version: 66.04
glider: 5
mission: 5
dive: 278
start: 1 5 109 1 54 26
data:
$ID,5
$MISSION,5
$DIVE,278
$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,-92728.031
$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,25
$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,3
$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
$GPS1,014225,6021.510,-424.180,39,2.0,39,-6.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-66.3
$GPS2,015405,6021.734,-424.032,12,1.9,15,-6.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCS_SE
$TGT_LATLONG,6010.000,-425.000
$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,188.8,21749,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.30,0.000,2,0.000,0.000,422,1986,3080
$GC,82,-0.97,-146.6,3.7,-5.7,3,108,10.62,2.55,-9.68,0.000,4,0.130,0.074,2483,592,3431
$GC,137,-0.73,-146.6,13.0,-13.6,5,145,0.28,2.50,0.00,0.000,6,0.082,0.050,2541,2003,3431
$GC,454,-0.65,-146.6,39.8,-8.4,21,458,0.00,2.60,0.00,0.000,4,0.000,0.064,2541,586,3431
$GC,487,-0.58,-146.6,42.9,-8.9,22,494,0.15,2.53,0.00,0.000,6,0.090,0.051,2573,2008,3431
$GC,805,-0.58,-146.6,64.5,-6.5,38,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2009,3431
$GC,1112,-0.58,-146.6,83.9,-6.2,53,1116,0.00,2.60,0.00,0.000,4,0.000,0.066,2573,584,3431
$GC,1139,-0.58,-146.6,85.7,-6.2,54,1144,0.00,2.53,0.00,0.000,6,0.000,0.051,2572,2009,3431
$GC,1456,-0.58,-146.6,105.3,-6.3,69,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2010,3431
$GC,1765,-0.58,-146.6,125.4,-6.8,84,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2010,3432
$GC,2076,-0.58,-146.6,146.3,-7.0,99,2080,0.00,2.60,0.00,0.000,4,0.000,0.066,2573,584,3431
$GC,2104,-0.58,-146.6,148.4,-7.3,100,2108,0.00,2.50,0.00,0.000,6,0.000,0.051,2573,1998,3432
$GC,2419,-0.58,-146.6,170.1,-6.3,115,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1998,3431
$GC,2728,-0.58,-146.6,189.9,-6.6,130,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1998,3431
$GC,3038,-0.58,-146.6,210.3,-6.5,145,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1998,3431
$GC,3347,-0.58,-146.6,230.0,-6.0,160,3351,0.00,2.53,0.00,0.000,4,0.000,0.061,2573,3411,3431
$GC,3380,-0.63,-146.6,232.3,-7.1,161,3386,0.00,2.53,0.00,0.000,6,0.000,0.049,2573,1995,3432
$GC,3699,-0.63,-146.6,250.3,-5.8,177,3704,0.00,2.55,0.00,0.000,4,0.000,0.062,2573,3401,3432
$GC,3727,-0.68,-146.6,252.2,-6.1,178,3731,0.00,2.47,0.00,0.000,6,0.000,0.049,2573,2001,3432
$GC,4049,-0.68,-146.6,271.2,-5.8,194,4053,0.00,2.55,0.00,0.000,4,0.000,0.061,2573,3406,3432
$GC,4083,-0.73,-146.6,273.2,-6.1,195,4090,0.15,2.47,0.00,0.000,6,0.048,0.050,2531,2012,3431
$GC,4400,-0.64,-146.6,296.6,-7.8,211,4401,0.12,0.00,0.00,0.000,6,0.087,0.000,2558,2011,3431
$GC,4709,-0.64,-146.6,317.6,-6.9,226,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2012,3432
$GC,5018,-0.64,-146.6,339.6,-7.0,241,5022,0.00,2.53,0.00,0.000,4,0.000,0.063,2558,3404,3431
$GC,5067,-0.64,-146.6,343.6,-8.1,243,5071,0.00,2.47,0.00,0.000,6,0.000,0.050,2557,2010,3432
$GC,5383,-0.64,-146.6,365.5,-6.4,258,5388,0.00,2.55,0.00,0.000,4,0.000,0.064,2558,3411,3431
$GC,5405,-0.64,-146.6,366.9,-6.4,259,5409,0.00,2.45,0.00,0.000,6,0.000,0.051,2558,2028,3431
$GC,5732,-0.64,-146.6,387.5,-6.4,275,5737,0.00,2.58,0.00,0.000,4,0.000,0.067,2558,593,3432
$GC,5761,-0.64,-146.6,389.4,-6.6,276,5765,0.00,2.53,0.00,0.000,6,0.000,0.051,2558,2021,3431
$GC,6077,-0.64,-146.6,408.5,-5.9,291,6082,0.00,2.60,0.00,0.000,4,0.000,0.067,2558,594,3432
$GC,6105,-0.64,-146.6,410.3,-6.4,292,6109,0.00,2.53,0.00,0.000,6,0.000,0.053,2558,2017,3431
$GC,6421,-0.64,-146.6,430.5,-7.0,307,6426,0.00,2.50,0.00,0.000,4,0.000,0.067,2558,3405,3431
$GC,6488,-0.64,-146.6,435.3,-7.3,310,6493,0.00,2.47,0.00,0.000,6,0.000,0.054,2558,2021,3431
$GC,6810,-0.64,-146.6,456.2,-6.2,326,6811,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2021,3431
$GC,7120,-0.64,-146.6,474.2,-5.8,341,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2021,3431
$GC,7429,-0.64,-146.6,492.0,-6.0,356,7433,0.00,2.58,0.00,0.000,4,0.000,0.071,2558,593,3431
$GC,7514,-0.69,-146.6,497.4,-6.5,360,7518,0.00,2.53,0.00,0.000,6,0.000,0.055,2558,2013,3431
$GC,7841,-0.69,-146.6,518.2,-6.9,376,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2014,3431
$GC,8150,-0.69,-146.6,537.8,-6.1,391,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2014,3430
$GC,8461,-0.73,-146.6,557.3,-5.7,406,8465,0.00,2.65,0.00,0.000,4,0.000,0.082,2558,600,3430
$GC,8494,-0.77,-146.6,559.4,-6.3,407,8501,0.12,2.53,0.00,0.000,6,0.061,0.063,2523,1995,3430
$GC,8810,-0.72,-146.6,582.3,-7.5,423,8811,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1995,3429
$GC,9120,-0.66,-146.6,604.5,-7.7,438,9125,0.15,2.62,0.00,0.000,4,0.095,0.085,2555,3404,3427
$GC,9153,-0.66,-146.6,606.9,-6.5,439,9160,0.00,2.60,0.00,0.000,6,0.000,0.074,2554,2005,3427
$GC,9469,-0.66,-146.6,627.4,-6.5,455,9474,0.00,2.67,0.00,0.000,4,0.000,0.087,2554,3410,3425
$GC,9503,-0.71,-146.6,629.7,-7.0,456,9509,0.00,2.60,0.00,0.000,6,0.000,0.073,2554,2011,3425
$STATE,9548,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9548,begin apogee
$GC,9555,-0.33,0.0,633.5,7.9,459,9691,0.35,0.00,128.68,1.328,6,0.084,0.000,2626,2199,2832
$STATE,9692,end apogee,CONTROL_FINISHED_OK
$STATE,9692,begin climb
$GC,9695,0.97,146.6,638.7,0.0,466,9832,1.30,2.75,129.80,1.283,4,0.065,0.090,2909,3602,2233
$GC,9894,0.94,160.6,631.4,5.6,474,9914,0.00,2.65,13.77,1.160,6,0.000,0.074,2909,2202,2176
$GC,10231,0.97,179.0,613.7,5.5,491,10254,0.00,2.78,17.10,1.208,4,0.000,0.091,2909,790,2103
$GC,10278,0.97,179.0,610.8,6.4,493,10282,0.00,2.67,0.00,0.000,6,0.000,0.073,2909,2203,2102
$GC,10599,0.98,187.3,592.3,5.8,509,10613,0.00,2.78,8.90,1.136,4,0.000,0.087,2909,788,2068
$GC,10631,1.03,219.5,590.6,5.1,510,10666,0.00,2.67,29.48,1.271,6,0.000,0.072,2909,2204,1936
$GC,10997,1.08,245.1,571.2,5.3,528,11027,0.10,2.83,23.33,1.270,4,0.074,0.088,2938,792,1832
$GC,11067,1.03,245.1,566.7,6.4,531,11071,0.00,2.62,0.00,0.000,6,0.000,0.073,2938,2181,1832
$GC,11389,1.10,293.6,550.2,4.7,547,11439,0.00,2.80,42.95,1.302,4,0.000,0.089,2938,792,1634
$GC,11475,1.12,300.6,545.7,5.8,551,11489,0.00,2.60,7.62,1.096,6,0.000,0.074,2938,2166,1605
$GC,11807,1.19,346.3,528.7,4.7,567,11852,0.00,2.72,39.85,1.289,4,0.000,0.090,2938,793,1420
$GC,11894,1.25,386.1,524.3,4.9,571,11936,0.15,2.55,35.28,1.265,6,0.064,0.073,2975,2161,1257
$GC,12250,1.20,386.1,496.6,8.9,588,12254,0.00,2.65,0.00,0.000,4,0.000,0.089,2975,784,1256
$GC,12312,1.16,386.1,489.4,11.5,591,12317,0.12,2.53,0.00,0.000,6,0.100,0.071,2951,2139,1256
$GC,12640,1.16,386.1,452.2,9.7,607,12644,0.00,2.58,0.00,0.000,4,0.000,0.083,2951,788,1255
$GC,12717,1.16,386.1,447.4,6.2,610,12724,0.00,2.45,0.00,0.000,6,0.000,0.067,2951,2117,1255
$GC,13033,1.16,386.1,425.0,6.9,626,13038,0.00,2.50,0.00,0.000,4,0.000,0.076,2951,787,1255
$GC,13067,1.16,386.1,422.5,6.7,627,13073,0.00,2.42,0.00,0.000,6,0.000,0.063,2951,2109,1255
$GC,13383,1.20,386.1,398.9,7.8,643,13385,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2128,1255
$GC,13692,1.20,386.1,374.4,8.1,658,13696,0.00,2.45,0.00,0.000,4,0.000,0.072,2951,791,1255
$GC,13725,1.20,386.1,371.6,7.8,659,13730,0.00,2.38,0.00,0.000,6,0.000,0.058,2951,2104,1256
$GC,14042,1.24,386.1,349.6,7.0,674,14046,0.00,2.42,0.00,0.000,4,0.000,0.070,2951,790,1256
$GC,14075,1.28,386.1,347.0,7.5,675,14080,0.12,2.35,0.00,0.000,6,0.059,0.056,2985,2094,1257
$GC,14392,1.22,386.1,316.4,9.8,690,14397,0.00,2.72,0.00,0.000,4,0.000,0.067,2985,3609,1257
$GC,14454,1.22,386.1,309.9,9.5,693,14459,0.00,2.72,0.00,0.000,6,0.000,0.056,2985,2094,1258
$GC,14781,1.16,386.1,272.1,12.7,709,14786,0.17,2.38,0.00,0.000,4,0.081,0.067,2946,782,1258
$GC,14811,1.20,386.1,268.7,10.9,710,14815,0.00,2.35,0.00,0.000,6,0.000,0.052,2946,2097,1258
$GC,15127,1.28,386.1,246.0,7.4,725,15129,0.15,0.00,0.00,0.000,6,0.051,0.000,2989,2098,1259
$GC,15437,1.24,386.1,210.9,12.0,740,15441,0.00,2.42,0.00,0.000,4,0.000,0.067,2989,787,1260
$GC,15465,1.18,386.1,206.9,12.9,741,15470,0.17,2.33,0.00,0.000,6,0.077,0.053,2952,2086,1260
$GC,15781,1.25,386.1,175.7,9.6,756,15785,0.00,2.40,0.00,0.000,4,0.000,0.066,2952,788,1260
$GC,15816,1.31,386.1,172.3,8.9,757,15820,0.15,2.30,0.00,0.000,6,0.049,0.051,2996,2079,1260
$GC,16132,1.25,386.1,135.6,12.2,772,16137,0.12,2.75,0.00,0.000,4,0.081,0.062,2970,3612,1262
$GC,16160,1.25,386.1,132.3,10.4,773,16164,0.00,2.78,0.00,0.000,6,0.000,0.050,2970,2050,1262
$GC,16478,1.25,386.1,101.1,10.0,788,16479,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2049,1263
$GC,16785,1.25,386.1,71.7,11.0,803,16790,0.00,2.83,0.00,0.000,4,0.000,0.061,2970,3607,1263
$GC,16813,1.30,386.1,68.7,9.5,804,16817,0.00,2.72,0.00,0.000,6,0.000,0.049,2970,2069,1263
$GC,17129,1.30,386.1,39.3,7.6,819,17133,0.00,2.30,0.00,0.000,4,0.000,0.065,2970,788,1264
$GC,17157,1.30,386.1,37.3,6.5,820,17161,0.00,2.33,0.00,0.000,6,0.000,0.049,2970,2100,1263
$GC,17475,1.30,386.1,14.3,8.1,835,17476,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2118,1264
$STATE,17614,end climb,SURFACE_DEPTH_REACHED
$STATE,17614,begin surface coast
$FINISH,0.5,1.014512
$STATE,17657,end surface coast,CONTROL_FINISHED_OK
$STATE,17657,begin surface
$SM_CCo,17741,0.00,0.000,0,0,1263,384.63
$SM_GC,1.50,11.10,0.00,0.00,0.038,0.000,0.000,419,1959,1263,-10.40,-1.16,384.63
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1798
$TCM_TEMP,17.40
$XPDR_PINGS,174
$ALTIM_BOTTOM_PING,576.2,66.1
$24V_AH,23.7,48.735
$10V_AH,10.1,24.069
$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,25.625,174.550,476.750,0.000,0.000,113.289,77.960,243.883,48.500,0.000,0.000,15.523,1568.112,13702.679,598.488,1788.600,779.896,0.000,1543.725,0.000,1744.363,0.000,35.110,0.000
$DEVICE_MAMPS,129.623,91.273,1328.444,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,628.271,568.319,534.609,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44283,844
$CAP_FILE_SIZE,141383,0
$CFSIZE,254472192,235081728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,54,0,0
$GPS,050109,065125,6023.239,-421.377,41,2.0,41,-6.4