version: 66.04
glider: 5
mission: 5
dive: 318
start: 1 12 109 18 21 15
data:
$ID,5
$MISSION,5
$DIVE,318
$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,-93622.469
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,181531,6052.158,-302.020,93,1.3,93,-5.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-58.7
$GPS2,182056,6052.219,-301.694,13,1.3,13,-5.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6059.855,-317.443
$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,320.9,20000,-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,-146.6,0.0,0.0,0,81,0.00,0.00,-61.00,0.000,2,0.000,0.000,421,1975,2990
$GC,84,-0.97,-146.6,3.0,-4.4,3,115,10.35,2.53,-13.02,0.000,4,0.137,0.071,2406,602,3431
$GC,368,-0.53,-146.6,50.7,-19.3,15,375,0.47,2.50,0.00,0.000,6,0.086,0.051,2508,2002,3431
$GC,685,-0.38,-146.6,82.8,-9.0,31,690,0.15,2.58,0.00,0.000,4,0.086,0.064,2539,597,3431
$GC,817,-0.32,-146.6,94.1,-8.8,37,821,0.00,2.50,0.00,0.000,6,0.000,0.051,2539,2003,3431
$GC,1144,-0.25,-146.6,120.7,-6.1,53,1146,0.15,0.00,0.00,0.000,6,0.085,0.000,2572,2004,3431
$GC,1453,-0.25,-146.6,139.1,-6.3,68,1458,0.00,2.55,0.00,0.000,4,0.000,0.064,2572,597,3431
$GC,1503,-0.25,-146.6,142.7,-7.3,70,1508,0.00,2.47,0.00,0.000,6,0.000,0.051,2572,1994,3431
$GC,1819,-0.25,-146.6,163.6,-6.1,85,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1995,3431
$GC,2129,-0.25,-146.6,182.5,-6.6,100,2133,0.00,2.55,0.00,0.000,4,0.000,0.067,2572,595,3431
$GC,2168,-0.25,-146.6,185.2,-6.5,102,2173,0.00,2.47,0.00,0.000,6,0.000,0.052,2572,1992,3431
$GC,2495,-0.25,-146.6,206.2,-6.3,118,2500,0.00,2.55,0.00,0.000,4,0.000,0.067,2572,594,3431
$GC,2552,-0.25,-146.6,210.7,-8.5,120,2559,0.00,2.45,0.00,0.000,6,0.000,0.051,2572,1980,3431
$GC,2868,-0.25,-146.6,234.2,-7.2,136,2872,0.00,2.53,0.00,0.000,4,0.000,0.066,2572,592,3431
$GC,2923,-0.25,-146.6,238.6,-8.0,138,2929,0.00,2.42,0.00,0.000,6,0.000,0.051,2572,1966,3431
$GC,3240,-0.25,-146.6,260.2,-6.9,154,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1967,3431
$GC,3548,-0.25,-146.6,281.3,-6.5,169,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1967,3431
$GC,3859,-0.25,-146.6,300.4,-5.9,184,3864,0.00,2.58,0.00,0.000,4,0.000,0.064,2572,3403,3431
$GC,3904,-0.32,-146.6,303.2,-6.0,186,3909,0.00,2.55,0.00,0.000,6,0.000,0.051,2572,1967,3431
$GC,4226,-0.32,-146.6,323.8,-7.0,202,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1968,3431
$GC,4536,-0.32,-146.6,346.2,-7.3,217,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1965,3431
$GC,4845,-0.36,-146.6,366.5,-6.3,232,4850,0.12,2.65,0.00,0.000,4,0.054,0.064,2536,3411,3431
$GC,4872,-0.36,-146.6,368.5,-7.4,233,4876,0.00,2.58,0.00,0.000,6,0.000,0.053,2536,1970,3431
$GC,5189,-0.30,-146.6,391.4,-7.3,248,5191,0.10,0.00,0.00,0.000,6,0.095,0.000,2556,1968,3431
$GC,5497,-0.30,-146.6,414.7,-7.7,263,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1968,3431
$GC,5806,-0.30,-146.6,437.9,-7.4,278,5807,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1968,3431
$GC,6116,-0.30,-146.6,459.2,-6.5,293,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1968,3431
$GC,6425,-0.30,-146.6,479.9,-6.8,308,6429,0.00,2.62,0.00,0.000,4,0.000,0.067,2556,3404,3431
$GC,6497,-0.30,-146.6,484.8,-6.5,311,6501,0.00,2.55,0.00,0.000,6,0.000,0.055,2556,1978,3430
$GC,6814,-0.30,-146.6,502.9,-5.6,326,6818,0.00,2.50,0.00,0.000,4,0.000,0.070,2556,587,3430
$GC,6854,-0.30,-146.6,505.3,-6.5,328,6858,0.00,2.47,0.00,0.000,6,0.000,0.056,2556,1979,3430
$GC,7181,-0.30,-146.6,524.0,-6.0,344,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1980,3430
$GC,7491,-0.30,-146.6,545.4,-6.9,359,7495,0.00,2.60,0.00,0.000,4,0.000,0.073,2556,3410,3430
$GC,7531,-0.30,-146.6,548.2,-7.3,361,7535,0.00,2.58,0.00,0.000,6,0.000,0.060,2556,1983,3429
$STATE,7690,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7690,begin apogee
$GC,7698,-0.33,0.0,558.7,6.5,369,7832,0.00,0.00,128.23,1.200,6,0.000,0.000,2556,2124,2831
$STATE,7833,end apogee,CONTROL_FINISHED_OK
$STATE,7833,begin climb
$GC,7836,0.97,146.6,566.1,0.0,376,7973,1.33,2.70,127.97,1.168,4,0.077,0.071,2833,3524,2234
$GC,8051,1.36,233.1,561.5,3.6,386,8135,0.40,2.58,75.68,1.144,6,0.048,0.061,2933,2124,1881
$GC,8443,1.36,233.1,534.0,6.9,405,8448,0.00,2.60,0.00,0.000,4,0.000,0.076,2933,718,1882
$GC,8488,1.36,233.1,530.5,7.4,407,8492,0.00,2.58,0.00,0.000,6,0.000,0.059,2933,2133,1882
$GC,8809,1.36,233.1,509.4,6.3,423,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2131,1882
$GC,9118,1.37,240.5,490.7,5.8,438,9132,0.00,2.70,8.38,0.999,4,0.000,0.075,2933,727,1851
$GC,9186,1.37,240.5,486.3,6.4,441,9190,0.00,2.55,0.00,0.000,6,0.000,0.061,2933,2123,1850
$GC,9513,1.37,240.5,463.9,7.4,457,9514,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2124,1849
$GC,9821,1.37,240.5,443.0,6.5,472,9822,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2124,1849
$GC,10133,1.37,240.5,420.9,7.3,487,10137,0.00,2.60,0.00,0.000,4,0.000,0.073,2933,719,1848
$GC,10183,1.37,240.5,416.7,7.8,489,10187,0.00,2.53,0.00,0.000,6,0.000,0.058,2933,2119,1848
$GC,10498,1.37,240.5,393.7,7.5,504,10502,0.00,2.58,0.00,0.000,4,0.000,0.068,2933,3529,1848
$GC,10539,1.37,240.5,390.4,8.4,506,10543,0.00,2.58,0.00,0.000,6,0.000,0.058,2933,2109,1848
$GC,10866,1.37,240.5,365.9,7.2,522,10870,0.00,2.53,0.00,0.000,4,0.000,0.070,2933,715,1848
$GC,10899,1.37,240.5,363.1,7.9,523,10905,0.00,2.50,0.00,0.000,6,0.000,0.054,2933,2111,1848
$GC,11215,1.37,240.5,341.6,6.8,539,11219,0.00,2.58,0.00,0.000,4,0.000,0.066,2933,3529,1848
$GC,11242,1.37,240.5,339.3,8.1,540,11246,0.00,2.58,0.00,0.000,6,0.000,0.055,2933,2102,1848
$GC,11558,1.37,240.5,316.8,7.5,555,11559,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2103,1848
$GC,11867,1.37,240.5,295.6,6.7,570,11868,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2103,1849
$GC,12177,1.37,240.5,273.6,7.2,585,12181,0.00,2.62,0.00,0.000,4,0.000,0.064,2933,3534,1849
$GC,12204,1.37,240.5,271.3,8.4,586,12208,0.00,2.55,0.00,0.000,6,0.000,0.052,2933,2109,1849
$GC,12520,1.37,240.5,249.0,6.9,601,12521,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2109,1849
$GC,12830,1.42,270.7,231.1,5.2,616,12862,0.00,2.67,26.27,0.949,4,0.000,0.061,2933,3535,1727
$GC,12885,1.49,270.7,227.5,6.3,618,12891,0.00,2.58,0.00,0.000,6,0.000,0.051,2933,2114,1727
$GC,13201,1.54,270.7,207.4,6.8,634,13206,0.12,2.53,0.00,0.000,4,0.055,0.067,2971,717,1727
$GC,13229,1.49,270.7,205.2,8.3,635,13234,0.12,2.50,0.00,0.000,6,0.084,0.052,2945,2119,1727
$GC,13545,1.49,270.7,183.1,6.5,650,13546,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2138,1728
$GC,13856,1.49,270.7,160.4,6.2,665,13857,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2127,1727
$GC,14164,1.49,270.7,140.5,6.4,680,14168,0.00,2.60,0.00,0.000,4,0.000,0.067,2945,708,1728
$GC,14208,1.49,270.7,137.0,8.3,682,14212,0.00,2.53,0.00,0.000,6,0.000,0.054,2945,2121,1728
$GC,14530,1.58,327.5,117.8,4.4,698,14584,0.10,2.65,47.40,0.886,4,0.056,0.064,2976,714,1496
$GC,14624,1.52,327.5,112.2,7.8,702,14628,0.00,2.50,0.00,0.000,6,0.000,0.051,2977,2104,1495
$GC,14941,1.48,327.5,86.6,9.2,717,14943,0.15,0.00,0.00,0.000,6,0.083,0.000,2946,2117,1495
$GC,15249,1.57,327.5,62.6,8.8,732,15254,0.00,2.53,0.00,0.000,4,0.000,0.064,2946,717,1495
$GC,15306,1.62,327.5,58.7,8.5,734,15313,0.15,2.45,0.00,0.000,6,0.050,0.051,2990,2089,1494
$GC,15624,1.54,327.5,28.7,11.4,750,15626,0.15,0.00,0.00,0.000,6,0.077,0.000,2958,2111,1495
$STATE,15887,end climb,SURFACE_DEPTH_REACHED
$STATE,15887,begin surface coast
$FINISH,1.9,1.027347
$STATE,15910,end surface coast,CONTROL_FINISHED_OK
$STATE,15910,begin surface
$SM_CCo,15994,0.00,0.000,0,0,1494,328.46
$SM_GC,0.74,11.12,0.00,0.00,0.044,0.000,0.000,421,1994,1494,-10.05,-0.17,328.46
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1808
$TCM_TEMP,17.20
$XPDR_PINGS,71
$ALTIM_BOTTOM_PING,475.8,91.6
$24V_AH,23.8,54.905
$10V_AH,10.1,27.036
$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,25.000,123.025,413.925,0.000,0.000,37.761,27.729,143.793,21.750,0.000,0.000,13.864,1397.045,12269.375,503.312,1658.331,493.679,0.000,1357.897,0.000,1622.004,0.000,28.216,0.000
$DEVICE_MAMPS,137.293,75.933,1199.588,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,558.955,514.305,489.515,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37912,764
$CAP_FILE_SIZE,114800,0
$CFSIZE,254472192,232927232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
$GPS,120109,224931,6056.500,-253.686,65,1.7,65,-5.8