version: 66.04
glider: 5
mission: 5
dive: 338
start: 1 18 109 18 59 39
data:
$ID,5
$MISSION,5
$DIVE,338
$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,-93981.055
$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,34
$R_STBD_OVSHOOT,21
$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
$GPS1,185307,6058.153,-510.381,33,1.0,33,-7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-54.6
$GPS2,185919,6058.150,-510.387,10,1.1,15,-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,276.5,32910,-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,-146.6,0.0,0.0,0,138,0.00,0.00,-116.55,0.000,6,0.000,0.000,422,1970,3429
$GC,141,-0.97,-146.6,6.6,-6.8,6,157,11.10,2.50,0.00,0.000,4,0.137,0.061,2527,595,3429
$GC,254,-0.87,-146.6,27.4,-9.4,10,259,0.12,2.53,0.00,0.000,6,0.091,0.054,2553,2004,3430
$GC,577,-0.87,-146.6,50.4,-6.2,26,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2005,3431
$GC,885,-0.87,-146.6,70.3,-6.6,41,890,0.00,2.58,0.00,0.000,4,0.000,0.065,2553,596,3430
$GC,926,-0.87,-146.6,73.1,-7.5,43,930,0.00,2.50,0.00,0.000,6,0.000,0.054,2553,1992,3431
$GC,1253,-0.87,-146.6,95.5,-7.6,59,1257,0.00,2.55,0.00,0.000,4,0.000,0.065,2553,3406,3431
$GC,1280,-0.87,-146.6,97.7,-7.5,60,1285,0.00,2.53,0.00,0.000,6,0.000,0.050,2553,1994,3431
$GC,1597,-0.83,-146.6,124.0,-7.6,75,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1993,3431
$GC,1906,-0.83,-146.6,145.3,-7.2,90,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1993,3431
$GC,2215,-0.83,-146.6,168.9,-10.4,105,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1993,3430
$GC,2524,-0.83,-146.6,194.6,-8.2,120,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1993,3431
$GC,2833,-0.83,-146.6,218.2,-6.9,135,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1993,3430
$GC,3143,-0.83,-146.6,242.1,-7.5,150,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1993,3430
$GC,3451,-0.83,-146.6,266.6,-8.0,165,3456,0.00,2.60,0.00,0.000,4,0.000,0.064,2553,3414,3430
$GC,3496,-0.83,-146.6,270.5,-8.6,167,3500,0.00,2.58,0.00,0.000,6,0.000,0.052,2553,1975,3430
$GC,3817,-0.83,-146.6,297.0,-8.1,183,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1975,3430
$GC,4126,-0.83,-146.6,321.2,-7.6,198,4130,0.00,2.62,0.00,0.000,4,0.000,0.067,2553,3405,3430
$GC,4153,-0.83,-146.6,323.3,-7.6,199,4158,0.00,2.55,0.00,0.000,6,0.000,0.054,2553,1981,3431
$GC,4470,-0.83,-146.6,346.7,-7.5,214,4473,0.00,2.50,0.00,0.000,4,0.000,0.067,2552,586,3430
$GC,4508,-0.83,-146.6,350.0,-8.3,215,4516,0.00,2.50,0.00,0.000,6,0.000,0.055,2553,1990,3430
$GC,4824,-0.83,-146.6,372.7,-6.9,231,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2006,3430
$GC,5135,-0.83,-146.6,393.6,-7.2,246,5138,0.00,2.55,0.00,0.000,4,0.000,0.068,2553,3405,3430
$GC,5182,-0.83,-146.6,397.3,-7.8,248,5186,0.00,2.58,0.00,0.000,6,0.000,0.056,2553,1975,3430
$GC,5508,-0.83,-146.6,422.9,-7.9,264,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1975,3430
$GC,5818,-0.83,-146.6,447.1,-7.6,279,5823,0.00,2.65,0.00,0.000,4,0.000,0.070,2553,3410,3430
$GC,5880,-0.83,-146.6,451.7,-7.7,282,5884,0.00,2.55,0.00,0.000,6,0.000,0.058,2553,1993,3430
$GC,6207,-0.83,-146.6,470.5,-5.0,298,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1994,3430
$GC,6516,-0.83,-146.6,487.9,-6.7,313,6521,0.00,2.62,0.00,0.000,4,0.000,0.071,2553,3411,3430
$GC,6544,-0.83,-146.6,490.2,-7.9,314,6548,0.00,2.58,0.00,0.000,6,0.000,0.059,2553,1991,3430
$GC,6860,-0.83,-146.6,510.8,-6.2,329,6864,0.00,2.55,0.00,0.000,4,0.000,0.074,2553,587,3429
$GC,6927,-0.83,-146.6,515.1,-6.6,332,6931,0.00,2.53,0.00,0.000,6,0.000,0.060,2553,1988,3429
$GC,7248,-0.83,-146.6,532.5,-5.2,348,7249,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1988,3429
$GC,7558,-0.83,-146.6,550.6,-6.1,363,7562,0.00,2.62,0.00,0.000,4,0.000,0.082,2553,591,3428
$GC,7591,-0.83,-146.6,553.0,-7.4,364,7597,0.00,2.53,0.00,0.000,6,0.000,0.067,2553,1971,3428
$GC,7907,-0.83,-146.6,573.1,-6.4,380,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1973,3427
$GC,8216,-0.83,-146.6,591.0,-5.8,395,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1973,3426
$GC,8526,-0.83,-146.6,610.5,-6.3,410,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1973,3425
$GC,8836,-0.83,-146.6,629.4,-6.0,425,8841,0.00,2.67,0.00,0.000,4,0.000,0.087,2553,3405,3424
$GC,8887,-0.87,-146.6,632.5,-6.4,427,8892,0.00,2.67,0.00,0.000,6,0.000,0.075,2553,1975,3423
$GC,9204,-0.87,-146.6,648.9,-5.2,442,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1975,3423
$GC,9512,-0.87,-146.6,667.3,-6.4,457,9517,0.00,2.75,0.00,0.000,4,0.000,0.088,2553,3411,3421
$GC,9545,-0.91,-146.6,669.5,-6.4,458,9551,0.00,2.70,0.00,0.000,6,0.000,0.077,2553,1974,3420
$STATE,9776,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9776,begin apogee
$GC,9784,-0.33,0.0,684.2,6.4,470,9919,0.57,0.00,129.65,1.397,6,0.091,0.000,2671,2142,2832
$STATE,9919,end apogee,CONTROL_FINISHED_OK
$STATE,9919,begin climb
$GC,9922,0.97,146.6,686.7,0.0,477,10061,1.33,2.83,130.82,1.346,4,0.080,0.090,2949,716,2233
$GC,10111,0.78,146.6,679.1,6.3,485,10116,0.17,2.67,0.00,0.000,6,0.096,0.074,2916,2130,2233
$GC,10438,0.73,146.6,660.4,6.0,501,10440,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2130,2232
$GC,10749,0.68,147.5,641.3,6.0,516,10751,0.12,0.00,0.00,0.000,6,0.104,0.000,2893,2130,2231
$GC,11057,0.74,186.3,626.3,4.9,531,11099,0.00,2.83,35.22,1.337,4,0.000,0.089,2892,714,2072
$GC,11128,0.74,186.3,622.1,6.1,534,11132,0.00,2.67,0.00,0.000,6,0.000,0.074,2892,2122,2072
$GC,11450,0.81,190.4,604.0,5.9,550,11461,0.12,2.72,5.57,1.048,4,0.070,0.089,2924,3532,2054
$GC,11491,0.77,190.4,601.2,7.6,552,11495,0.00,2.70,0.00,0.000,6,0.000,0.077,2923,2117,2054
$GC,11818,0.78,196.2,581.0,5.8,568,11831,0.00,2.78,6.55,1.115,4,0.000,0.091,2923,706,2032
$GC,11862,0.73,196.2,578.3,6.4,570,11867,0.00,2.67,0.00,0.000,6,0.000,0.075,2924,2122,2032
$GC,12191,0.73,198.1,559.1,5.9,586,12192,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2122,2031
$GC,12499,0.75,207.9,540.8,5.7,601,12520,0.00,2.83,11.75,1.245,4,0.000,0.087,2923,709,1983
$GC,12548,0.75,207.9,537.5,6.4,603,12553,0.00,2.67,0.00,0.000,6,0.000,0.074,2923,2122,1983
$GC,12870,0.75,207.9,516.6,6.7,619,12872,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2122,1982
$GC,13179,0.79,233.4,497.7,5.3,634,13208,0.00,2.80,23.12,1.289,4,0.000,0.087,2924,719,1880
$GC,13290,0.83,256.3,490.7,5.4,639,13316,0.00,2.62,21.20,1.266,6,0.000,0.073,2923,2116,1787
$GC,13639,0.83,256.3,469.7,6.5,656,13643,0.00,2.67,0.00,0.000,4,0.000,0.086,2924,715,1788
$GC,13683,0.83,256.3,466.6,6.6,658,13687,0.00,2.60,0.00,0.000,6,0.000,0.071,2923,2105,1787
$GC,14005,0.85,270.0,448.2,5.6,674,14023,0.00,0.00,13.77,1.197,6,0.000,0.000,2924,2105,1730
$GC,14333,0.90,270.0,427.5,6.7,690,14335,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2105,1730
$GC,14643,0.95,270.0,406.3,6.3,705,14648,0.12,2.67,0.00,0.000,4,0.062,0.076,2958,3540,1731
$GC,14671,0.95,270.0,404.1,8.0,706,14675,0.00,2.67,0.00,0.000,6,0.000,0.064,2957,2089,1731
$GC,14987,0.89,270.0,380.0,7.5,721,14992,0.00,2.70,0.00,0.000,4,0.000,0.071,2958,3534,1732
$GC,15014,0.84,270.0,377.8,8.1,722,15020,0.15,2.65,0.00,0.000,6,0.092,0.062,2929,2089,1732
$GC,15331,0.86,281.2,359.1,5.7,737,15352,0.00,2.80,11.62,1.069,4,0.000,0.068,2929,3536,1685
$GC,15376,0.92,285.0,356.3,5.9,739,15386,0.00,2.62,4.85,0.848,6,0.000,0.058,2929,2105,1670
$GC,15704,1.00,297.6,337.7,5.7,755,15726,0.15,2.62,12.38,1.046,4,0.058,0.069,2968,716,1617
$GC,15755,0.92,297.6,333.5,8.6,757,15760,0.12,2.55,0.00,0.000,6,0.088,0.056,2944,2114,1617
$GC,16077,0.92,297.6,311.5,6.8,773,16078,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2114,1618
$GC,16386,0.94,305.9,292.4,5.8,788,16400,0.00,2.65,8.95,0.957,4,0.000,0.070,2944,707,1583
$GC,16423,0.94,305.9,289.9,7.4,789,16429,0.00,2.55,0.00,0.000,6,0.000,0.055,2943,2108,1583
$GC,16739,0.94,305.9,266.0,8.0,805,16741,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2108,1584
$GC,17048,0.94,305.9,243.5,7.0,820,17052,0.00,2.58,0.00,0.000,4,0.000,0.070,2943,716,1585
$GC,17087,0.94,305.9,240.3,8.6,822,17092,0.00,2.50,0.00,0.000,6,0.000,0.054,2943,2107,1585
$GC,17415,0.94,305.9,215.0,7.8,838,17416,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2106,1586
$GC,17723,0.94,305.9,192.2,7.4,853,17725,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2106,1586
$GC,18033,0.94,305.9,169.3,7.3,868,18037,0.00,2.58,0.00,0.000,4,0.000,0.068,2944,705,1587
$GC,18065,0.94,305.9,166.5,8.5,869,18071,0.00,2.50,0.00,0.000,6,0.000,0.054,2944,2099,1587
$GC,18382,0.94,305.9,142.9,7.9,885,18383,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2100,1587
$GC,18691,0.94,305.9,120.5,6.3,900,18692,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2113,1588
$GC,19001,0.94,305.9,101.9,6.6,915,19003,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2113,1588
$GC,19310,0.98,305.9,78.7,7.9,930,19315,0.00,2.58,0.00,0.000,4,0.000,0.067,2944,707,1588
$GC,19355,0.98,305.9,74.9,8.2,932,19359,0.00,2.47,0.00,0.000,6,0.000,0.054,2944,2089,1588
$GC,19676,0.98,305.9,49.0,9.3,948,19677,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2108,1588
$GC,19987,1.04,305.9,20.2,8.7,963,19991,0.12,2.55,0.00,0.000,4,0.056,0.067,2979,712,1589
$GC,20031,0.98,305.9,16.3,6.6,965,20035,0.00,2.45,0.00,0.000,6,0.000,0.052,2979,2081,1589
$STATE,20184,end climb,SURFACE_DEPTH_REACHED
$STATE,20185,begin surface coast
$FINISH,-0.0,1.027450
$STATE,20227,end surface coast,CONTROL_FINISHED_OK
$STATE,20227,begin surface
$SM_CCo,20311,0.00,0.000,0,0,1589,304.91
$SM_GC,0.94,11.23,0.00,0.00,0.040,0.000,0.000,420,1977,1589,-10.60,-1.07,304.91
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1798
$TCM_TEMP,16.80
$XPDR_PINGS,35
$ALTIM_BOTTOM_PING,625.8,67.2
$24V_AH,23.6,59.020
$10V_AH,10.1,29.184
$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,25.450,152.375,415.475,0.000,0.000,37.755,30.486,163.454,14.250,0.000,0.000,15.749,1746.179,15785.365,587.790,1971.782,586.209,0.000,1593.312,0.000,1930.422,0.000,37.697,0.000
$DEVICE_MAMPS,137.293,90.506,1397.474,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,722.127,657.865,594.483,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50641,975
$CAP_FILE_SIZE,140981,0
$CFSIZE,254472192,231350272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,45,0,0
$GPS,190109,003930,6057.179,-518.884,43,1.8,43,-7.1