,8.5,695,14433,0.00,2.67,0.00,0.000,4,0.000,0.086,2934,3531,1840
$GC,14469,0.79,243.4,537.8,8.2,697,14474,0.00,2.70,0.00,0.000,6,0.000,0.075,2934,2096,1840
$GC,14795,0.79,243.4,512.3,7.1,713,14800,0.00,2.75,0.00,0.000,4,0.000,0.083,2934,3535,1839
$GC,14825,0.79,243.4,510.3,7.1,714,14829,0.00,2.67,0.00,0.000,6,0.000,0.072,2934,2106,1839
$GC,15141,0.79,244.9,489.3,6.0,729,15145,0.00,2.72,0.00,0.000,4,0.000,0.080,2934,3539,1839
$GC,15181,0.81,255.1,487.1,5.7,731,15202,0.00,2.62,11.70,1.203,6,0.000,0.068,2934,2121,1792
$GC,15511,0.81,255.1,467.5,6.3,747,15515,0.00,2.60,0.00,0.000,4,0.000,0.078,2934,716,1792
$GC,15557,0.81,255.1,464.4,6.7,749,15562,0.00,2.60,0.00,0.000,6,0.000,0.065,2934,2129,1792
$GC,15879,0.81,255.1,439.8,8.6,765,15883,0.00,2.60,0.00,0.000,4,0.000,0.077,2934,3538,1792
$GC,15923,0.81,255.1,435.9,8.6,767,15927,0.00,2.62,0.00,0.000,6,0.000,0.064,2934,2115,1792
$GC,16244,0.81,255.1,411.9,7.7,783,16248,0.00,2.58,0.00,0.000,4,0.000,0.074,2934,709,1792
$GC,16307,0.81,255.1,406.7,8.7,786,16311,0.00,2.58,0.00,0.000,6,0.000,0.061,2934,2125,1792
$GC,16633,0.81,255.1,378.8,9.2,802,16634,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2126,1793
$GC,16943,0.81,255.1,353.7,7.7,817,16948,0.00,2.62,0.00,0.000,4,0.000,0.073,2934,707,1794
$GC,16983,0.81,255.1,350.3,9.2,819,16988,0.00,2.55,0.00,0.000,6,0.000,0.059,2934,2120,1794
$GC,17310,0.81,255.1,325.0,7.7,835,17312,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2121,1794
$GC,17620,0.81,255.1,303.4,7.0,850,17621,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2121,1795
$GC,17929,0.81,255.1,282.8,6.5,865,17930,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2121,1796
$GC,18238,0.81,255.1,260.7,7.3,880,18242,0.00,2.60,0.00,0.000,4,0.000,0.070,2934,710,1797
$GC,18266,0.81,255.1,258.6,7.3,881,18270,0.00,2.53,0.00,0.000,6,0.000,0.057,2934,2110,1797
$GC,18582,0.81,255.1,236.1,7.2,896,18586,0.00,2.58,0.00,0.000,4,0.000,0.067,2934,3531,1797
$GC,18609,0.81,255.1,233.9,7.3,897,18613,0.00,2.58,0.00,0.000,6,0.000,0.053,2934,2098,1798
$GC,18926,0.81,255.1,211.1,7.4,912,18927,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2098,1798
$GC,19234,0.81,255.1,190.5,6.2,927,19235,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2098,1798
$GC,19543,0.81,255.1,171.2,6.1,942,19544,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2098,1799
$GC,19853,0.81,255.1,151.6,6.5,957,19858,0.00,2.62,0.00,0.000,4,0.000,0.064,2933,3533,1800
$GC,19887,0.81,255.1,149.1,7.0,958,19893,0.00,2.55,0.00,0.000,6,0.000,0.051,2934,2107,1800
$GC,20204,0.81,255.1,127.3,7.3,974,20209,0.00,0.00,3.62,0.591,6,0.000,0.000,2934,2107,1792
$GC,20515,0.93,305.9,112.3,4.6,989,20559,0.00,0.00,42.25,0.910,6,0.000,0.000,2934,2107,1583
$GC,20864,1.01,318.0,97.4,5.7,1006,20881,0.15,0.00,11.52,0.829,6,0.054,0.000,2976,2107,1534
$GC,21193,0.95,318.0,67.2,9.8,1022,21195,0.12,0.00,0.00,0.000,6,0.084,0.000,2950,2107,1533
$GC,21500,0.95,318.0,43.0,6.6,1037,21504,0.00,2.62,0.00,0.000,4,0.000,0.064,2950,3535,1534
$GC,21518,1.14,403.8,42.5,3.7,1038,21593,0.20,2.58,68.22,0.856,6,0.050,0.051,3002,2101,1186
$GC,21909,1.08,403.8,4.8,11.3,1057,21911,0.12,0.00,0.00,0.000,6,0.084,0.000,2976,2100,1186
$STATE,21927,end climb,SURFACE_DEPTH_REACHED
$STATE,21927,begin surface coast
$FINISH,1.7,1.027472
$STATE,21949,end surface coast,CONTROL_FINISHED_OK
$STATE,21949,begin surface
$SM_CCo,22032,0.00,0.000,0,0,1185,404.01
$SM_GC,0.84,11.38,0.00,0.00,0.044,0.000,0.000,422,1987,1185,-10.60,-0.37,404.01
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1800
$TCM_TEMP,16.70
$XPDR_PINGS,38
$ALTIM_BOTTOM_PING,725.6,42.6
$24V_AH,23.5,58.851
$10V_AH,10.1,29.095
$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,26.825,121.125,491.775,0.000,0.000,75.516,68.199,257.114,16.250,0.000,0.000,17.151,1863.699,17292.705,677.112,2030.425,777.057,0.000,1689.451,0.000,1988.560,0.000,47.185,0.000
$DEVICE_MAMPS,135.759,92.040,1457.300,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,785.298,714.586,644.304,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53722,1059
$CAP_FILE_SIZE,147526,0
$CFSIZE,254472192,231407616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,0,0
$GPS,180109,185307,6058.153,-510.381,33,1.0,33,-7.0