version: 66.04
glider: 5
mission: 5
dive: 359
start: 1 21 109 22 8 44
data:
$ID,5
$MISSION,5
$DIVE,359
$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,-94451.117
$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,35
$R_STBD_OVSHOOT,25
$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
$GPS1,220207,6045.467,-530.094,34,1.3,34,-7.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-56.2
$GPS2,220825,6045.504,-530.132,12,1.2,12,-7.1
$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,144.7,89020,-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,-81.60,0.000,2,0.000,0.000,424,1973,3317
$GC,103,-0.97,-146.6,4.3,-4.8,4,126,10.95,2.62,-2.55,0.000,4,0.137,0.074,2525,3404,3432
$GC,235,-0.89,-146.6,25.6,-7.3,9,242,0.12,2.50,0.00,0.000,6,0.095,0.048,2551,1999,3432
$GC,553,-0.85,-146.6,50.9,-7.8,25,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1999,3432
$GC,861,-0.85,-146.6,77.3,-9.5,40,865,0.00,2.53,0.00,0.000,4,0.000,0.065,2551,589,3433
$GC,879,-0.85,-146.6,78.5,-7.1,41,883,0.00,2.55,0.00,0.000,6,0.000,0.053,2551,2019,3432
$GC,1207,-0.85,-146.6,104.4,-8.1,57,1211,0.00,2.60,0.00,0.000,4,0.000,0.066,2551,595,3433
$GC,1241,-0.85,-146.6,107.4,-8.5,58,1247,0.00,2.50,0.00,0.000,6,0.000,0.053,2551,2000,3433
$GC,1558,-0.80,-146.6,132.5,-7.7,74,1562,0.00,2.58,0.00,0.000,4,0.000,0.066,2551,588,3432
$GC,1602,-0.80,-146.6,136.5,-8.8,76,1606,0.00,2.50,0.00,0.000,6,0.000,0.052,2551,1994,3432
$GC,1923,-0.80,-146.6,161.6,-7.8,92,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1994,3432
$GC,2232,-0.80,-146.6,185.4,-7.6,107,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1995,3432
$GC,2541,-0.80,-146.6,208.3,-6.9,122,2545,0.00,2.58,0.00,0.000,4,0.000,0.069,2551,588,3433
$GC,2608,-0.80,-146.6,213.5,-7.9,125,2612,0.00,2.50,0.00,0.000,6,0.000,0.053,2551,1988,3433
$GC,2929,-0.80,-146.6,236.0,-7.1,141,2934,0.00,2.55,0.00,0.000,4,0.000,0.064,2551,3409,3433
$GC,2951,-0.80,-146.6,237.6,-6.7,142,2956,0.00,2.55,0.00,0.000,6,0.000,0.052,2551,1983,3433
$GC,3274,-0.80,-146.6,260.6,-7.2,158,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1983,3432
$GC,3582,-0.80,-146.6,283.3,-7.1,173,3586,0.00,2.60,0.00,0.000,4,0.000,0.063,2551,3411,3433
$GC,3603,-0.80,-146.6,285.0,-7.4,174,3608,0.00,2.55,0.00,0.000,6,0.000,0.052,2551,1984,3432
$GC,3925,-0.80,-146.6,308.8,-7.7,190,3930,0.00,2.60,0.00,0.000,4,0.000,0.064,2551,3412,3433
$GC,3965,-0.80,-146.6,312.2,-8.6,192,3970,0.00,2.53,0.00,0.000,6,0.000,0.053,2551,1998,3433
$GC,4292,-0.80,-146.6,338.7,-7.7,208,4296,0.00,2.53,0.00,0.000,4,0.000,0.068,2551,592,3432
$GC,4326,-0.80,-146.6,341.4,-7.9,209,4332,0.00,2.53,0.00,0.000,6,0.000,0.054,2551,2005,3432
$GC,4642,-0.80,-146.6,367.3,-8.4,225,4647,0.00,2.60,0.00,0.000,4,0.000,0.069,2551,584,3432
$GC,4675,-0.80,-146.6,370.4,-9.9,226,4681,0.00,2.50,0.00,0.000,6,0.000,0.054,2550,1992,3432
$GC,4991,-0.80,-146.6,396.2,-8.3,242,4996,0.00,2.58,0.00,0.000,4,0.000,0.071,2551,590,3432
$GC,5019,-0.80,-146.6,398.8,-9.2,243,5023,0.00,2.47,0.00,0.000,6,0.000,0.054,2551,1978,3432
$GC,5337,-0.80,-146.6,425.7,-9.0,258,5338,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1980,3432
$GC,5646,-0.80,-146.6,451.5,-7.5,273,5650,0.00,2.58,0.00,0.000,4,0.000,0.067,2551,3407,3432
$GC,5740,-0.80,-146.6,459.1,-7.7,277,5745,0.00,2.60,0.00,0.000,6,0.000,0.057,2551,1965,3432
$GC,6057,-0.80,-146.6,481.0,-6.5,292,6061,0.00,2.47,0.00,0.000,4,0.000,0.071,2551,592,3432
$GC,6097,-0.80,-146.6,483.8,-7.3,294,6101,0.00,2.45,0.00,0.000,6,0.000,0.056,2551,1967,3432
$GC,6423,-0.80,-146.6,503.5,-5.7,310,6428,0.00,2.60,0.00,0.000,4,0.000,0.070,2551,3404,3432
$GC,6509,-0.80,-146.6,508.4,-6.1,314,6514,0.00,2.58,0.00,0.000,6,0.000,0.060,2551,1978,3432
$GC,6836,-0.80,-146.6,527.1,-5.6,330,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1977,3431
$GC,7145,-0.80,-146.6,545.3,-6.3,345,7149,0.00,2.67,0.00,0.000,4,0.000,0.076,2551,3412,3431
$GC,7173,-0.80,-146.6,547.0,-6.6,346,7177,0.00,2.60,0.00,0.000,6,0.000,0.066,2551,1994,3431
$GC,7490,-0.80,-146.6,565.9,-5.9,361,7494,0.00,2.65,0.00,0.000,4,0.000,0.077,2551,3408,3431
$GC,7511,-0.80,-146.6,567.3,-5.9,362,7516,0.00,2.60,0.00,0.000,6,0.000,0.067,2550,1995,3430
$GC,7834,-0.80,-146.6,584.0,-4.7,378,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1995,3429
$GC,8146,-0.80,-146.6,601.0,-6.3,393,8151,0.00,2.67,0.00,0.000,4,0.000,0.083,2551,3408,3428
$GC,8176,-0.84,-146.6,603.1,-7.0,394,8180,0.00,2.60,0.00,0.000,6,0.000,0.071,2551,2005,3428
$GC,8492,-0.84,-146.6,623.8,-6.5,409,8497,0.00,2.62,0.00,0.000,4,0.000,0.084,2551,587,3427
$GC,8543,-0.84,-146.6,627.6,-7.2,411,8547,0.00,2.60,0.00,0.000,6,0.000,0.069,2551,2004,3427
$GC,8860,-0.84,-146.6,648.1,-6.9,426,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2005,3426
$GC,9168,-0.84,-146.6,669.4,-6.1,441,9173,0.00,2.67,0.00,0.000,4,0.000,0.087,2550,594,3424
$GC,9208,-0.84,-146.6,672.2,-7.5,443,9213,0.00,2.62,0.00,0.000,6,0.000,0.074,2551,2015,3424
$STATE,9409,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9409,begin apogee
$GC,9417,-0.33,0.0,685.4,6.2,453,9552,0.57,0.00,129.73,1.388,6,0.087,0.000,2670,2131,2832
$STATE,9553,end apogee,CONTROL_FINISHED_OK
$STATE,9553,begin climb
$GC,9556,0.97,146.6,690.8,0.0,460,9695,1.35,2.83,130.65,1.340,4,0.071,0.089,2955,710,2234
$GC,9742,0.77,146.6,685.5,7.5,469,9747,0.22,2.67,0.00,0.000,6,0.092,0.075,2911,2122,2233
$GC,10071,0.83,183.6,668.4,5.0,485,10114,0.00,2.78,33.55,1.301,4,0.000,0.086,2911,3525,2083
$GC,10131,0.83,183.6,664.3,8.2,487,10137,0.00,2.67,0.00,0.000,6,0.000,0.078,2911,2134,2083
$GC,10448,0.85,196.3,646.2,5.7,503,10469,0.00,2.78,12.95,1.233,4,0.000,0.088,2910,717,2031
$GC,10493,0.85,196.5,643.5,6.0,505,10498,0.00,2.67,0.00,0.000,6,0.000,0.072,2910,2141,2031
$GC,10820,0.87,209.1,625.3,5.7,521,10842,0.10,2.85,12.82,1.246,4,0.072,0.087,2937,706,1979
$GC,10867,0.79,209.1,622.2,7.3,523,10873,0.10,2.67,0.00,0.000,6,0.104,0.074,2918,2124,1979
$GC,11194,0.79,209.1,602.3,6.1,539,11195,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2124,1979
$GC,11504,0.79,209.1,582.5,6.6,554,11509,0.00,2.72,0.00,0.000,4,0.000,0.087,2918,703,1978
$GC,11526,0.79,209.1,580.7,6.8,555,11531,0.00,2.67,0.00,0.000,6,0.000,0.074,2918,2132,1978
$GC,11848,0.79,209.1,559.7,6.5,571,11849,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2132,1978
$GC,12158,0.79,209.1,539.8,6.3,586,12162,0.00,2.70,0.00,0.000,4,0.000,0.087,2918,711,1977
$GC,12179,0.79,209.1,538.1,7.0,587,12183,0.00,2.62,0.00,0.000,6,0.000,0.073,2918,2119,1977
$GC,12501,0.79,209.1,517.8,6.4,603,12505,0.00,2.67,0.00,0.000,4,0.000,0.085,2918,710,1977
$GC,12541,0.79,209.1,515.0,7.3,605,12546,0.00,2.60,0.00,0.000,6,0.000,0.072,2918,2108,1976
$GC,12868,0.79,209.1,494.0,6.1,621,12873,0.00,2.67,0.00,0.000,4,0.000,0.083,2918,3534,1976
$GC,12913,0.79,209.1,490.6,7.4,623,12917,0.00,2.65,0.00,0.000,6,0.000,0.072,2918,2113,1976
$GC,13234,0.79,209.1,469.6,6.1,639,13239,0.00,2.70,0.00,0.000,4,0.000,0.081,2918,3537,1976
$GC,13275,0.79,209.1,467.0,6.2,641,13279,0.00,2.62,0.00,0.000,6,0.000,0.071,2918,2128,1976
$GC,13601,0.79,209.1,446.9,6.3,657,13605,0.00,2.60,0.00,0.000,4,0.000,0.078,2918,714,1976
$GC,13645,0.79,209.1,443.7,6.8,659,13650,0.00,2.58,0.00,0.000,6,0.000,0.064,2917,2121,1976
$GC,13966,0.80,217.4,424.4,5.8,675,13980,0.00,2.70,8.32,1.078,4,0.000,0.075,2918,715,1945
$GC,13998,0.80,217.4,422.2,7.0,676,14003,0.00,2.58,0.00,0.000,6,0.000,0.063,2918,2112,1945
$GC,14316,0.82,227.9,403.8,5.7,691,14328,0.00,0.00,10.77,1.097,6,0.000,0.000,2918,2113,1903
$GC,14624,0.82,227.9,385.3,6.2,706,14628,0.00,2.60,0.00,0.000,4,0.000,0.074,2917,714,1902
$GC,14686,0.82,227.9,381.4,6.6,709,14690,0.00,2.50,0.00,0.000,6,0.000,0.060,2918,2091,1902
$GC,15014,0.87,233.3,363.2,5.9,725,15022,0.00,0.00,6.68,0.952,6,0.000,0.000,2918,2092,1880
$GC,15322,0.92,235.4,344.9,5.9,740,15332,0.12,2.67,3.65,0.698,4,0.058,0.067,2954,3545,1872
$GC,15356,0.86,235.4,342.3,7.8,741,15361,0.12,2.67,0.00,0.000,6,0.092,0.058,2930,2078,1872
$GC,15673,0.88,246.8,323.7,5.7,756,15686,0.00,0.00,11.38,1.006,6,0.000,0.000,2930,2078,1826
$GC,15983,0.89,256.4,305.6,5.7,771,15998,0.00,2.75,10.30,0.974,4,0.000,0.064,2930,3535,1785
$GC,16027,0.93,256.4,302.8,6.8,772,16031,0.00,2.62,0.00,0.000,6,0.000,0.054,2930,2092,1786
$GC,16348,0.93,256.4,282.4,6.3,788,16351,0.00,2.50,0.00,0.000,4,0.000,0.068,2930,713,1786
$GC,16364,0.93,256.4,281.1,7.2,788,16370,0.00,2.50,0.00,0.000,6,0.000,0.053,2930,2107,1786
$GC,16681,0.97,256.4,261.1,6.8,804,16683,0.12,0.00,0.00,0.000,6,0.054,0.000,2967,2108,1786
$GC,16989,0.90,256.4,234.3,8.8,819,16991,0.12,0.00,0.00,0.000,6,0.083,0.000,2942,2108,1788
$GC,17299,0.90,256.4,210.4,8.1,834,17303,0.00,2.55,0.00,0.000,4,0.000,0.068,2941,714,1788
$GC,17332,0.90,256.4,207.7,7.8,835,17336,0.00,2.47,0.00,0.000,6,0.000,0.054,2942,2097,1789
$GC,17647,0.90,256.4,183.7,7.1,850,17648,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2097,1789
$GC,17957,0.90,256.4,161.6,7.6,865,17958,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2098,1789
$GC,18268,0.90,256.4,137.7,7.3,880,18272,0.00,2.55,0.00,0.000,4,0.000,0.069,2942,709,1790
$GC,18295,0.90,256.4,135.9,6.1,881,18299,0.00,2.47,0.00,0.000,6,0.000,0.054,2942,2095,1789
$GC,18612,0.90,256.4,113.6,8.0,896,18613,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2110,1790
$GC,18921,0.93,278.5,95.1,5.4,911,18943,0.00,0.00,20.25,0.866,6,0.000,0.000,2942,2095,1696
$GC,19251,0.93,278.5,73.0,7.7,927,19256,0.00,2.55,0.00,0.000,4,0.000,0.066,2942,714,1696
$GC,19286,1.09,374.9,71.8,3.4,928,19369,0.17,2.47,77.28,0.874,6,0.049,0.054,2989,2090,1303
$GC,19687,1.02,374.9,21.7,12.8,948,19692,0.12,2.60,0.00,0.000,4,0.081,0.060,2964,3528,1303
$GC,19715,1.02,374.9,18.2,11.0,949,19719,0.00,2.60,0.00,0.000,6,0.000,0.048,2964,2071,1303
$STATE,19946,end climb,SURFACE_DEPTH_REACHED
$STATE,19946,begin surface coast
$FINISH,1.6,1.027442
$STATE,19969,end surface coast,CONTROL_FINISHED_OK
$STATE,19969,begin surface
$SM_CCo,20053,0.00,0.000,0,0,1301,375.55
$SM_GC,0.59,11.20,0.00,0.00,0.042,0.000,0.000,425,1952,1301,-10.60,-1.36,375.55
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1805
$TCM_TEMP,16.90
$XPDR_PINGS,60
$ALTIM_BOTTOM_PING,625.1,69.2
$24V_AH,23.6,61.785
$10V_AH,10.1,30.484
$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,25.425,198.075,468.325,0.000,0.000,37.755,25.692,179.295,20.750,0.000,0.000,11.952,1769.209,15408.303,626.306,2002.481,620.755,0.000,1675.782,0.000,1959.339,0.000,40.622,0.000
$DEVICE_MAMPS,136.526,88.972,1388.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,714.035,647.898,568.508,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50521,961
$CAP_FILE_SIZE,150471,0
$CFSIZE,254472192,230383616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,57,0,0
$GPS,220109,034454,6044.104,-527.626,81,0.9,81,-7.1