version: 66.04
glider: 5
mission: 5
dive: 321
start: 1 13 109 8 53 21
data:
$ID,5
$MISSION,5
$DIVE,321
$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,-93680.727
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2725
$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,23
$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
$GPS1,084340,6102.264,-246.786,42,1.8,50,-5.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-50.5
$GPS2,085302,6102.259,-246.558,13,1.9,13,-5.8
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6109.896,-302.391
$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,320.8,20000,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.97,-146.6,0.0,0.0,0,119,0.00,0.00,-101.65,0.000,2,0.000,0.000,423,1965,3418
$GC,123,-0.97,-146.6,5.2,-5.2,5,140,10.75,2.62,-0.25,0.000,4,0.134,0.077,2508,3406,3430
$GC,179,-0.82,-146.6,22.0,-18.2,6,187,0.17,2.53,0.00,0.000,6,0.089,0.050,2545,1999,3431
$GC,497,-0.78,-146.6,61.9,-9.1,22,501,0.00,2.55,0.00,0.000,4,0.000,0.067,2545,583,3431
$GC,552,-0.78,-146.6,66.4,-8.0,24,558,0.00,2.53,0.00,0.000,6,0.000,0.052,2545,1993,3431
$GC,869,-0.72,-146.6,91.6,-8.7,40,874,0.12,2.60,0.00,0.000,4,0.097,0.067,2571,585,3431
$GC,897,-0.76,-146.6,93.1,-3.5,41,902,0.00,2.50,0.00,0.000,6,0.000,0.054,2571,1983,3431
$GC,1215,-0.76,-146.6,112.0,-5.4,56,1220,0.00,2.55,0.00,0.000,4,0.000,0.064,2570,3409,3431
$GC,1257,-0.81,-146.6,114.4,-5.1,58,1262,0.00,2.58,0.00,0.000,6,0.000,0.051,2570,1966,3431
$GC,1585,-0.81,-146.6,136.6,-5.4,74,1589,0.00,2.47,0.00,0.000,4,0.000,0.066,2571,585,3431
$GC,1625,-0.87,-146.6,139.6,-8.0,76,1630,0.17,2.50,0.00,0.000,6,0.051,0.052,2522,1986,3431
$GC,1955,-0.75,-146.6,169.9,-8.1,92,1960,0.17,2.55,0.00,0.000,4,0.087,0.064,2563,3402,3431
$GC,1996,-0.79,-146.6,173.5,-7.0,94,2000,0.00,2.55,0.00,0.000,6,0.000,0.050,2563,1967,3431
$GC,2323,-0.79,-146.6,198.2,-9.0,110,2327,0.00,2.47,0.00,0.000,4,0.000,0.066,2563,586,3431
$GC,2350,-0.79,-146.6,201.1,-10.5,111,2354,0.00,2.45,0.00,0.000,6,0.000,0.051,2563,1973,3431
$GC,2666,-0.79,-146.6,224.1,-7.0,126,2670,0.00,2.58,0.00,0.000,4,0.000,0.064,2563,3405,3431
$GC,2706,-0.79,-146.6,227.0,-7.8,128,2710,0.00,2.58,0.00,0.000,6,0.000,0.050,2563,1957,3431
$GC,3032,-0.79,-146.6,249.4,-7.6,144,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1957,3431
$GC,3342,-0.79,-146.6,273.1,-8.2,159,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1957,3431
$GC,3652,-0.79,-146.6,293.4,-6.9,174,3656,0.00,2.65,0.00,0.000,4,0.000,0.064,2563,3408,3431
$GC,3729,-0.79,-146.6,299.4,-7.8,177,3735,0.00,2.58,0.00,0.000,6,0.000,0.053,2563,1968,3431
$GC,4045,-0.79,-146.6,321.9,-6.7,193,4049,0.00,2.62,0.00,0.000,4,0.000,0.064,2564,3404,3431
$GC,4090,-0.79,-146.6,324.8,-6.8,195,4095,0.00,2.55,0.00,0.000,6,0.000,0.051,2563,1970,3431
$GC,4417,-0.79,-146.6,345.3,-6.4,211,4421,0.00,2.62,0.00,0.000,4,0.000,0.066,2563,3403,3431
$GC,4472,-0.83,-146.6,348.8,-6.4,213,4478,0.00,2.53,0.00,0.000,6,0.000,0.053,2563,1988,3431
$GC,4789,-0.83,-146.6,370.1,-6.5,229,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1988,3431
$GC,5097,-0.83,-146.6,389.2,-6.5,244,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1988,3431
$GC,5407,-0.83,-146.6,411.6,-7.7,259,5412,0.00,2.60,0.00,0.000,4,0.000,0.067,2563,3407,3430
$GC,5448,-0.87,-146.6,414.8,-8.2,261,5453,0.15,2.53,0.00,0.000,6,0.056,0.055,2521,1993,3431
$GC,5775,-0.78,-146.6,442.8,-8.0,277,5777,0.15,0.00,0.00,0.000,6,0.091,0.000,2553,1993,3431
$GC,6085,-0.78,-146.6,462.6,-6.0,292,6089,0.00,2.58,0.00,0.000,4,0.000,0.068,2553,3399,3431
$GC,6117,-0.78,-146.6,465.0,-6.9,293,6124,0.00,2.50,0.00,0.000,6,0.000,0.056,2552,2005,3430
$GC,6433,-0.78,-146.6,489.7,-8.5,309,6437,0.00,2.55,0.00,0.000,4,0.000,0.068,2553,584,3430
$GC,6478,-0.78,-146.6,493.6,-8.9,311,6483,0.00,2.53,0.00,0.000,6,0.000,0.055,2553,2005,3430
$GC,6799,-0.78,-146.6,516.6,-7.5,327,6804,0.00,2.60,0.00,0.000,4,0.000,0.071,2553,588,3430
$GC,6855,-0.78,-146.6,521.2,-8.2,329,6861,0.00,2.53,0.00,0.000,6,0.000,0.057,2553,2003,3430
$GC,7171,-0.78,-146.6,545.0,-7.1,345,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2003,3430
$GC,7480,-0.78,-146.6,563.2,-5.5,360,7485,0.00,2.58,0.00,0.000,4,0.000,0.074,2552,3411,3429
$GC,7525,-0.78,-146.6,565.8,-6.0,362,7529,0.00,2.58,0.00,0.000,6,0.000,0.063,2553,1998,3429
$GC,7846,-0.78,-146.6,585.9,-7.2,378,7851,0.00,2.58,0.00,0.000,4,0.000,0.080,2553,594,3429
$GC,7891,-0.78,-146.6,589.5,-7.7,380,7895,0.00,2.53,0.00,0.000,6,0.000,0.064,2552,1988,3429
$GC,8212,-0.78,-146.6,609.7,-6.0,396,8213,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1987,3428
$GC,8522,-0.78,-146.6,628.2,-5.8,411,8524,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1988,3427
$GC,8831,-0.78,-146.6,647.6,-6.2,426,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1988,3426
$GC,9141,-0.78,-146.6,665.3,-5.7,441,9145,0.00,2.65,0.00,0.000,4,0.000,0.084,2552,3413,3424
$GC,9180,-0.78,-146.6,667.7,-6.2,443,9185,0.00,2.62,0.00,0.000,6,0.000,0.071,2553,1992,3424
$GC,9507,-0.78,-146.6,687.7,-6.0,459,9511,0.00,2.62,0.00,0.000,4,0.000,0.088,2552,582,3424
$STATE,9544,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9545,begin apogee
$GC,9555,-0.33,0.0,690.5,7.5,461,9688,0.47,0.00,129.75,1.361,6,0.083,0.000,2651,2121,2832
$STATE,9688,end apogee,CONTROL_FINISHED_OK
$STATE,9688,begin climb
$GC,9691,0.97,146.6,695.3,0.0,468,9828,1.35,0.00,132.38,1.312,6,0.070,0.000,2940,2121,2235
$GC,10139,0.89,164.4,674.0,5.5,490,10162,0.00,2.83,16.90,1.223,4,0.000,0.087,2939,709,2161
$GC,10214,0.79,164.4,668.8,7.8,493,10220,0.20,2.67,0.00,0.000,6,0.093,0.071,2900,2134,2161
$GC,10536,0.91,240.6,654.9,3.9,509,10607,0.10,0.00,68.53,1.312,6,0.071,0.000,2926,2134,1851
$GC,10906,0.91,240.6,633.4,6.4,527,10910,0.00,2.75,0.00,0.000,4,0.000,0.089,2926,706,1851
$GC,10939,0.91,240.6,630.9,7.1,528,10945,0.00,2.65,0.00,0.000,6,0.000,0.072,2926,2122,1851
$GC,11254,0.91,240.6,608.5,7.3,544,11259,0.00,2.70,0.00,0.000,4,0.000,0.087,2926,717,1851
$GC,11283,0.91,240.6,606.3,7.9,545,11287,0.00,2.62,0.00,0.000,6,0.000,0.071,2926,2123,1851
$GC,11598,0.91,240.6,582.5,7.9,560,11600,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2123,1851
$GC,11908,0.91,240.6,560.9,6.9,575,11912,0.00,2.70,0.00,0.000,4,0.000,0.086,2926,712,1851
$GC,11958,0.91,240.6,557.2,6.8,577,11963,0.00,2.60,0.00,0.000,6,0.000,0.071,2926,2113,1851
$GC,12274,0.91,240.6,533.8,7.1,592,12275,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2113,1851
$GC,12583,0.91,240.6,513.4,6.6,607,12584,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2113,1850
$GC,12893,0.91,240.6,493.4,6.2,622,12897,0.00,2.65,0.00,0.000,4,0.000,0.079,2926,3532,1850
$GC,12932,0.91,240.6,490.5,6.3,624,12937,0.00,2.65,0.00,0.000,6,0.000,0.068,2926,2100,1850
$GC,13259,0.91,240.6,468.1,6.7,640,13263,0.00,2.55,0.00,0.000,4,0.000,0.078,2926,706,1850
$GC,13310,0.91,240.6,464.2,7.5,642,13315,0.00,2.53,0.00,0.000,6,0.000,0.062,2926,2092,1850
$GC,13626,0.91,240.6,442.4,6.9,657,13630,0.00,2.65,0.00,0.000,4,0.000,0.074,2926,3532,1850
$GC,13658,0.91,240.6,440.1,7.6,658,13665,0.00,2.65,0.00,0.000,6,0.000,0.061,2926,2082,1850
$GC,13975,0.91,240.6,417.3,7.6,674,13976,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2082,1850
$GC,14283,0.91,240.6,395.2,6.5,689,14285,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2082,1850
$GC,14592,0.91,240.6,376.0,6.3,704,14597,0.00,2.67,0.00,0.000,4,0.000,0.068,2926,3527,1850
$GC,14626,0.91,240.6,373.7,7.1,705,14633,0.00,2.60,0.00,0.000,6,0.000,0.057,2927,2084,1851
$GC,14942,0.91,240.6,350.8,7.2,721,14947,0.00,2.67,0.00,0.000,4,0.000,0.067,2926,3534,1851
$GC,14969,0.91,240.6,348.4,7.9,722,14974,0.00,2.58,0.00,0.000,6,0.000,0.055,2926,2101,1851
$GC,15286,0.91,240.6,327.7,6.4,737,15287,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2101,1852
$GC,15594,0.94,257.9,309.8,5.5,752,15617,0.00,2.75,16.90,1.006,4,0.000,0.064,2926,3531,1779
$GC,15651,0.99,257.9,306.1,6.6,754,15655,0.00,2.58,0.00,0.000,6,0.000,0.052,2926,2107,1780
$GC,15968,1.03,257.9,286.9,6.4,769,15969,0.10,0.00,0.00,0.000,6,0.062,0.000,2955,2107,1779
$GC,16276,1.03,257.9,263.2,7.6,784,16280,0.00,2.62,0.00,0.000,4,0.000,0.065,2955,3536,1780
$GC,16303,1.03,257.9,261.0,8.3,785,16307,0.00,2.58,0.00,0.000,6,0.000,0.052,2956,2102,1780
$GC,16619,1.03,257.9,236.2,7.8,800,16624,0.00,2.62,0.00,0.000,4,0.000,0.065,2956,3529,1781
$GC,16658,1.03,257.9,233.1,7.6,802,16663,0.00,2.53,0.00,0.000,6,0.000,0.051,2956,2117,1781
$GC,16986,1.03,257.9,209.0,7.0,818,16987,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2117,1782
$GC,17294,1.03,257.9,186.8,7.6,833,17295,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2116,1782
$GC,17603,1.03,257.9,161.2,8.1,848,17608,0.00,2.60,0.00,0.000,4,0.000,0.065,2956,3530,1782
$GC,17631,1.03,257.9,158.8,8.7,849,17635,0.00,2.53,0.00,0.000,6,0.000,0.051,2956,2115,1782
$GC,17948,1.03,257.9,134.4,7.2,864,17949,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2115,1782
$GC,18256,1.03,257.9,109.7,8.1,879,18257,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2115,1782
$GC,18565,1.03,257.9,82.3,8.5,894,18570,0.00,2.60,0.00,0.000,4,0.000,0.064,2956,3532,1783
$GC,18607,1.03,257.9,79.3,6.1,896,18611,0.00,2.50,0.00,0.000,6,0.000,0.050,2956,2129,1783
$GC,18934,1.03,257.9,51.5,7.9,912,18935,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2129,1783
$GC,19243,1.03,257.9,22.3,10.0,927,19247,0.00,2.58,0.00,0.000,4,0.000,0.064,2956,3533,1784
$GC,19276,1.03,257.9,18.4,9.4,928,19283,0.00,2.47,0.00,0.000,6,0.000,0.050,2956,2137,1785
$STATE,19425,end climb,SURFACE_DEPTH_REACHED
$STATE,19425,begin surface coast
$FINISH,0.9,1.027413
$STATE,19467,end surface coast,CONTROL_FINISHED_OK
$STATE,19467,begin surface
$SM_CCo,19550,0.00,0.000,0,0,1783,257.32
$SM_GC,1.29,11.02,0.00,0.00,0.039,0.000,0.000,422,1972,1783,-10.50,-0.79,257.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1808
$TCM_TEMP,16.90
$XPDR_PINGS,69
$ALTIM_BOTTOM_PING,625.9,74.5
$24V_AH,23.7,55.400
$10V_AH,10.1,27.283
$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,24.950,176.450,364.450,0.000,0.000,75.521,57.678,230.831,22.750,0.000,0.000,13.430,1696.970,15228.854,575.333,1888.210,720.544,0.000,1529.150,0.000,1848.554,0.000,38.017,0.000
$DEVICE_MAMPS,134.225,88.972,1360.658,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,693.065,632.558,548.081,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47442,938
$CAP_FILE_SIZE,142687,0
$CFSIZE,254472192,232714240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,52,0,0
$GPS,130109,142100,6106.192,-243.761,67,1.1,72,-5.8