version: 66.04
glider: 5
mission: 5
dive: 316
start: 1 12 109 9 28 33
data:
$ID,5
$MISSION,5
$DIVE,316
$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,270
$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,-93590.68
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,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,30
$R_STBD_OVSHOOT,25
$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
$GPS1,092236,6048.204,-314.178,39,1.1,44,-6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-55.7
$GPS2,092814,6048.303,-313.809,14,1.4,14,-6.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6048.303,-335.948
$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,276.0,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.97,-146.6,0.0,0.0,0,120,0.00,0.00,-99.15,0.000,6,0.000,0.000,418,1980,3430
$GC,124,-0.97,-146.6,5.0,-4.7,5,139,10.32,2.50,0.00,0.000,4,0.137,0.059,2404,593,3431
$GC,209,-0.53,-146.6,27.0,-17.8,8,215,0.50,2.50,0.00,0.000,6,0.086,0.051,2510,1998,3432
$GC,537,-0.39,-146.6,64.4,-11.4,24,539,0.15,0.00,0.00,0.000,6,0.087,0.000,2541,2005,3433
$GC,847,-0.33,-146.6,90.0,-8.3,39,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2005,3433
$GC,1156,-0.27,-146.6,114.9,-7.7,54,1157,0.12,0.00,0.00,0.000,6,0.088,0.000,2568,2005,3432
$GC,1465,-0.27,-146.6,134.9,-6.3,69,1469,0.00,2.55,0.00,0.000,4,0.000,0.064,2568,594,3432
$GC,1506,-0.27,-146.6,137.8,-7.5,71,1510,0.00,2.47,0.00,0.000,6,0.000,0.052,2568,1994,3432
$GC,1832,-0.27,-146.6,159.2,-6.5,87,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1994,3432
$GC,2142,-0.27,-146.6,178.6,-5.9,102,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1994,3432
$GC,2451,-0.27,-146.6,198.0,-6.9,117,2455,0.00,2.55,0.00,0.000,4,0.000,0.067,2568,593,3432
$GC,2484,-0.27,-146.6,200.5,-7.2,118,2490,0.00,2.47,0.00,0.000,6,0.000,0.052,2568,1990,3432
$GC,2799,-0.27,-146.6,221.8,-6.7,134,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1991,3432
$GC,3109,-0.27,-146.6,242.3,-6.8,149,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1990,3432
$GC,3418,-0.27,-146.6,264.9,-7.2,164,3422,0.00,2.55,0.00,0.000,4,0.000,0.067,2568,591,3433
$GC,3458,-0.27,-146.6,267.8,-7.3,166,3462,0.00,2.50,0.00,0.000,6,0.000,0.052,2568,2006,3432
$GC,3785,-0.27,-146.6,289.2,-6.2,182,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2006,3432
$GC,4094,-0.27,-146.6,308.9,-7.0,197,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2006,3432
$GC,4403,-0.27,-146.6,329.0,-7.0,212,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2006,3432
$GC,4715,-0.27,-146.6,351.2,-7.2,227,4719,0.00,2.58,0.00,0.000,4,0.000,0.068,2568,593,3433
$GC,4759,-0.27,-146.6,354.9,-8.4,229,4763,0.00,2.47,0.00,0.000,6,0.000,0.053,2568,1989,3433
$GC,5080,-0.27,-146.6,378.5,-7.4,245,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1990,3432
$GC,5390,-0.27,-146.6,399.7,-6.6,260,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1990,3432
$GC,5698,-0.27,-146.6,420.4,-6.7,275,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1990,3432
$GC,6007,-0.27,-146.6,439.9,-6.2,290,6012,0.00,2.55,0.00,0.000,4,0.000,0.067,2567,3404,3432
$GC,6042,-0.32,-146.6,442.0,-6.3,291,6048,0.00,2.55,0.00,0.000,6,0.000,0.056,2567,1980,3432
$GC,6358,-0.36,-146.6,458.9,-4.6,307,6363,0.00,2.60,0.00,0.000,4,0.000,0.066,2568,3404,3432
$GC,6399,-0.42,-146.6,460.8,-4.9,309,6404,0.17,2.53,0.00,0.000,6,0.051,0.055,2520,1993,3432
$GC,6727,-0.33,-146.6,481.7,-6.8,325,6732,0.15,2.53,0.00,0.000,4,0.087,0.070,2552,585,3432
$GC,6760,-0.33,-146.6,484.0,-6.7,326,6766,0.00,2.50,0.00,0.000,6,0.000,0.056,2551,1993,3432
$GC,7076,-0.33,-146.6,504.7,-6.5,342,7081,0.00,2.55,0.00,0.000,4,0.000,0.071,2551,3408,3431
$GC,7104,-0.33,-146.6,506.7,-6.7,343,7108,0.00,2.58,0.00,0.000,6,0.000,0.059,2551,1981,3432
$GC,7420,-0.33,-146.6,529.5,-7.3,358,7421,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1980,3431
$GC,7731,-0.33,-146.6,551.0,-6.2,373,7732,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1981,3431
$STATE,7912,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7912,begin apogee
$GC,7919,-0.33,0.0,562.6,6.3,382,8049,0.00,0.00,127.53,1.204,6,0.000,0.000,2551,2126,2832
$STATE,8049,end apogee,CONTROL_FINISHED_OK
$STATE,8049,begin climb
$GC,8052,0.97,146.6,568.8,0.0,388,8184,1.33,0.00,126.78,1.172,6,0.077,0.000,2829,2126,2234
$GC,8486,1.29,152.3,550.8,5.8,409,8500,0.30,2.67,6.43,0.912,4,0.053,0.073,2910,717,2211
$GC,8654,1.24,152.3,540.8,7.2,416,8658,0.00,2.58,0.00,0.000,6,0.000,0.058,2910,2133,2210
$GC,8970,1.25,161.0,521.6,5.8,431,8981,0.00,0.00,8.95,1.018,6,0.000,0.000,2910,2134,2175
$GC,9279,1.25,161.0,503.4,6.1,446,9280,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2134,2175
$GC,9589,1.36,229.6,488.2,4.1,461,9655,0.00,2.70,58.95,1.169,4,0.000,0.074,2910,3532,1896
$GC,9685,1.46,258.8,483.4,5.2,465,9719,0.12,2.60,26.33,1.124,6,0.061,0.064,2945,2136,1776
$GC,10032,1.46,258.8,459.5,7.1,482,10036,0.00,2.62,0.00,0.000,4,0.000,0.075,2945,710,1777
$GC,10098,1.46,258.8,454.0,8.7,485,10102,0.00,2.58,0.00,0.000,6,0.000,0.060,2944,2123,1777
$GC,10419,1.46,258.8,428.5,8.5,501,10420,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2123,1777
$GC,10729,1.46,258.8,404.9,7.1,516,10733,0.00,2.60,0.00,0.000,4,0.000,0.071,2945,3538,1777
$GC,10773,1.46,258.8,401.6,7.7,518,10778,0.00,2.60,0.00,0.000,6,0.000,0.060,2945,2113,1777
$GC,11094,1.46,258.8,380.7,6.1,534,11095,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2113,1778
$GC,11404,1.47,266.9,362.5,5.8,549,11414,0.00,0.00,8.82,0.953,6,0.000,0.000,2945,2113,1743
$GC,11712,1.47,266.9,343.6,6.4,564,11717,0.00,2.62,0.00,0.000,4,0.000,0.066,2945,3532,1743
$GC,11745,1.47,266.9,341.2,6.9,565,11752,0.00,2.55,0.00,0.000,6,0.000,0.056,2945,2119,1744
$GC,12062,1.47,266.9,319.1,7.2,581,12066,0.00,2.55,0.00,0.000,4,0.000,0.067,2945,708,1744
$GC,12101,1.47,266.9,316.0,7.7,583,12106,0.00,2.55,0.00,0.000,6,0.000,0.054,2945,2132,1744
$GC,12428,1.47,266.9,293.3,7.1,599,12429,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2133,1744
$GC,12738,1.47,266.9,269.6,8.0,614,12739,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2133,1744
$GC,13047,1.47,266.9,244.9,8.1,629,13048,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2133,1744
$GC,13356,1.47,266.9,219.9,7.9,644,13360,0.00,2.60,0.00,0.000,4,0.000,0.067,2945,714,1744
$GC,13401,1.47,266.9,215.9,8.7,646,13405,0.00,2.53,0.00,0.000,6,0.000,0.053,2945,2129,1745
$GC,13721,1.47,266.9,191.5,7.2,662,13723,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2130,1745
$GC,14030,1.47,266.9,168.0,7.8,677,14032,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2130,1745
$GC,14341,1.47,266.9,143.2,8.2,692,14345,0.00,2.58,0.00,0.000,4,0.000,0.066,2946,718,1746
$GC,14374,1.47,266.9,140.1,8.4,693,14380,0.00,2.47,0.00,0.000,6,0.000,0.052,2945,2112,1746
$GC,14691,1.47,266.9,116.5,6.9,709,14692,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2112,1746
$GC,15000,1.47,266.9,96.7,7.0,724,15001,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2112,1746
$GC,15308,1.47,266.9,76.1,6.4,739,15309,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2111,1746
$GC,15618,1.50,284.3,57.5,5.5,754,15640,0.00,2.60,16.33,0.804,4,0.000,0.061,2945,3529,1672
$GC,15669,1.54,284.3,53.2,10.0,756,15674,0.00,2.58,0.00,0.000,6,0.000,0.051,2945,2102,1671
$GC,15991,1.54,284.3,26.8,8.0,772,15995,0.00,2.60,0.00,0.000,4,0.000,0.060,2945,3527,1671
$GC,16012,1.54,284.3,24.5,9.7,773,16017,0.00,2.53,0.00,0.000,6,0.000,0.049,2945,2109,1671
$STATE,16290,end climb,SURFACE_DEPTH_REACHED
$STATE,16290,begin surface coast
$FINISH,0.2,1.023403
$STATE,16332,end surface coast,CONTROL_FINISHED_OK
$STATE,16332,begin surface
$SM_CCo,16415,0.00,0.000,0,0,1670,285.04
$SM_GC,0.87,10.95,0.00,0.00,0.038,0.000,0.000,421,1995,1670,-10.03,-0.17,285.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1819
$TCM_TEMP,17.10
$XPDR_PINGS,57
$ALTIM_BOTTOM_PING,500.7,71.1
$24V_AH,23.8,54.631
$10V_AH,10.1,26.894
$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,24.125,97.650,380.100,0.000,0.000,37.761,39.366,138.210,18.500,0.000,0.000,14.124,1399.584,12780.814,503.731,1569.446,500.228,0.000,1292.909,0.000,1541.933,0.000,29.754,0.000
$DEVICE_MAMPS,137.293,76.700,1204.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,582.436,531.659,520.453,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41126,789
$CAP_FILE_SIZE,108829,0
$CFSIZE,254472192,233029632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,0,0
$GPS,120109,140325,6050.868,-305.882,41,1.3,41,-5.9