version: 66.04
glider: 5
mission: 5
dive: 263
start: 12 31 108 20 0 47
data:
$ID,5
$MISSION,5
$DIVE,263
$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,-92422.625
$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,15
$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,20
$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,0
$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
$GPS1,195438,6046.446,-534.150,42,1.3,42,-7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-60.9
$GPS2,200026,6046.430,-534.339,16,1.5,16,-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,143.8,92914,-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,-81.25,0.000,2,0.000,0.000,420,1976,3385
$GC,102,-0.97,-146.6,4.7,-5.5,4,125,10.75,2.58,-1.02,0.000,4,0.138,0.072,2480,587,3430
$GC,283,-0.77,-146.6,35.9,-12.4,12,288,0.25,2.55,0.00,0.000,6,0.087,0.051,2532,2018,3431
$GC,611,-0.69,-146.6,63.2,-6.7,28,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2027,3431
$GC,921,-0.61,-146.6,89.1,-8.2,43,926,0.15,2.62,0.00,0.000,4,0.090,0.064,2565,589,3432
$GC,948,-0.61,-146.6,91.8,-8.8,44,952,0.00,2.53,0.00,0.000,6,0.000,0.052,2564,2006,3432
$GC,1266,-0.61,-146.6,115.8,-7.5,59,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2006,3432
$GC,1574,-0.61,-146.6,138.4,-7.3,74,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2006,3432
$GC,1882,-0.61,-146.6,162.0,-7.8,89,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2006,3432
$GC,2191,-0.61,-146.6,184.8,-7.4,104,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2006,3432
$GC,2501,-0.61,-146.6,207.6,-7.3,119,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2006,3432
$GC,2810,-0.61,-146.6,229.3,-7.2,134,2814,0.00,2.53,0.00,0.000,4,0.000,0.065,2565,3408,3432
$GC,2831,-0.61,-146.6,231.1,-7.5,135,2836,0.00,2.55,0.00,0.000,6,0.000,0.051,2564,1979,3432
$GC,3154,-0.61,-146.6,253.6,-6.8,151,3158,0.00,2.60,0.00,0.000,4,0.000,0.063,2564,3406,3432
$GC,3175,-0.61,-146.6,255.1,-6.5,152,3180,0.00,2.53,0.00,0.000,6,0.000,0.051,2564,1990,3432
$GC,3498,-0.61,-146.6,275.9,-6.6,168,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1990,3432
$GC,3806,-0.61,-146.6,298.5,-7.1,183,3811,0.00,2.53,0.00,0.000,4,0.000,0.069,2564,586,3432
$GC,3840,-0.66,-146.6,301.3,-8.1,184,3846,0.00,2.53,0.00,0.000,6,0.000,0.054,2564,2008,3432
$GC,4156,-0.66,-146.6,323.6,-6.9,200,4160,0.00,2.53,0.00,0.000,4,0.000,0.067,2564,3408,3432
$GC,4190,-0.70,-146.6,325.8,-6.5,201,4195,0.00,2.53,0.00,0.000,6,0.000,0.054,2564,2000,3432
$GC,4507,-0.70,-146.6,343.9,-5.3,216,4511,0.00,2.60,0.00,0.000,4,0.000,0.067,2564,3411,3432
$GC,4551,-0.77,-146.6,346.7,-6.8,218,4556,0.15,2.53,0.00,0.000,6,0.057,0.055,2524,2005,3432
$GC,4873,-0.69,-146.6,369.9,-7.5,234,4878,0.12,2.58,0.00,0.000,4,0.091,0.073,2551,589,3432
$GC,4946,-0.69,-146.6,374.9,-6.7,237,4951,0.00,2.55,0.00,0.000,6,0.000,0.057,2551,2014,3432
$GC,5268,-0.69,-146.6,396.6,-7.3,253,5272,0.00,2.55,0.00,0.000,4,0.000,0.074,2551,3408,3431
$GC,5295,-0.69,-146.6,398.8,-7.6,254,5299,0.00,2.58,0.00,0.000,6,0.000,0.062,2551,1995,3431
$GC,5610,-0.69,-146.6,422.6,-7.6,269,5615,0.00,2.62,0.00,0.000,4,0.000,0.077,2551,3409,3431
$GC,5633,-0.69,-146.6,424.2,-6.8,270,5637,0.00,2.55,0.00,0.000,6,0.000,0.064,2551,2013,3431
$GC,5954,-0.69,-146.6,446.5,-6.5,286,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2012,3430
$GC,6263,-0.69,-146.6,466.7,-6.6,301,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2012,3429
$GC,6573,-0.69,-146.6,488.9,-7.1,316,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2012,3428
$GC,6882,-0.69,-146.6,508.8,-6.1,331,6886,0.00,2.62,0.00,0.000,4,0.000,0.081,2550,3404,3427
$GC,6909,-0.69,-146.6,510.9,-7.2,332,6913,0.00,2.55,0.00,0.000,6,0.000,0.070,2551,2022,3427
$GC,7226,-0.69,-146.6,528.2,-5.3,347,7227,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2021,3425
$GC,7534,-0.69,-146.6,548.5,-6.7,362,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2020,3425
$GC,7843,-0.69,-146.6,569.1,-6.8,377,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2020,3423
$GC,8153,-0.69,-146.6,590.7,-7.1,392,8157,0.00,2.65,0.00,0.000,4,0.000,0.088,2551,3410,3422
$GC,8180,-0.69,-146.6,592.9,-8.4,393,8184,0.00,2.58,0.00,0.000,6,0.000,0.074,2551,2028,3422
$GC,8496,-0.69,-146.6,613.4,-6.8,408,8497,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2027,3421
$GC,8805,-0.69,-146.6,635.3,-6.6,423,8807,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2026,3420
$GC,9114,-0.69,-146.6,655.6,-6.1,438,9115,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2027,3420
$STATE,9318,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9318,begin apogee
$GC,9325,-0.33,0.0,668.3,5.7,448,9455,0.35,0.00,127.32,1.403,6,0.090,0.000,2623,2202,2832
$STATE,9456,end apogee,CONTROL_FINISHED_OK
$STATE,9456,begin climb
$GC,9459,0.97,146.6,672.5,0.0,454,9597,1.35,2.78,128.88,1.349,4,0.082,0.087,2905,3604,2234
$GC,9639,1.03,189.4,670.2,4.8,462,9684,0.00,2.65,38.90,1.301,6,0.000,0.074,2905,2200,2059
$GC,10004,1.13,246.2,652.8,4.4,480,10060,0.17,2.78,50.42,1.312,4,0.063,0.093,2948,791,1828
$GC,10173,1.03,246.2,640.2,8.3,487,10180,0.12,2.65,0.00,0.000,6,0.101,0.073,2926,2199,1828
$GC,10489,1.03,246.2,619.2,6.2,503,10494,0.00,2.72,0.00,0.000,4,0.000,0.091,2926,791,1830
$GC,10533,1.03,246.2,615.7,8.4,505,10538,0.00,2.62,0.00,0.000,6,0.000,0.074,2926,2190,1830
$GC,10856,1.03,246.2,593.3,6.7,521,10860,0.00,2.70,0.00,0.000,4,0.000,0.090,2926,790,1830
$GC,10877,1.03,246.2,591.8,6.2,522,10881,0.00,2.60,0.00,0.000,6,0.000,0.073,2926,2177,1829
$GC,11198,1.03,246.2,570.6,7.3,538,11203,0.00,2.67,0.00,0.000,4,0.000,0.089,2926,790,1829
$GC,11219,1.03,246.2,568.8,7.9,539,11224,0.00,2.58,0.00,0.000,6,0.000,0.073,2926,2165,1829
$GC,11541,1.03,246.2,549.2,6.8,555,11542,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2165,1829
$GC,11849,1.03,246.2,529.2,7.0,570,11854,0.00,2.62,0.00,0.000,4,0.000,0.089,2926,794,1829
$GC,11884,1.03,246.2,526.7,7.4,571,11890,0.00,2.55,0.00,0.000,6,0.000,0.073,2926,2162,1829
$GC,12200,1.03,246.2,506.8,6.3,587,12201,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2162,1829
$GC,12508,1.03,246.2,487.8,6.2,602,12513,0.00,2.62,0.00,0.000,4,0.000,0.088,2926,787,1828
$GC,12548,1.03,246.2,485.2,6.8,604,12552,0.00,2.55,0.00,0.000,6,0.000,0.071,2926,2160,1828
$GC,12875,1.03,246.2,466.0,6.0,620,12876,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2160,1828
$GC,13184,1.04,251.3,447.6,5.9,635,13197,0.00,2.65,6.38,1.068,4,0.000,0.085,2926,794,1806
$GC,13232,1.04,251.3,444.3,6.3,637,13236,0.00,2.53,0.00,0.000,6,0.000,0.072,2926,2143,1806
$GC,13553,1.05,256.4,425.5,5.9,653,13561,0.00,0.00,6.25,1.055,6,0.000,0.000,2926,2143,1786
$GC,13862,1.05,256.4,407.0,6.1,668,13866,0.00,2.75,0.00,0.000,4,0.000,0.085,2926,3609,1785
$GC,13889,1.05,256.4,405.0,7.6,669,13894,0.00,2.75,0.00,0.000,6,0.000,0.072,2926,2136,1785
$GC,14205,1.05,256.4,383.6,6.8,684,14209,0.00,2.50,0.00,0.000,4,0.000,0.085,2926,788,1785
$GC,14232,1.05,256.4,381.6,6.7,685,14237,0.00,2.50,0.00,0.000,6,0.000,0.068,2926,2141,1785
$GC,14555,1.09,282.4,363.5,5.3,701,14585,0.00,2.83,23.10,1.183,4,0.000,0.080,2926,3595,1680
$GC,14609,1.15,282.4,360.0,6.6,703,14614,0.10,2.70,0.00,0.000,6,0.071,0.067,2950,2150,1680
$GC,14925,1.15,282.4,338.5,6.9,718,14929,0.00,2.53,0.00,0.000,4,0.000,0.081,2950,790,1680
$GC,14982,1.09,282.4,333.9,8.5,720,14986,0.00,2.50,0.00,0.000,6,0.000,0.064,2950,2148,1680
$GC,15298,1.09,282.4,310.6,7.5,735,15302,0.00,2.55,0.00,0.000,4,0.000,0.076,2950,791,1680
$GC,15325,1.09,282.4,308.2,9.0,736,15329,0.00,2.45,0.00,0.000,6,0.000,0.063,2950,2129,1680
$GC,15641,1.09,282.4,285.3,7.0,751,15643,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2129,1680
$GC,15950,1.09,282.4,261.3,7.8,766,15954,0.00,2.50,0.00,0.000,4,0.000,0.073,2950,787,1681
$GC,15973,1.09,282.4,259.3,8.5,767,15977,0.00,2.42,0.00,0.000,6,0.000,0.060,2950,2122,1681
$GC,16300,1.09,282.4,233.9,7.7,783,16301,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2123,1682
$GC,16609,1.09,282.4,210.7,7.4,798,16610,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2123,1683
$GC,16918,1.09,282.4,186.6,7.7,813,16919,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2122,1684
$GC,17228,1.09,282.4,162.5,7.7,828,17229,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2123,1685
$GC,17537,1.09,282.4,139.1,7.5,843,17541,0.00,2.45,0.00,0.000,4,0.000,0.070,2950,793,1686
$GC,17558,1.09,282.4,137.2,8.8,844,17562,0.00,2.38,0.00,0.000,6,0.000,0.055,2950,2116,1685
$GC,17881,1.09,282.4,114.4,6.9,860,17882,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2116,1686
$GC,18189,1.09,282.4,92.1,7.1,875,18190,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2116,1687
$GC,18498,1.09,282.4,71.0,6.7,890,18503,0.00,2.45,0.00,0.000,4,0.000,0.068,2950,784,1688
$GC,18526,1.09,282.4,68.8,7.3,891,18530,0.00,2.38,0.00,0.000,6,0.000,0.053,2950,2114,1688
$GC,18843,1.09,282.4,45.9,8.0,906,18847,0.00,2.67,0.00,0.000,4,0.000,0.064,2950,3605,1688
$GC,18870,1.09,282.4,43.4,8.7,907,18874,0.00,2.70,0.00,0.000,6,0.000,0.051,2950,2093,1688
$GC,19186,1.09,282.4,15.9,8.8,922,19195,0.00,2.40,3.62,0.558,4,0.000,0.068,2950,793,1679
$GC,19213,1.09,282.4,13.8,8.1,923,19217,0.00,2.35,0.00,0.000,6,0.000,0.053,2950,2104,1680
$STATE,19387,end climb,SURFACE_DEPTH_REACHED
$STATE,19387,begin surface coast
$FINISH,0.3,1.027492
$STATE,19450,end surface coast,CONTROL_FINISHED_OK
$STATE,19450,begin surface
$SM_CCo,19533,0.00,0.000,0,0,1680,282.59
$SM_GC,1.14,11.05,0.00,0.00,0.040,0.000,0.000,420,1977,1680,-10.40,-0.59,282.59
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1805
$TCM_TEMP,16.80
$XPDR_PINGS,217
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,600.6,76.4
$24V_AH,23.7,45.798
$10V_AH,10.1,22.520
$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,24.575,155.150,384.875,0.000,0.000,37.755,27.184,147.450,59.750,0.000,0.000,16.502,1683.956,15232.797,510.237,1898.349,553.869,0.000,1479.674,0.000,1858.083,0.000,37.488,0.000
$DEVICE_MAMPS,138.060,92.807,1402.843,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,693.513,631.902,570.438,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47393,935
$CAP_FILE_SIZE,134983,0
$CFSIZE,254472192,236257280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,44,0,0
$GPS,010109,012737,6044.467,-528.090,41,1.4,41,-7.1