version: 66.04
glider: 5
mission: 5
dive: 280
start: 1 5 109 12 30 52
data:
$ID,5
$MISSION,5
$DIVE,280
$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,-92759.312
$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,30
$R_STBD_OVSHOOT,21
$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
$GPS1,122437,6024.699,-420.848,36,1.6,36,-6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-58.1
$GPS2,123031,6024.848,-420.826,13,1.5,13,-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,194.4,27765,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.25,0.000,2,0.000,0.000,422,1966,3195
$GC,102,-0.97,-146.6,3.6,-4.0,4,126,10.77,2.70,-6.32,0.000,4,0.137,0.074,2480,3409,3432
$GC,200,-0.72,-146.6,19.2,-13.7,8,205,0.28,2.50,0.00,0.000,6,0.091,0.046,2539,2001,3432
$GC,522,-0.66,-146.6,49.5,-10.6,24,526,0.00,2.53,0.00,0.000,4,0.000,0.064,2539,588,3432
$GC,555,-0.59,-146.6,52.4,-8.7,25,563,0.15,2.53,0.00,0.000,6,0.087,0.051,2571,2011,3432
$GC,873,-0.59,-146.6,75.6,-8.3,41,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2011,3432
$GC,1181,-0.59,-146.6,95.2,-5.9,56,1185,0.00,2.50,0.00,0.000,4,0.000,0.063,2571,3405,3432
$GC,1210,-0.63,-146.6,96.9,-5.9,57,1214,0.00,2.50,0.00,0.000,6,0.000,0.048,2571,1996,3432
$GC,1526,-0.63,-146.6,118.9,-7.4,72,1530,0.00,2.53,0.00,0.000,4,0.000,0.064,2570,584,3432
$GC,1566,-0.63,-146.6,122.2,-8.7,74,1570,0.00,2.50,0.00,0.000,6,0.000,0.051,2571,1995,3432
$GC,1893,-0.63,-146.6,148.5,-8.8,90,1898,0.00,2.53,0.00,0.000,4,0.000,0.062,2571,3404,3432
$GC,1915,-0.63,-146.6,150.7,-9.2,91,1920,0.00,2.53,0.00,0.000,6,0.000,0.048,2570,1981,3432
$GC,2237,-0.63,-146.6,178.8,-8.9,107,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1980,3432
$GC,2547,-0.63,-146.6,206.0,-8.3,122,2551,0.00,2.60,0.00,0.000,4,0.000,0.062,2570,3412,3432
$GC,2591,-0.68,-146.6,209.8,-8.1,124,2595,0.00,2.53,0.00,0.000,6,0.000,0.050,2570,1993,3432
$GC,2912,-0.68,-146.6,229.6,-5.4,140,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1994,3433
$GC,3222,-0.68,-146.6,246.6,-5.7,155,3226,0.00,2.58,0.00,0.000,4,0.000,0.063,2571,3406,3433
$GC,3262,-0.74,-146.6,249.0,-6.1,157,3267,0.15,2.50,0.00,0.000,6,0.055,0.051,2529,2002,3433
$GC,3590,-0.67,-146.6,272.5,-7.1,173,3595,0.12,2.53,0.00,0.000,4,0.092,0.067,2556,595,3432
$GC,3639,-0.67,-146.6,276.0,-6.4,175,3644,0.00,2.50,0.00,0.000,6,0.000,0.053,2556,2003,3432
$GC,3955,-0.67,-146.6,291.6,-5.0,190,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2004,3432
$GC,4265,-0.67,-146.6,306.9,-5.2,205,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2004,3432
$GC,4574,-0.67,-146.6,328.5,-8.3,220,4578,0.00,2.60,0.00,0.000,4,0.000,0.070,2556,597,3432
$GC,4618,-0.67,-146.6,333.2,-10.8,222,4622,0.00,2.50,0.00,0.000,6,0.000,0.054,2556,2000,3432
$GC,4940,-0.67,-146.6,354.3,-6.4,238,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2001,3432
$GC,5249,-0.67,-146.6,376.3,-6.6,253,5253,0.00,2.60,0.00,0.000,4,0.000,0.071,2556,587,3432
$GC,5288,-0.67,-146.6,379.6,-9.2,255,5293,0.00,2.50,0.00,0.000,6,0.000,0.055,2556,1991,3432
$GC,5617,-0.67,-146.6,403.1,-5.3,271,5621,0.00,2.60,0.00,0.000,4,0.000,0.072,2556,587,3432
$GC,5644,-0.67,-146.6,404.7,-5.3,272,5648,0.00,2.50,0.00,0.000,6,0.000,0.055,2556,1980,3431
$GC,5960,-0.67,-146.6,427.5,-7.4,287,5964,0.00,2.55,0.00,0.000,4,0.000,0.074,2556,597,3432
$GC,5993,-0.67,-146.6,430.1,-7.9,288,5999,0.00,2.45,0.00,0.000,6,0.000,0.055,2556,1964,3432
$GC,6310,-0.67,-146.6,445.9,-3.3,304,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1984,3431
$GC,6618,-0.67,-146.6,456.8,-4.0,319,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1975,3431
$GC,6929,-0.67,-146.6,475.8,-4.9,334,6933,0.00,2.55,0.00,0.000,4,0.000,0.075,2555,596,3431
$GC,6980,-0.67,-146.6,478.6,-5.6,336,6984,0.00,2.45,0.00,0.000,6,0.000,0.058,2556,1967,3431
$GC,7302,-0.67,-146.6,493.8,-4.8,352,7306,0.00,2.62,0.00,0.000,4,0.000,0.073,2556,3411,3431
$GC,7374,-0.67,-146.6,497.8,-6.0,355,7379,0.00,2.60,0.00,0.000,6,0.000,0.063,2555,1979,3431
$GC,7690,-0.67,-146.6,516.3,-6.4,370,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1979,3430
$GC,8000,-0.67,-146.6,536.3,-6.7,385,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1979,3429
$GC,8308,-0.67,-146.6,558.1,-6.9,400,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1979,3429
$GC,8618,-0.67,-146.6,578.3,-6.5,415,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1979,3428
$GC,8927,-0.67,-146.6,598.6,-6.5,430,8932,0.00,2.70,0.00,0.000,4,0.000,0.084,2556,3409,3426
$GC,8973,-0.72,-146.6,601.7,-7.0,432,8978,0.00,2.65,0.00,0.000,6,0.000,0.074,2556,1986,3426
$GC,9295,-0.76,-146.6,622.1,-6.1,448,9299,0.00,2.70,0.00,0.000,4,0.000,0.087,2556,3405,3424
$GC,9317,-0.81,-146.6,623.5,-6.3,449,9322,0.15,2.65,0.00,0.000,6,0.070,0.074,2519,1983,3424
$GC,9641,-0.75,-146.6,647.1,-7.5,465,9645,0.00,2.70,0.00,0.000,4,0.000,0.089,2519,3401,3423
$GC,9674,-0.70,-146.6,649.7,-7.2,466,9681,0.12,2.62,0.00,0.000,6,0.107,0.075,2544,1995,3424
$GC,9990,-0.70,-146.6,670.6,-7.0,482,9995,0.00,2.70,0.00,0.000,4,0.000,0.090,2544,3403,3423
$GC,10018,-0.70,-146.6,672.9,-8.7,483,10023,0.00,2.62,0.00,0.000,6,0.000,0.079,2544,2010,3422
$GC,10334,-0.70,-146.6,693.9,-6.5,498,10338,0.00,2.65,0.00,0.000,4,0.000,0.087,2544,3401,3420
$GC,10368,-0.75,-146.6,696.8,-9.5,499,10374,0.00,2.60,0.00,0.000,6,0.000,0.079,2544,2019,3420
$STATE,10433,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10433,begin apogee
$GC,10440,-0.33,0.0,700.6,5.9,503,10576,0.38,0.00,128.80,1.420,6,0.075,0.000,2626,2200,2832
$STATE,10577,end apogee,CONTROL_FINISHED_OK
$STATE,10577,begin climb
$GC,10580,0.97,146.6,700.5,0.0,510,10720,1.33,2.83,131.75,1.357,4,0.074,0.091,2907,788,2233
$GC,10757,0.93,148.7,692.0,5.9,517,10762,0.00,2.67,0.00,0.000,6,0.000,0.075,2907,2197,2233
$GC,11074,0.97,173.8,677.3,5.3,532,11101,0.00,0.00,25.17,1.304,6,0.000,0.000,2907,2197,2123
$GC,11402,1.03,214.3,657.0,4.9,548,11445,0.00,2.85,36.75,1.339,4,0.000,0.091,2907,789,1958
$GC,11507,1.03,214.3,650.2,6.1,552,11513,0.00,2.65,0.00,0.000,6,0.000,0.076,2907,2188,1958
$GC,11823,1.03,214.3,628.1,6.6,568,11824,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2189,1958
$GC,12132,1.03,214.3,608.2,6.5,583,12133,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2189,1958
$GC,12441,1.05,225.0,590.2,5.7,598,12462,0.00,2.75,11.30,1.257,4,0.000,0.090,2907,786,1913
$GC,12514,1.05,225.0,585.9,6.1,601,12519,0.00,2.65,0.00,0.000,6,0.000,0.076,2907,2186,1913
$GC,12835,1.09,252.3,568.8,5.3,617,12863,0.12,0.00,25.00,1.333,6,0.068,0.000,2941,2187,1803
$GC,13165,1.09,252.3,547.4,7.1,633,13169,0.00,2.70,0.00,0.000,4,0.000,0.090,2941,790,1804
$GC,13228,1.03,252.3,542.5,8.0,636,13232,0.00,2.62,0.00,0.000,6,0.000,0.076,2941,2185,1803
$GC,13555,1.03,252.3,517.5,8.3,652,13559,0.00,2.70,0.00,0.000,4,0.000,0.089,2941,784,1803
$GC,13577,0.99,252.3,515.5,8.3,653,13582,0.12,2.58,0.00,0.000,6,0.101,0.074,2917,2164,1803
$GC,13898,1.03,252.3,490.3,7.8,669,13899,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2164,1803
$GC,14208,1.07,252.3,467.8,6.9,684,14209,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2164,1803
$GC,14517,1.13,256.5,447.6,5.9,699,14528,0.12,2.62,5.57,1.022,4,0.068,0.081,2948,791,1785
$GC,14585,1.06,256.5,442.7,6.9,702,14589,0.00,2.55,0.00,0.000,6,0.000,0.069,2948,2164,1785
$GC,14907,1.01,256.5,421.2,7.0,718,14912,0.15,2.60,0.00,0.000,4,0.094,0.078,2918,790,1785
$GC,14951,1.01,256.5,418.5,6.1,720,14956,0.00,2.50,0.00,0.000,6,0.000,0.067,2918,2144,1785
$GC,15274,1.10,279.6,402.7,5.4,736,15301,0.00,2.62,21.20,1.187,4,0.000,0.077,2918,791,1691
$GC,15324,1.18,293.8,399.9,5.6,738,15344,0.15,2.50,13.65,1.137,6,0.061,0.064,2960,2139,1633
$GC,15669,1.13,293.8,375.7,7.0,755,15673,0.00,2.72,0.00,0.000,4,0.000,0.076,2959,3609,1634
$GC,15696,1.09,293.8,373.7,6.7,756,15701,0.10,2.70,0.00,0.000,6,0.098,0.062,2939,2136,1634
$GC,16013,1.11,303.2,355.5,5.7,771,16028,0.00,2.80,9.68,1.046,4,0.000,0.073,2940,3607,1596
$GC,16045,1.11,303.2,353.3,6.5,771,16051,0.00,2.70,0.00,0.000,6,0.000,0.060,2939,2139,1596
$GC,16361,1.11,303.2,332.9,6.5,787,16365,0.00,2.47,0.00,0.000,4,0.000,0.073,2939,787,1596
$GC,16427,1.11,303.2,327.4,8.1,790,16432,0.00,2.45,0.00,0.000,6,0.000,0.058,2939,2144,1597
$GC,16750,1.11,303.2,304.1,6.7,806,16754,0.00,2.53,0.00,0.000,4,0.000,0.072,2939,786,1597
$GC,16782,1.11,303.2,301.7,7.4,807,16789,0.00,2.42,0.00,0.000,6,0.000,0.058,2939,2127,1597
$GC,17098,1.12,309.8,282.6,5.8,823,17113,0.00,2.55,7.65,0.930,4,0.000,0.069,2939,788,1569
$GC,17131,1.12,309.8,280.6,6.2,824,17136,0.00,2.42,0.00,0.000,6,0.000,0.056,2939,2123,1568
$GC,17448,1.22,349.5,264.8,4.9,839,17491,0.12,2.58,34.12,1.039,4,0.056,0.070,2975,788,1406
$GC,17520,1.18,349.5,259.5,7.8,842,17524,0.00,2.40,0.00,0.000,6,0.000,0.054,2975,2106,1406
$GC,17841,1.18,349.5,232.5,8.7,858,17842,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2106,1406
$GC,18150,1.18,349.5,206.9,8.0,873,18151,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2106,1407
$GC,18460,1.18,349.5,180.0,9.5,888,18461,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2107,1408
$GC,18768,1.18,349.5,152.8,8.7,903,18773,0.00,2.70,0.00,0.000,4,0.000,0.066,2975,3602,1408
$GC,18790,1.18,349.5,150.6,9.3,904,18794,0.00,2.70,0.00,0.000,6,0.000,0.052,2975,2096,1408
$GC,19112,1.18,349.5,119.4,10.7,920,19113,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2095,1409
$GC,19420,1.18,349.5,86.9,10.9,935,19421,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2095,1409
$GC,19729,1.18,349.5,55.7,9.9,950,19734,0.00,2.78,0.00,0.000,4,0.000,0.064,2975,3612,1410
$GC,19751,1.18,349.5,53.3,9.6,951,19755,0.00,2.70,0.00,0.000,6,0.000,0.051,2975,2098,1409
$GC,20073,1.18,349.5,23.6,9.3,967,20074,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2097,1410
$STATE,20298,end climb,SURFACE_DEPTH_REACHED
$STATE,20298,begin surface coast
$FINISH,0.4,1.027440
$STATE,20339,end surface coast,CONTROL_FINISHED_OK
$STATE,20339,begin surface
$SM_CCo,20422,0.00,0.000,0,0,1409,349.06
$SM_GC,1.15,11.18,0.00,0.00,0.039,0.000,0.000,419,1972,1409,-10.40,-0.79,349.06
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1806
$TCM_TEMP,17.00
$XPDR_PINGS,125
$ALTIM_BOTTOM_PING,625.7,84.2
$24V_AH,23.7,49.085
$10V_AH,10.1,24.246
$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,25.525,182.250,450.650,0.000,0.000,37.765,27.598,156.602,36.750,0.000,0.000,13.036,1788.822,15788.227,597.844,2014.136,583.494,0.000,1645.334,0.000,1969.981,0.000,37.737,0.000
$DEVICE_MAMPS,136.526,90.506,1420.484,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,725.882,662.116,563.650,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50502,980
$CAP_FILE_SIZE,151522,0
$CFSIZE,254472192,234934272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,51,0,0
$GPS,050109,181231,6026.640,-416.036,41,1.7,41,-6.4