version: 66.04
glider: 5
mission: 5
dive: 358
start: 1 21 109 16 48 3
data:
$ID,5
$MISSION,5
$DIVE,358
$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,-94438.539
$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,45
$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
$GPS1,163737,6046.642,-536.431,40,1.1,40,-7.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-61.6
$GPS2,164744,6046.752,-536.392,13,1.1,13,-7.2
$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,143.2,94654,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.97,-146.6,0.0,0.0,0,100,0.00,0.00,-80.50,0.000,6,0.000,0.000,422,1976,3430
$GC,103,-0.97,-146.6,5.4,-7.1,4,117,10.93,0.00,0.00,0.000,6,0.135,0.000,2527,1979,3431
$GC,436,-0.87,-146.6,44.3,-8.6,20,438,0.12,0.00,0.00,0.000,6,0.096,0.000,2552,1968,3432
$GC,744,-0.87,-146.6,68.4,-8.3,35,749,0.00,2.62,0.00,0.000,4,0.000,0.063,2553,3416,3432
$GC,766,-0.87,-146.6,70.1,-7.3,36,771,0.00,2.50,0.00,0.000,6,0.000,0.050,2553,2017,3432
$GC,1088,-0.87,-146.6,94.3,-8.2,52,1093,0.00,2.55,0.00,0.000,4,0.000,0.065,2553,594,3432
$GC,1117,-0.87,-146.6,96.6,-8.3,53,1121,0.00,2.53,0.00,0.000,6,0.000,0.052,2553,2010,3432
$GC,1433,-0.87,-146.6,122.7,-8.5,68,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2011,3432
$GC,1742,-0.87,-146.6,145.0,-7.0,83,1747,0.00,2.53,0.00,0.000,4,0.000,0.064,2553,3414,3432
$GC,1788,-0.87,-146.6,148.2,-6.9,85,1792,0.00,2.53,0.00,0.000,6,0.000,0.051,2553,2000,3432
$GC,2109,-0.87,-146.6,171.6,-7.5,101,2114,0.00,2.53,0.00,0.000,4,0.000,0.067,2553,588,3432
$GC,2144,-0.87,-146.6,174.4,-7.9,102,2150,0.00,2.53,0.00,0.000,6,0.000,0.053,2553,2008,3432
$GC,2461,-0.87,-146.6,198.7,-8.1,118,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2008,3432
$GC,2769,-0.87,-146.6,224.0,-7.9,133,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2008,3432
$GC,3078,-0.87,-146.6,249.0,-8.1,148,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2008,3432
$GC,3388,-0.87,-146.6,273.8,-8.1,163,3393,0.00,2.60,0.00,0.000,4,0.000,0.069,2553,586,3432
$GC,3422,-0.87,-146.6,277.0,-9.3,164,3428,0.00,2.53,0.00,0.000,6,0.000,0.054,2553,2007,3431
$GC,3737,-0.87,-146.6,302.5,-8.0,180,3741,0.00,2.53,0.00,0.000,4,0.000,0.066,2553,3411,3432
$GC,3766,-0.87,-146.6,304.8,-8.0,181,3770,0.00,2.53,0.00,0.000,6,0.000,0.054,2553,1998,3432
$GC,4082,-0.87,-146.6,329.4,-7.8,196,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1997,3432
$GC,4391,-0.87,-146.6,354.2,-7.7,211,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1998,3432
$GC,4701,-0.87,-146.6,376.6,-6.7,226,4705,0.00,2.58,0.00,0.000,4,0.000,0.066,2553,3406,3432
$GC,4728,-0.87,-146.6,378.5,-6.5,227,4733,0.00,2.50,0.00,0.000,6,0.000,0.054,2553,2011,3432
$GC,5044,-0.87,-146.6,399.4,-6.7,242,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2011,3432
$GC,5354,-0.87,-146.6,420.3,-6.8,257,5358,0.00,2.55,0.00,0.000,4,0.000,0.068,2552,589,3432
$GC,5404,-0.87,-146.6,423.9,-7.1,259,5409,0.00,2.55,0.00,0.000,6,0.000,0.055,2552,2020,3431
$GC,5726,-0.87,-146.6,446.0,-6.9,275,5730,0.00,2.62,0.00,0.000,4,0.000,0.071,2553,591,3432
$GC,5759,-0.87,-146.6,448.5,-8.0,276,5765,0.00,2.53,0.00,0.000,6,0.000,0.058,2553,2001,3432
$GC,6075,-0.87,-146.6,470.1,-6.6,292,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2001,3432
$GC,6384,-0.87,-146.6,493.0,-7.2,307,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2008,3431
$GC,6694,-0.87,-146.6,513.5,-6.7,322,6696,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2008,3430
$GC,7003,-0.87,-146.6,534.9,-6.8,337,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2008,3430
$GC,7312,-0.87,-146.6,555.5,-6.8,352,7316,0.00,2.60,0.00,0.000,4,0.000,0.079,2553,3412,3428
$GC,7375,-0.87,-146.6,560.1,-7.9,355,7379,0.00,2.60,0.00,0.000,6,0.000,0.070,2553,1998,3428
$GC,7702,-0.87,-146.6,584.5,-7.7,371,7703,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1998,3428
$GC,8011,-0.87,-146.6,607.6,-6.9,386,8015,0.00,2.65,0.00,0.000,4,0.000,0.084,2553,3402,3426
$GC,8067,-0.87,-146.6,612.0,-7.9,388,8073,0.00,2.60,0.00,0.000,6,0.000,0.073,2552,2000,3426
$GC,8383,-0.87,-146.6,634.4,-6.8,404,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2000,3425
$GC,8692,-0.87,-146.6,654.3,-5.6,419,8693,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2000,3424
$STATE,8813,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8813,begin apogee
$GC,8821,-0.33,0.0,661.8,6.2,425,8956,0.57,0.00,132.02,1.357,6,0.091,0.000,2672,2125,2832
$STATE,8957,end apogee,CONTROL_FINISHED_OK
$STATE,8957,begin climb
$GC,8960,0.97,146.6,666.0,0.0,432,9106,1.33,2.78,134.85,1.300,4,0.074,0.085,2953,3524,2234
$GC,9161,0.78,146.6,658.4,6.6,441,9167,0.20,2.67,0.00,0.000,6,0.097,0.075,2915,2118,2234
$GC,9483,0.74,146.6,639.7,6.0,457,9487,0.00,2.67,0.00,0.000,4,0.000,0.089,2915,707,2233
$GC,9494,0.76,158.9,639.0,5.7,457,9513,0.00,2.65,12.15,1.187,6,0.000,0.071,2915,2126,2184
$GC,9831,0.79,177.5,621.9,5.5,474,9853,0.00,2.80,17.38,1.257,4,0.000,0.085,2915,3536,2108
$GC,9882,0.75,179.8,618.8,5.9,476,9892,0.00,2.67,4.05,0.850,6,0.000,0.077,2915,2137,2098
$GC,10209,0.83,232.0,602.9,4.6,492,10258,0.00,0.00,47.10,1.318,6,0.000,0.000,2915,2137,1886
$GC,10557,0.86,246.1,583.8,5.6,509,10577,0.00,0.00,14.18,1.239,6,0.000,0.000,2915,2137,1828
$GC,10888,0.91,250.1,565.0,5.9,525,10896,0.12,0.00,5.18,0.995,6,0.069,0.000,2946,2137,1812
$GC,11196,0.87,250.1,541.5,7.6,540,11201,0.00,2.70,0.00,0.000,4,0.000,0.087,2946,3532,1812
$GC,11241,0.81,250.1,537.6,8.8,542,11246,0.12,2.67,0.00,0.000,6,0.103,0.076,2923,2118,1812
$GC,11563,0.81,250.1,515.0,6.8,558,11564,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2118,1812
$GC,11872,0.81,250.1,493.3,6.3,573,11876,0.00,2.72,0.00,0.000,4,0.000,0.084,2922,3540,1811
$GC,11899,0.81,250.1,491.5,6.7,574,11903,0.00,2.65,0.00,0.000,6,0.000,0.073,2923,2129,1811
$GC,12215,0.81,250.1,471.6,6.1,589,12220,0.00,2.62,0.00,0.000,4,0.000,0.082,2922,713,1811
$GC,12256,0.81,250.1,468.9,6.6,591,12261,0.00,2.60,0.00,0.000,6,0.000,0.067,2923,2126,1811
$GC,12584,0.84,263.8,449.5,5.6,607,12602,0.00,0.00,13.55,1.179,6,0.000,0.000,2923,2126,1756
$GC,12912,0.89,272.5,431.1,5.8,623,12927,0.00,2.70,9.15,1.103,4,0.000,0.077,2923,714,1720
$GC,12957,0.94,272.5,428.1,6.7,625,12962,0.10,2.60,0.00,0.000,6,0.067,0.064,2949,2122,1720
$GC,13285,0.94,272.5,403.0,8.2,641,13290,0.00,2.62,0.00,0.000,4,0.000,0.075,2949,3537,1720
$GC,13348,0.94,272.5,397.4,8.8,644,13352,0.00,2.58,0.00,0.000,6,0.000,0.062,2949,2135,1720
$GC,13674,0.94,272.5,372.7,8.1,660,13679,0.00,2.62,0.00,0.000,4,0.000,0.071,2949,3538,1720
$GC,13697,0.94,272.5,370.8,8.2,661,13702,0.00,2.55,0.00,0.000,6,0.000,0.059,2949,2141,1720
$GC,14018,0.94,272.5,344.2,8.3,677,14023,0.00,2.60,0.00,0.000,4,0.000,0.070,2949,3537,1721
$GC,14046,0.94,272.5,341.7,9.1,678,14050,0.00,2.53,0.00,0.000,6,0.000,0.057,2949,2147,1721
$GC,14362,0.94,272.5,316.9,7.6,693,14367,0.00,2.60,0.00,0.000,4,0.000,0.068,2949,703,1721
$GC,14407,0.94,272.5,313.0,8.8,695,14411,0.00,2.60,0.00,0.000,6,0.000,0.056,2949,2148,1721
$GC,14728,0.94,272.5,289.9,7.1,711,14729,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2150,1722
$GC,15038,0.94,272.5,267.8,7.4,726,15039,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2150,1723
$GC,15347,0.94,272.5,245.9,7.0,741,15350,0.00,2.53,0.00,0.000,4,0.000,0.066,2950,3541,1724
$GC,15380,0.94,272.5,243.2,7.4,742,15384,0.00,2.53,0.00,0.000,6,0.000,0.054,2949,2139,1724
$GC,15696,0.94,272.5,220.1,7.5,757,15700,0.00,2.58,0.00,0.000,4,0.000,0.067,2949,706,1725
$GC,15718,0.94,272.5,218.2,7.8,758,15722,0.00,2.58,0.00,0.000,6,0.000,0.054,2949,2144,1725
$GC,16038,0.94,272.5,195.3,7.1,774,16043,0.00,2.62,0.00,0.000,4,0.000,0.067,2949,708,1726
$GC,16057,0.94,272.5,194.0,7.0,775,16061,0.00,2.55,0.00,0.000,6,0.000,0.054,2949,2135,1726
$GC,16384,0.94,272.5,170.6,7.2,791,16385,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2134,1726
$GC,16693,0.94,272.5,149.2,6.9,806,16697,0.00,2.60,0.00,0.000,4,0.000,0.067,2949,710,1726
$GC,16721,0.94,272.5,147.1,8.1,807,16725,0.00,2.53,0.00,0.000,6,0.000,0.053,2949,2124,1727
$GC,17038,0.94,272.5,124.7,6.2,822,17043,0.00,2.53,0.00,0.000,4,0.000,0.064,2949,3528,1727
$GC,17066,0.94,272.5,122.6,7.8,823,17071,0.00,2.53,0.00,0.000,6,0.000,0.051,2949,2114,1727
$GC,17383,0.94,272.5,100.5,6.9,838,17387,0.00,2.53,0.00,0.000,4,0.000,0.067,2949,714,1728
$GC,17410,0.94,272.5,98.3,7.9,839,17415,0.00,2.53,0.00,0.000,6,0.000,0.053,2949,2126,1728
$GC,17726,0.94,272.5,74.0,7.4,854,17728,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2127,1728
$GC,18038,0.94,272.5,47.5,9.2,869,18042,0.00,2.58,0.00,0.000,4,0.000,0.067,2949,716,1728
$GC,18055,0.94,272.5,45.7,8.7,870,18059,0.00,2.47,0.00,0.000,6,0.000,0.053,2949,2109,1728
$GC,18388,0.94,272.5,21.2,8.0,886,18392,0.00,2.55,0.00,0.000,4,0.000,0.062,2949,3528,1729
$GC,18437,0.94,272.5,17.5,8.9,888,18441,0.00,2.55,0.00,0.000,6,0.000,0.050,2949,2099,1729
$STATE,18627,end climb,SURFACE_DEPTH_REACHED
$STATE,18627,begin surface coast
$FINISH,0.2,1.027420
$STATE,18690,end surface coast,CONTROL_FINISHED_OK
$STATE,18690,begin surface
$SM_CCo,18773,0.00,0.000,0,0,1728,270.81
$SM_GC,0.99,11.02,0.00,0.00,0.041,0.000,0.000,425,1979,1728,-10.58,-0.51,270.81
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1818
$TCM_TEMP,16.90
$XPDR_PINGS,34
$ALTIM_BOTTOM_PING,600.2,70.5
$24V_AH,23.6,61.607
$10V_AH,10.1,30.395
$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,24.525,155.625,389.600,0.000,0.000,77.062,58.795,270.511,13.750,0.000,0.000,13.887,1620.463,14667.461,530.929,1803.022,753.485,0.000,1453.207,0.000,1766.110,0.000,36.402,0.000
$DEVICE_MAMPS,134.992,88.972,1356.823,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,662.440,607.039,558.139,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47449,900
$CAP_FILE_SIZE,133879,0
$CFSIZE,254472192,230469632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,43,0,0
$GPS,210109,220207,6045.467,-530.094,34,1.3,34,-7.1