version: 66.04
glider: 5
mission: 5
dive: 335
start: 1 17 109 23 33 15
data:
$ID,5
$MISSION,5
$DIVE,335
$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,-93930.508
$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,36
$R_STBD_OVSHOOT,56
$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
$GPS1,232606,6055.550,-500.930,35,1.5,35,-6.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-43.6
$GPS2,233258,6055.689,-500.981,11,3.2,30,-6.9
$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,282.8,41583,-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,13,begin dive
$GC,16,-0.97,-146.6,0.0,0.0,0,149,0.00,0.00,-130.85,0.000,2,0.000,0.000,422,1963,3236
$GC,153,-0.97,-146.6,3.3,-3.2,7,176,10.98,2.53,-5.38,0.000,4,0.135,0.077,2526,598,3430
$GC,430,-0.85,-146.6,43.9,-6.4,19,435,0.15,2.47,0.00,0.000,6,0.093,0.053,2556,1978,3430
$GC,752,-0.85,-146.6,66.1,-14.0,35,756,0.00,2.55,0.00,0.000,4,0.000,0.067,2556,602,3430
$GC,797,-0.85,-146.6,71.0,-9.5,37,801,0.00,2.55,0.00,0.000,6,0.000,0.054,2556,2025,3430
$GC,1118,-0.85,-146.6,112.2,-10.8,53,1122,0.00,2.62,0.00,0.000,4,0.000,0.067,2556,593,3430
$GC,1185,-0.85,-146.6,116.7,-6.7,56,1190,0.00,2.53,0.00,0.000,6,0.000,0.053,2556,2006,3430
$GC,1507,-0.85,-146.6,136.0,-9.0,72,1511,0.00,2.58,0.00,0.000,4,0.000,0.067,2556,602,3430
$GC,1625,-0.85,-146.6,143.0,-5.5,77,1629,0.00,2.45,0.00,0.000,6,0.000,0.052,2556,1979,3430
$GC,1941,-0.85,-146.6,167.0,-8.1,92,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1986,3430
$GC,2250,-0.85,-146.6,196.7,-8.4,107,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1986,3430
$GC,2560,-0.85,-146.6,214.2,-6.0,122,2564,0.00,2.53,0.00,0.000,4,0.000,0.067,2556,606,3430
$GC,2622,-0.85,-146.6,218.6,-7.2,125,2626,0.00,2.45,0.00,0.000,6,0.000,0.054,2556,1981,3430
$GC,2954,-0.85,-146.6,242.8,-7.4,141,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1982,3430
$GC,3265,-0.85,-146.6,267.9,-8.4,156,3269,0.00,2.58,0.00,0.000,4,0.000,0.065,2556,3411,3430
$GC,3304,-0.85,-146.6,271.4,-8.8,158,3309,0.00,2.55,0.00,0.000,6,0.000,0.054,2556,1994,3430
$GC,3632,-0.85,-146.6,296.8,-7.9,174,3636,0.00,2.53,0.00,0.000,4,0.000,0.068,2556,586,3430
$GC,3665,-0.85,-146.6,299.6,-8.4,175,3669,0.00,2.53,0.00,0.000,6,0.000,0.054,2556,1996,3430
$GC,3980,-0.85,-146.6,322.5,-7.1,190,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1996,3430
$GC,4290,-0.85,-146.6,344.3,-6.9,205,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1997,3430
$GC,4600,-0.85,-146.6,366.5,-7.0,220,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1997,3430
$GC,4908,-0.85,-146.6,386.9,-6.5,235,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1997,3430
$GC,5219,-0.85,-146.6,405.7,-5.8,250,5223,0.00,2.60,0.00,0.000,4,0.000,0.071,2556,580,3430
$GC,5325,-0.85,-146.6,413.4,-7.6,255,5330,0.00,2.53,0.00,0.000,6,0.000,0.056,2556,1993,3430
$GC,5653,-0.85,-146.6,435.1,-6.7,271,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1994,3430
$GC,5963,-0.85,-146.6,453.3,-5.6,286,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1994,3430
$GC,6272,-0.85,-146.6,470.2,-5.3,301,6276,0.00,2.58,0.00,0.000,4,0.000,0.073,2556,3404,3430
$GC,6311,-0.85,-146.6,472.7,-6.3,303,6316,0.00,2.58,0.00,0.000,6,0.000,0.063,2556,1994,3429
$GC,6638,-0.85,-146.6,493.3,-6.3,319,6643,0.00,2.58,0.00,0.000,4,0.000,0.076,2556,581,3429
$GC,6683,-0.85,-146.6,496.3,-6.5,321,6687,0.00,2.55,0.00,0.000,6,0.000,0.061,2556,1993,3429
$GC,7004,-0.85,-146.6,511.5,-4.8,337,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1993,3429
$GC,7313,-0.85,-146.6,529.7,-6.7,352,7315,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1993,3428
$GC,7622,-0.85,-146.6,555.5,-8.2,367,7626,0.00,2.65,0.00,0.000,4,0.000,0.085,2556,590,3427
$GC,7655,-0.85,-146.6,558.3,-8.6,368,7661,0.00,2.55,0.00,0.000,6,0.000,0.067,2555,1982,3427
$GC,7971,-0.85,-146.6,581.7,-7.4,384,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1982,3426
$GC,8280,-0.85,-146.6,603.9,-7.1,399,8281,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1982,3425
$GC,8590,-0.85,-146.6,625.2,-6.8,414,8594,0.00,2.67,0.00,0.000,4,0.000,0.085,2556,3414,3424
$GC,8635,-0.90,-146.6,628.6,-7.2,416,8640,0.00,2.65,0.00,0.000,6,0.000,0.074,2556,1993,3424
$GC,8956,-0.90,-146.6,652.8,-7.7,432,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1993,3422
$GC,9267,-0.94,-146.6,675.4,-6.9,447,9268,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1993,3422
$GC,9575,-0.94,-146.6,694.8,-5.8,462,9579,0.00,2.67,0.00,0.000,4,0.000,0.087,2556,3408,3421
$GC,9602,-0.98,-146.6,696.6,-6.4,463,9607,0.12,2.67,0.00,0.000,6,0.075,0.076,2528,1980,3421
$GC,9919,-0.94,-146.6,718.2,-7.0,478,9920,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1981,3420
$GC,10227,-0.89,-146.6,741.0,-7.6,493,10229,0.10,0.00,0.00,0.000,6,0.114,0.000,2547,1981,3418
$GC,10536,-0.89,-146.6,762.9,-7.1,508,10537,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1981,3417
$GC,10846,-0.89,-146.6,783.9,-6.9,523,10847,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1981,3416
$GC,11155,-0.89,-146.6,804.2,-6.6,538,11156,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1981,3416
$GC,11464,-0.89,-146.6,824.2,-6.4,553,11469,0.00,2.72,0.00,0.000,4,0.000,0.089,2547,3404,3415
$GC,11515,-0.94,-146.6,827.7,-6.9,555,11520,0.00,2.65,0.00,0.000,6,0.000,0.077,2547,1994,3415
$STATE,11601,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11601,begin apogee
$GC,11609,-0.33,0.0,833.4,6.4,559,11745,0.60,0.00,131.65,1.533,6,0.089,0.000,2670,2124,2832
$STATE,11746,end apogee,CONTROL_FINISHED_OK
$STATE,11747,begin climb
$GC,11750,0.97,146.6,837.9,0.0,566,11888,1.33,0.00,133.95,1.476,6,0.074,0.000,2951,2138,2234
$GC,12199,0.83,146.6,814.0,6.5,587,12201,0.15,0.00,0.00,0.000,6,0.099,0.000,2924,2138,2234
$GC,12509,0.80,165.3,796.3,5.5,602,12529,0.00,0.00,18.00,1.387,6,0.000,0.000,2924,2138,2158
$GC,12838,0.84,186.7,777.7,5.4,618,12866,0.00,2.83,21.30,1.414,4,0.000,0.091,2924,706,2070
$GC,12895,0.79,186.7,774.2,6.2,620,12902,0.00,2.70,0.00,0.000,6,0.000,0.075,2924,2131,2069
$GC,13213,0.75,186.7,755.7,6.3,636,13214,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2131,2069
$GC,13521,0.71,186.7,735.5,6.9,651,13523,0.12,0.00,0.00,0.000,6,0.100,0.000,2900,2131,2069
$GC,13831,0.74,210.3,718.1,5.4,666,13860,0.00,2.85,22.50,1.420,4,0.000,0.091,2900,717,1974
$GC,13884,0.74,210.3,714.8,6.7,668,13889,0.00,2.67,0.00,0.000,6,0.000,0.077,2900,2124,1973
$GC,14201,0.81,221.2,696.8,5.7,683,14214,0.10,0.00,11.45,1.335,6,0.074,0.000,2925,2125,1930
$GC,14511,0.81,221.2,673.6,7.8,698,14515,0.00,2.75,0.00,0.000,4,0.000,0.094,2925,709,1930
$GC,14550,0.81,221.2,670.2,9.0,700,14554,0.00,2.65,0.00,0.000,6,0.000,0.077,2924,2121,1930
$GC,14877,0.81,221.2,644.4,7.9,716,14881,0.00,2.70,0.00,0.000,4,0.000,0.089,2925,3537,1929
$GC,14905,0.81,221.2,642.2,7.8,717,14909,0.00,2.70,0.00,0.000,6,0.000,0.078,2924,2116,1930
$GC,15222,0.83,236.0,622.8,5.6,732,15240,0.00,0.00,14.70,1.343,6,0.000,0.000,2924,2116,1869
$GC,15550,0.85,244.0,604.2,5.8,748,15560,0.00,0.00,8.77,1.248,6,0.000,0.000,2925,2116,1837
$GC,15860,0.85,244.0,584.5,6.1,763,15861,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2116,1837
$GC,16168,0.85,244.0,565.9,6.3,778,16172,0.00,2.65,0.00,0.000,4,0.000,0.091,2924,709,1837
$GC,16195,0.85,244.0,563.9,7.1,779,16200,0.00,2.67,0.00,0.000,6,0.000,0.074,2925,2138,1837
$GC,16513,0.85,244.0,541.0,7.7,794,16514,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2138,1837
$GC,16820,0.86,249.8,521.7,5.8,809,16834,0.00,2.83,6.90,1.142,4,0.000,0.087,2925,706,1812
$GC,16869,0.86,254.6,518.4,5.9,811,16884,0.00,2.67,6.20,1.091,6,0.000,0.073,2925,2131,1794
$GC,17194,0.86,254.6,494.7,7.6,827,17199,0.00,2.65,0.00,0.000,4,0.000,0.084,2925,3534,1794
$GC,17222,0.86,254.6,492.2,9.2,828,17226,0.00,2.65,0.00,0.000,6,0.000,0.071,2925,2120,1794
$GC,17539,0.86,254.6,468.7,6.5,843,17540,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2120,1794
$GC,17847,0.86,254.6,448.0,7.2,858,17848,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2120,1794
$GC,18156,0.86,254.6,425.7,7.2,873,18157,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2120,1794
$GC,18466,0.86,254.6,404.5,6.6,888,18467,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2119,1795
$GC,18775,0.86,254.6,382.7,7.7,903,18779,0.00,2.65,0.00,0.000,4,0.000,0.074,2924,3541,1795
$GC,18802,0.92,254.6,380.6,7.0,904,18807,0.00,2.60,0.00,0.000,6,0.000,0.062,2925,2124,1795
$GC,19119,0.92,254.6,357.6,7.6,919,19123,0.00,2.58,0.00,0.000,4,0.000,0.072,2925,709,1795
$GC,19168,0.92,254.6,353.3,8.0,921,19173,0.00,2.58,0.00,0.000,6,0.000,0.059,2924,2132,1795
$GC,19485,0.96,254.6,331.3,6.9,936,19487,0.12,0.00,0.00,0.000,6,0.060,0.000,2960,2132,1796
$GC,19795,0.90,254.6,306.7,8.1,951,19796,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2132,1797
$GC,20105,0.83,254.6,280.3,9.0,966,20107,0.17,0.00,0.00,0.000,6,0.081,0.000,2923,2132,1798
$GC,20413,0.89,254.6,256.6,7.6,981,20417,0.00,2.62,0.00,0.000,4,0.000,0.069,2923,705,1799
$GC,20447,0.89,254.6,253.7,8.1,982,20453,0.00,2.55,0.00,0.000,6,0.000,0.056,2923,2123,1799
$GC,20763,0.95,254.6,231.5,6.7,998,20765,0.12,0.00,0.00,0.000,6,0.056,0.000,2960,2124,1799
$GC,21072,0.90,254.6,207.2,7.1,1013,21073,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2124,1800
$GC,21384,0.85,254.6,183.8,7.0,1028,21385,0.15,0.00,0.00,0.000,6,0.082,0.000,2929,2124,1802
$GC,21691,0.90,254.6,165.5,9.2,1043,21692,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2123,1802
$GC,22000,1.33,523.7,158.9,-1.4,1058,22232,0.45,2.65,219.90,0.921,4,0.042,0.072,3042,715,697
$GC,22256,1.16,523.7,126.8,19.2,1070,22262,0.22,2.55,0.00,0.000,6,0.084,0.054,2998,2113,696
$GC,22585,1.16,523.7,81.3,13.7,1086,22589,0.00,2.60,0.00,0.000,4,0.000,0.066,2997,715,698
$GC,22647,1.58,789.2,78.0,-1.3,1089,22716,0.43,2.47,61.95,0.845,6,0.042,0.053,3101,2115,390
$STATE,22974,end climb,SURFACE_DEPTH_REACHED
$STATE,22974,begin surface coast
$FINISH,-0.2,1.027452
$STATE,22998,end surface coast,CONTROL_FINISHED_OK
$STATE,22998,begin surface
$SM_CCo,23081,0.00,0.000,0,0,392,598.29
$SM_GC,0.48,11.80,0.00,0.00,0.038,0.000,0.000,420,1974,392,-10.58,-0.74,598.29
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1802
$TCM_TEMP,16.80
$XPDR_PINGS,36
$ALTIM_BOTTOM_PING,775.6,66.9
$24V_AH,23.5,58.418
$10V_AH,10.1,28.896
$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,27.125,136.375,657.275,0.000,0.000,37.763,27.616,185.051,16.000,0.000,0.000,31.705,1945.461,17892.637,756.640,2255.730,630.806,0.000,1924.569,0.000,2184.267,0.000,47.304,0.000
$DEVICE_MAMPS,134.992,94.341,1533.233,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,816.829,747.251,551.397,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56904,1106
$CAP_FILE_SIZE,154429,0
$CFSIZE,254472192,231550976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,0,0
$GPS,180109,055906,6056.591,-504.749,33,1.9,34,-7.0