version: 66.04
glider: 5
mission: 5
dive: 282
start: 1 5 109 23 29 26
data:
$ID,5
$MISSION,5
$DIVE,282
$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,270
$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,-92792.516
$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,42
$R_STBD_OVSHOOT,22
$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,4
$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
$GPS1,231925,6028.111,-409.339,40,1.4,40,-6.3
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-60.2
$GPS2,232907,6028.199,-409.101,15,1.3,15,-6.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6028.199,-431.011
$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,276.3,20000,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.32,0.000,2,0.000,0.000,421,1968,3328
$GC,102,-0.97,-146.6,4.4,-5.1,4,125,10.75,2.50,-2.45,0.000,4,0.134,0.077,2479,616,3432
$GC,251,-0.77,-146.6,30.8,-12.7,10,257,0.25,2.47,0.00,0.000,6,0.087,0.051,2532,2004,3433
$GC,568,-0.67,-146.6,53.7,-8.5,25,572,0.00,2.55,0.00,0.000,4,0.000,0.064,2533,613,3433
$GC,590,-0.61,-146.6,55.5,-7.1,26,595,0.15,2.47,0.00,0.000,6,0.084,0.052,2565,2000,3433
$GC,913,-0.61,-146.6,75.3,-6.6,42,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2007,3433
$GC,1220,-0.61,-146.6,97.3,-8.8,57,1225,0.00,2.55,0.00,0.000,4,0.000,0.065,2565,602,3433
$GC,1253,-0.61,-146.6,100.2,-8.1,58,1260,0.00,2.50,0.00,0.000,6,0.000,0.052,2565,2009,3433
$GC,1572,-0.61,-146.6,124.4,-7.6,74,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2010,3433
$GC,1879,-0.61,-146.6,149.6,-8.0,89,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2010,3433
$GC,2188,-0.61,-146.6,172.3,-7.2,104,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2010,3433
$GC,2497,-0.61,-146.6,196.6,-7.7,119,2502,0.00,2.55,0.00,0.000,4,0.000,0.068,2565,613,3433
$GC,2570,-0.61,-146.6,202.5,-8.1,122,2574,0.00,2.47,0.00,0.000,6,0.000,0.052,2565,2006,3433
$GC,2885,-0.61,-146.6,226.8,-7.3,137,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2007,3434
$GC,3196,-0.61,-146.6,247.3,-6.6,152,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2007,3434
$GC,3504,-0.61,-146.6,266.5,-6.2,167,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2007,3434
$GC,3813,-0.61,-146.6,285.7,-6.0,182,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2007,3434
$GC,4123,-0.61,-146.6,304.5,-6.2,197,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2007,3434
$GC,4432,-0.61,-146.6,323.4,-5.9,212,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2007,3434
$GC,4741,-0.61,-146.6,340.8,-5.2,227,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2007,3434
$GC,5051,-0.61,-146.6,355.6,-5.2,242,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2007,3434
$GC,5360,-0.61,-146.6,374.9,-6.2,257,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2006,3433
$GC,5669,-0.61,-146.6,393.3,-6.2,272,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2007,3433
$GC,5979,-0.61,-146.6,415.0,-8.1,287,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2007,3433
$GC,6288,-0.61,-146.6,441.4,-7.7,302,6292,0.00,2.58,0.00,0.000,4,0.000,0.072,2565,604,3433
$GC,6321,-0.65,-146.6,443.9,-7.6,303,6327,0.00,2.47,0.00,0.000,6,0.000,0.054,2565,1997,3433
$GC,6638,-0.70,-146.6,460.6,-4.9,319,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1997,3432
$GC,6946,-0.74,-146.6,476.0,-4.8,334,6948,0.12,0.00,0.00,0.000,6,0.061,0.000,2529,1997,3432
$GC,7256,-0.69,-146.6,502.7,-9.6,349,7260,0.00,2.55,0.00,0.000,4,0.000,0.074,2529,613,3433
$GC,7318,-0.64,-146.6,508.1,-8.3,352,7323,0.15,2.45,0.00,0.000,6,0.091,0.058,2561,1982,3433
$GC,7646,-0.64,-146.6,524.8,-4.0,368,7651,0.00,2.60,0.00,0.000,4,0.000,0.072,2561,3413,3433
$GC,7692,-0.69,-146.6,526.9,-4.4,370,7697,0.00,2.55,0.00,0.000,6,0.000,0.061,2561,2004,3432
$GC,8020,-0.69,-146.6,543.7,-5.1,386,8021,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2004,3432
$GC,8329,-0.69,-146.6,562.1,-6.9,401,8331,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2004,3431
$GC,8638,-0.74,-146.6,581.4,-6.3,416,8640,0.10,0.00,0.00,0.000,6,0.061,0.000,2533,2004,3431
$GC,8947,-0.74,-146.6,602.7,-6.7,431,8952,0.00,2.60,0.00,0.000,4,0.000,0.083,2532,593,3430
$GC,8997,-0.74,-146.6,606.6,-7.5,433,9002,0.00,2.55,0.00,0.000,6,0.000,0.065,2532,1998,3430
$STATE,9104,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9104,begin apogee
$GC,9111,-0.33,0.0,614.5,7.2,438,9247,0.45,0.00,128.60,1.280,6,0.081,0.000,2627,2200,2832
$STATE,9248,end apogee,CONTROL_FINISHED_OK
$STATE,9248,begin climb
$GC,9251,0.97,146.6,620.2,0.0,445,9391,1.35,2.75,129.45,1.239,4,0.067,0.084,2913,3601,2234
$GC,9418,0.95,164.9,615.2,5.5,453,9440,0.00,2.62,17.42,1.146,6,0.000,0.071,2913,2205,2159
$GC,9749,0.95,164.9,596.0,6.3,469,9753,0.00,2.67,0.00,0.000,4,0.000,0.087,2913,791,2159
$GC,9856,0.91,164.9,588.5,7.7,474,9861,0.00,2.58,0.00,0.000,6,0.000,0.068,2913,2180,2159
$GC,10184,0.91,164.9,566.7,6.4,490,10189,0.00,2.65,0.00,0.000,4,0.000,0.084,2913,793,2158
$GC,10219,0.87,164.9,564.3,6.7,491,10226,0.12,2.58,0.00,0.000,6,0.094,0.071,2891,2176,2158
$GC,10535,1.02,232.5,549.7,4.2,507,10600,0.15,2.72,58.88,1.261,4,0.062,0.083,2929,792,1883
$GC,10623,1.02,232.5,544.6,7.0,511,10627,0.00,2.60,0.00,0.000,6,0.000,0.070,2929,2173,1883
$GC,10939,1.02,232.5,524.2,7.2,526,10944,0.00,2.65,0.00,0.000,4,0.000,0.084,2929,785,1883
$GC,10967,1.02,232.5,521.9,8.1,527,10971,0.00,2.58,0.00,0.000,6,0.000,0.069,2929,2170,1883
$GC,11283,1.02,232.5,498.7,7.5,542,11287,0.00,2.62,0.00,0.000,4,0.000,0.081,2930,785,1883
$GC,11333,1.02,232.5,494.6,8.1,544,11337,0.00,2.53,0.00,0.000,6,0.000,0.067,2929,2156,1883
$GC,11649,1.02,232.5,473.2,6.4,559,11650,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2156,1882
$GC,11958,1.02,232.5,452.1,6.7,574,11962,0.00,2.58,0.00,0.000,4,0.000,0.077,2929,784,1883
$GC,12002,1.02,232.5,449.1,7.4,576,12006,0.00,2.50,0.00,0.000,6,0.000,0.062,2929,2155,1883
$GC,12329,1.02,232.5,428.8,6.1,592,12331,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2156,1883
$GC,12639,1.02,232.5,409.6,6.2,607,12640,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2156,1882
$GC,12948,1.02,232.5,389.6,6.3,622,12953,0.00,2.53,0.00,0.000,4,0.000,0.071,2929,791,1883
$GC,12988,1.02,232.5,386.9,6.7,624,12993,0.00,2.45,0.00,0.000,6,0.000,0.058,2930,2148,1883
$GC,13316,1.03,234.2,367.5,6.0,640,13317,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2149,1883
$GC,13625,1.03,234.2,346.6,6.9,655,13626,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2149,1883
$GC,13934,1.03,234.2,324.6,7.0,670,13938,0.00,2.50,0.00,0.000,4,0.000,0.069,2930,790,1884
$GC,13966,1.03,234.2,322.1,7.7,671,13973,0.00,2.42,0.00,0.000,6,0.000,0.055,2929,2145,1884
$GC,14283,1.03,234.2,301.4,6.4,687,14287,0.00,2.65,0.00,0.000,4,0.000,0.067,2930,3613,1885
$GC,14310,1.03,234.2,299.4,6.8,688,14314,0.00,2.65,0.00,0.000,6,0.000,0.054,2929,2134,1885
$GC,14625,1.03,234.2,279.4,6.5,703,14631,0.00,0.00,3.65,0.651,6,0.000,0.000,2929,2134,1877
$GC,14935,1.03,238.4,260.9,5.9,718,14943,0.00,0.00,5.30,0.788,6,0.000,0.000,2929,2134,1860
$GC,15244,1.08,265.6,243.7,5.3,733,15274,0.00,2.80,23.80,0.981,4,0.000,0.064,2929,3603,1749
$GC,15293,1.13,266.5,241.0,6.0,735,15297,0.00,2.65,0.00,0.000,6,0.000,0.051,2929,2138,1748
$GC,15615,1.22,294.9,224.0,5.2,751,15646,0.15,2.50,25.17,0.963,4,0.052,0.067,2973,783,1629
$GC,15669,1.15,294.9,220.1,9.0,753,15675,0.12,2.47,0.00,0.000,6,0.081,0.053,2946,2148,1629
$GC,15985,1.15,294.9,198.6,6.9,769,15986,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2148,1629
$GC,16294,1.15,294.9,178.4,6.7,784,16297,0.00,2.50,0.00,0.000,4,0.000,0.068,2946,790,1629
$GC,16332,1.15,294.9,175.4,7.9,785,16339,0.00,2.42,0.00,0.000,6,0.000,0.054,2946,2142,1629
$GC,16649,1.15,294.9,152.6,7.5,801,16650,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2141,1629
$GC,16958,1.15,294.9,128.7,7.7,816,16962,0.00,2.50,0.00,0.000,4,0.000,0.067,2946,784,1629
$GC,16979,1.15,294.9,127.0,7.5,817,16983,0.00,2.42,0.00,0.000,6,0.000,0.053,2946,2139,1629
$GC,17302,1.15,294.9,105.0,6.6,833,17306,0.00,2.47,0.00,0.000,4,0.000,0.066,2946,788,1629
$GC,17323,1.15,294.9,103.3,7.2,834,17327,0.00,2.40,0.00,0.000,6,0.000,0.052,2946,2133,1629
$GC,17645,1.15,294.9,81.6,6.8,850,17649,0.00,2.47,0.00,0.000,4,0.000,0.066,2947,782,1630
$GC,17673,1.15,294.9,79.4,8.3,851,17677,0.00,2.40,0.00,0.000,6,0.000,0.051,2946,2127,1630
$GC,17989,1.15,294.9,60.0,6.5,866,17990,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2128,1630
$GC,18298,1.17,308.9,40.9,5.6,881,18320,0.00,2.55,12.88,0.802,4,0.000,0.064,2946,789,1571
$GC,18337,1.17,308.9,38.2,6.8,882,18344,0.00,2.38,0.00,0.000,6,0.000,0.051,2946,2112,1572
$GC,18655,1.22,338.9,20.0,5.2,898,18682,0.00,0.00,24.98,0.822,6,0.000,0.000,2946,2131,1450
$STATE,18893,end climb,SURFACE_DEPTH_REACHED
$STATE,18893,begin surface coast
$FINISH,0.4,1.027361
$STATE,18935,end surface coast,CONTROL_FINISHED_OK
$STATE,18935,begin surface
$SM_CCo,19018,0.00,0.000,0,0,1449,339.25
$SM_GC,1.11,11.00,0.00,0.00,0.035,0.000,0.000,420,1964,1449,-10.40,-1.05,339.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1797
$TCM_TEMP,17.20
$XPDR_PINGS,126
$ALTIM_BOTTOM_PING,551.0,72.7
$24V_AH,23.7,49.414
$10V_AH,10.1,24.414
$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,24.875,127.775,430.125,0.000,0.000,75.528,54.480,251.374,36.250,0.000,0.000,15.722,1622.176,14890.899,559.880,1813.123,709.337,0.000,1477.226,0.000,1777.106,0.000,33.244,0.000
$DEVICE_MAMPS,134.225,87.438,1280.123,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,676.597,614.213,587.443,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47517,912
$CAP_FILE_SIZE,132035,0
$CFSIZE,254472192,234819584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,0,0
$GPS,060109,044737,6031.535,-406.555,36,1.0,36,-6.3