version: 66.04
glider: 5
mission: 5
dive: 249
start: 12 29 108 16 22 53
data:
$ID,5
$MISSION,5
$DIVE,249
$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,-92168.758
$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,23
$R_STBD_OVSHOOT,20
$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,20
$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,0
$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
$GPS1,161307,6052.729,-514.519,40,1.2,53,-7.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-62.1
$GPS2,162233,6052.640,-514.557,12,1.9,12,-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,295.8,30803,-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,-81.60,0.000,2,0.000,0.000,421,1976,3375
$GC,102,-0.97,-146.6,4.8,-5.8,4,125,10.82,2.53,-1.25,0.000,4,0.138,0.074,2481,592,3432
$GC,245,-0.75,-146.6,30.2,-12.3,10,250,0.28,2.53,0.00,0.000,6,0.087,0.053,2539,2006,3432
$GC,568,-0.69,-146.6,53.1,-6.3,26,572,0.00,2.60,0.00,0.000,4,0.000,0.067,2539,591,3433
$GC,595,-0.62,-146.6,55.0,-6.4,27,600,0.12,2.53,0.00,0.000,6,0.093,0.054,2565,1999,3432
$GC,914,-0.62,-146.6,72.5,-5.5,42,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2000,3433
$GC,1221,-0.62,-146.6,88.5,-6.1,57,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2000,3433
$GC,1530,-0.62,-146.6,108.0,-6.8,72,1534,0.00,2.60,0.00,0.000,4,0.000,0.067,2566,589,3433
$GC,1570,-0.62,-146.6,110.7,-6.8,74,1575,0.00,2.50,0.00,0.000,6,0.000,0.054,2566,1988,3433
$GC,1898,-0.62,-146.6,133.7,-6.7,90,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1988,3433
$GC,2207,-0.62,-146.6,155.3,-7.6,105,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1989,3433
$GC,2517,-0.62,-146.6,176.0,-6.5,120,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1989,3433
$GC,2825,-0.62,-146.6,194.9,-6.0,135,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1989,3433
$GC,3134,-0.62,-146.6,215.2,-6.5,150,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1989,3433
$GC,3444,-0.62,-146.6,236.4,-6.9,165,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1990,3433
$GC,3753,-0.62,-146.6,258.3,-7.2,180,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1991,3434
$GC,4062,-0.62,-146.6,280.9,-7.2,195,4066,0.00,2.58,0.00,0.000,4,0.000,0.067,2565,3412,3433
$GC,4107,-0.67,-146.6,284.4,-8.0,197,4112,0.00,2.58,0.00,0.000,6,0.000,0.055,2565,1979,3433
$GC,4428,-0.67,-146.6,307.9,-6.8,213,4432,0.00,2.62,0.00,0.000,4,0.000,0.065,2565,3414,3433
$GC,4468,-0.72,-146.6,310.6,-6.8,215,4473,0.10,2.55,0.00,0.000,6,0.065,0.054,2537,1995,3433
$GC,4796,-0.67,-146.6,336.3,-8.2,231,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1994,3433
$GC,5105,-0.62,-146.6,360.7,-7.5,246,5110,0.12,2.60,0.00,0.000,4,0.090,0.071,2563,3405,3433
$GC,5172,-0.67,-146.6,365.3,-6.8,249,5177,0.00,2.53,0.00,0.000,6,0.000,0.057,2563,2005,3433
$GC,5494,-0.67,-146.6,385.3,-6.1,265,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2005,3433
$GC,5803,-0.67,-146.6,403.4,-5.8,280,5807,0.00,2.58,0.00,0.000,4,0.000,0.077,2563,594,3433
$GC,5837,-0.67,-146.6,405.6,-6.6,281,5843,0.00,2.55,0.00,0.000,6,0.000,0.060,2563,2011,3433
$GC,6153,-0.67,-146.6,423.9,-5.8,297,6157,0.00,2.58,0.00,0.000,4,0.000,0.076,2563,3414,3432
$GC,6203,-0.73,-146.6,427.1,-6.7,299,6208,0.10,2.58,0.00,0.000,6,0.063,0.064,2535,2005,3432
$GC,6519,-0.73,-146.6,449.0,-6.7,314,6523,0.00,2.60,0.00,0.000,4,0.000,0.081,2535,590,3431
$GC,6552,-0.73,-146.6,451.4,-7.3,315,6558,0.00,2.58,0.00,0.000,6,0.000,0.064,2535,2011,3431
$GC,6868,-0.73,-146.6,472.2,-6.1,331,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2011,3430
$GC,7178,-0.73,-146.6,492.3,-6.6,346,7182,0.00,2.60,0.00,0.000,4,0.000,0.083,2535,3413,3429
$GC,7228,-0.73,-146.6,496.0,-7.7,348,7232,0.00,2.60,0.00,0.000,6,0.000,0.071,2535,2010,3430
$GC,7543,-0.73,-146.6,517.6,-6.9,363,7548,0.00,2.65,0.00,0.000,4,0.000,0.087,2535,584,3428
$GC,7593,-0.73,-146.6,521.6,-7.9,365,7598,0.00,2.62,0.00,0.000,6,0.000,0.069,2535,2017,3428
$GC,7909,-0.73,-146.6,544.4,-7.5,380,7910,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2018,3427
$GC,8218,-0.73,-146.6,567.0,-7.6,395,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2017,3426
$GC,8528,-0.73,-146.6,589.2,-7.2,410,8533,0.00,2.72,0.00,0.000,4,0.000,0.092,2535,593,3425
$GC,8572,-0.73,-146.6,592.9,-7.9,412,8577,0.00,2.62,0.00,0.000,6,0.000,0.073,2535,2013,3425
$GC,8894,-0.73,-146.6,618.4,-8.1,428,8895,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2015,3425
$GC,9203,-0.73,-146.6,641.6,-7.4,443,9208,0.00,2.65,0.00,0.000,4,0.000,0.091,2535,3415,3423
$GC,9237,-0.73,-146.6,644.2,-7.7,444,9243,0.00,2.65,0.00,0.000,6,0.000,0.079,2535,2001,3423
$GC,9552,-0.73,-146.6,667.0,-7.6,460,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2001,3422
$GC,9862,-0.73,-146.6,690.7,-7.3,475,9867,0.00,2.70,0.00,0.000,4,0.000,0.089,2535,3411,3421
$GC,9895,-0.73,-146.6,693.4,-8.2,476,9901,0.00,2.65,0.00,0.000,6,0.000,0.077,2535,1998,3421
$STATE,10063,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10063,begin apogee
$GC,10071,-0.33,0.0,706.3,8.3,485,10205,0.43,0.00,127.30,1.434,6,0.092,0.000,2623,2210,2832
$STATE,10206,end apogee,CONTROL_FINISHED_OK
$STATE,10206,begin climb
$GC,10210,0.97,146.6,710.4,0.0,492,10349,1.38,2.75,129.43,1.383,4,0.070,0.090,2912,3608,2234
$GC,10375,0.92,163.4,704.8,5.5,500,10398,0.00,2.70,16.23,1.266,6,0.000,0.077,2913,2197,2165
$GC,10707,0.97,192.4,686.1,5.2,516,10742,0.00,2.80,26.70,1.321,4,0.000,0.090,2913,791,2046
$GC,10782,0.97,192.4,681.7,6.1,519,10786,0.00,2.67,0.00,0.000,6,0.000,0.074,2913,2205,2046
$GC,11098,0.98,197.4,665.5,5.9,534,11110,0.00,2.78,6.00,1.088,4,0.000,0.089,2913,789,2026
$GC,11139,1.00,210.8,663.0,5.6,536,11161,0.00,2.67,13.68,1.272,6,0.000,0.074,2913,2201,1971
$GC,11470,1.00,210.8,643.3,6.3,552,11475,0.00,2.75,0.00,0.000,4,0.000,0.091,2913,786,1971
$GC,11498,1.00,210.8,641.3,7.0,553,11502,0.00,2.65,0.00,0.000,6,0.000,0.076,2913,2192,1971
$GC,11814,1.00,210.8,621.8,6.2,568,11818,0.00,2.72,0.00,0.000,4,0.000,0.092,2913,788,1971
$GC,11846,1.00,210.8,619.4,6.8,569,11852,0.00,2.62,0.00,0.000,6,0.000,0.075,2913,2183,1970
$GC,12163,1.00,210.8,599.7,6.3,585,12167,0.00,2.70,0.00,0.000,4,0.000,0.091,2913,786,1970
$GC,12190,1.00,210.8,597.8,6.8,586,12194,0.00,2.62,0.00,0.000,6,0.000,0.075,2913,2184,1970
$GC,12506,1.00,210.8,577.9,6.1,601,12507,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2184,1970
$GC,12815,1.00,210.8,558.9,6.4,616,12820,0.00,2.67,0.00,0.000,4,0.000,0.091,2913,788,1969
$GC,12855,1.00,210.8,556.2,6.5,618,12859,0.00,2.58,0.00,0.000,6,0.000,0.074,2913,2175,1969
$GC,13181,1.00,210.8,536.5,6.4,634,13186,0.00,2.67,0.00,0.000,4,0.000,0.090,2912,784,1969
$GC,13222,1.00,210.8,533.9,7.3,636,13227,0.00,2.58,0.00,0.000,6,0.000,0.075,2913,2161,1969
$GC,13549,1.00,210.8,513.8,6.3,652,13550,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2161,1968
$GC,13858,1.00,210.8,494.3,6.3,667,13863,0.00,2.62,0.00,0.000,4,0.000,0.090,2912,791,1969
$GC,13921,1.00,210.8,489.8,7.2,670,13926,0.00,2.55,0.00,0.000,6,0.000,0.074,2913,2156,1969
$GC,14248,1.01,216.4,469.8,5.8,686,14260,0.00,2.67,6.00,1.077,4,0.000,0.087,2913,783,1948
$GC,14289,1.01,216.4,467.3,6.3,688,14293,0.00,2.58,0.00,0.000,6,0.000,0.074,2913,2153,1948
$GC,14616,1.02,225.4,448.4,5.8,704,14627,0.00,0.00,9.27,1.169,6,0.000,0.000,2913,2154,1913
$GC,14924,1.03,229.9,430.3,5.9,719,14932,0.00,0.00,5.65,1.030,6,0.000,0.000,2913,2154,1894
$GC,15234,1.03,229.9,411.4,6.2,734,15238,0.00,2.60,0.00,0.000,4,0.000,0.085,2913,791,1894
$GC,15274,1.03,229.9,408.8,6.7,736,15278,0.00,2.53,0.00,0.000,6,0.000,0.071,2913,2147,1894
$GC,15601,1.07,229.9,388.4,6.3,752,15605,0.00,2.58,0.00,0.000,4,0.000,0.084,2913,790,1894
$GC,15628,1.07,229.9,386.6,7.1,753,15633,0.00,2.50,0.00,0.000,6,0.000,0.071,2913,2138,1894
$GC,15945,1.13,234.9,367.4,5.9,768,15959,0.12,2.60,6.28,1.022,4,0.062,0.081,2947,790,1873
$GC,15988,1.06,234.9,364.3,7.9,770,15993,0.00,2.50,0.00,0.000,6,0.000,0.068,2946,2135,1872
$GC,16317,1.01,234.9,341.6,6.9,786,16322,0.15,2.75,0.00,0.000,4,0.097,0.081,2917,3607,1873
$GC,16362,1.05,234.9,338.4,6.4,788,16366,0.00,2.72,0.00,0.000,6,0.000,0.064,2917,2125,1873
$GC,16684,1.14,263.4,321.1,5.2,804,16711,0.12,0.00,25.17,1.146,6,0.065,0.000,2949,2125,1758
$GC,17012,1.14,263.4,298.9,6.8,820,17016,0.00,2.78,0.00,0.000,4,0.000,0.074,2949,3609,1759
$GC,17078,1.14,263.4,293.8,8.1,823,17083,0.00,2.67,0.00,0.000,6,0.000,0.058,2949,2138,1759
$GC,17399,1.14,263.4,269.9,7.5,839,17403,0.00,2.47,0.00,0.000,4,0.000,0.071,2949,783,1760
$GC,17433,1.09,263.4,266.9,9.5,840,17440,0.00,2.47,0.00,0.000,6,0.000,0.062,2949,2144,1760
$GC,17749,1.09,263.4,243.5,7.5,856,17750,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2146,1761
$GC,18059,1.09,263.4,219.3,8.0,871,18060,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2146,1761
$GC,18368,1.09,263.4,194.8,7.7,886,18372,0.00,2.50,0.00,0.000,4,0.000,0.068,2949,790,1762
$GC,18407,1.09,263.4,191.4,8.4,887,18413,0.00,2.45,0.00,0.000,6,0.000,0.059,2949,2147,1762
$GC,18722,1.09,263.4,167.8,7.3,903,18724,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2147,1763
$GC,19032,1.09,263.4,144.0,7.7,918,19036,0.00,2.50,0.00,0.000,4,0.000,0.067,2949,787,1764
$GC,19059,1.09,263.4,141.6,9.0,919,19063,0.00,2.42,0.00,0.000,6,0.000,0.055,2949,2140,1764
$GC,19377,1.09,263.4,119.1,7.0,934,19378,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2140,1765
$GC,19684,1.09,263.4,97.9,6.6,949,19688,0.00,2.50,0.00,0.000,4,0.000,0.068,2949,781,1765
$GC,19717,1.09,263.4,95.4,6.9,950,19724,0.00,2.42,0.00,0.000,6,0.000,0.055,2949,2133,1765
$GC,20036,1.09,263.4,74.0,6.6,966,20037,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2132,1766
$GC,20343,1.09,263.4,52.0,7.4,981,20344,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2133,1767
$GC,20652,1.09,263.4,28.8,7.3,996,20661,0.00,2.70,3.85,0.590,4,0.000,0.066,2949,3616,1758
$GC,20697,1.09,263.4,25.3,9.1,998,20702,0.00,2.67,0.00,0.000,6,0.000,0.052,2949,2115,1758
$STATE,20980,end climb,SURFACE_DEPTH_REACHED
$STATE,20980,begin surface coast
$FINISH,0.4,1.027460
$STATE,21025,end surface coast,CONTROL_FINISHED_OK
$STATE,21025,begin surface
$SM_CCo,21108,0.00,0.000,0,0,1757,263.70
$SM_GC,1.35,11.12,0.00,0.00,0.043,0.000,0.000,421,1980,1757,-10.39,-0.57,263.70
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1789
$TCM_TEMP,16.60
$XPDR_PINGS,228
$ALTIM_TOP_PING,19.0,18.6
$ALTIM_BOTTOM_PING,650.6,64.6
$24V_AH,23.6,43.873
$10V_AH,10.1,21.646
$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,24.875,178.025,375.550,0.000,0.000,75.515,60.351,229.047,63.000,0.000,0.000,12.310,1831.786,16497.695,553.222,2051.887,732.057,0.000,1592.764,0.000,2011.377,0.000,40.631,0.000
$DEVICE_MAMPS,138.060,92.040,1433.523,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,754.437,685.310,623.585,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50588,1014
$CAP_FILE_SIZE,151138,0
$CFSIZE,254472192,236888064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,54,0,0
$GPS,291208,221556,6052.560,-520.594,39,1.8,39,-7.1