version: 66.04
glider: 5
mission: 5
dive: 272
start: 1 3 109 10 49 14
data:
$ID,5
$MISSION,5
$DIVE,272
$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,-92609.734
$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,34
$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
$GPS1,104207,6019.895,-503.009,26,1.8,26,-6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-60.4
$GPS2,104855,6019.863,-502.833,16,2.0,16,-6.7
$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,124.4,39353,-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,-81.60,0.000,2,0.000,0.000,423,1959,3108
$GC,102,-0.97,-146.6,3.3,-3.5,4,128,10.57,2.47,-9.25,0.000,4,0.130,0.074,2480,598,3432
$GC,381,-0.75,-146.6,39.3,-11.7,16,387,0.25,2.53,0.00,0.000,6,0.086,0.051,2533,2018,3432
$GC,699,-0.67,-146.6,64.3,-7.8,31,703,0.08,2.60,0.00,0.000,4,0.103,0.061,2551,595,3432
$GC,844,-0.67,-146.6,75.4,-8.0,37,850,0.00,2.50,0.00,0.000,6,0.000,0.050,2551,2006,3432
$GC,1163,-0.62,-146.6,98.9,-7.4,53,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2007,3432
$GC,1469,-0.62,-146.6,121.4,-7.5,68,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2010,3432
$GC,1778,-0.62,-146.6,147.5,-8.1,83,1783,0.00,2.58,0.00,0.000,4,0.000,0.066,2551,595,3432
$GC,1806,-0.62,-146.6,149.9,-8.4,84,1814,0.00,2.47,0.00,0.000,6,0.000,0.051,2551,1988,3432
$GC,2130,-0.62,-146.6,172.6,-6.8,100,2134,0.00,2.55,0.00,0.000,4,0.000,0.062,2551,3411,3432
$GC,2170,-0.62,-146.6,175.3,-7.3,102,2175,0.00,2.53,0.00,0.000,6,0.000,0.048,2551,1991,3432
$GC,2498,-0.62,-146.6,199.5,-7.8,118,2502,0.00,2.50,0.00,0.000,4,0.000,0.065,2551,595,3432
$GC,2547,-0.62,-146.6,203.5,-8.3,120,2551,0.00,2.45,0.00,0.000,6,0.000,0.051,2551,1978,3432
$GC,2863,-0.62,-146.6,227.8,-7.8,135,2867,0.00,2.55,0.00,0.000,4,0.000,0.062,2551,3403,3433
$GC,2925,-0.62,-146.6,232.9,-8.2,138,2929,0.00,2.53,0.00,0.000,6,0.000,0.049,2551,1983,3433
$GC,3252,-0.62,-146.6,257.8,-7.4,154,3256,0.00,2.60,0.00,0.000,4,0.000,0.061,2551,3412,3433
$GC,3279,-0.62,-146.6,259.9,-7.4,155,3283,0.00,2.53,0.00,0.000,6,0.000,0.051,2551,1997,3433
$GC,3595,-0.62,-146.6,284.2,-8.4,170,3600,0.00,2.58,0.00,0.000,4,0.000,0.063,2551,3409,3433
$GC,3628,-0.62,-146.6,287.3,-9.0,171,3635,0.00,2.50,0.00,0.000,6,0.000,0.051,2551,2008,3433
$GC,3944,-0.62,-146.6,317.8,-10.0,187,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2007,3433
$GC,4254,-0.62,-146.6,345.9,-8.3,202,4258,0.00,2.55,0.00,0.000,4,0.000,0.064,2551,3403,3433
$GC,4281,-0.62,-146.6,348.1,-7.6,203,4285,0.00,2.50,0.00,0.000,6,0.000,0.051,2551,2002,3432
$GC,4597,-0.62,-146.6,368.6,-5.9,218,4601,0.00,2.55,0.00,0.000,4,0.000,0.067,2551,585,3433
$GC,4625,-0.62,-146.6,370.5,-6.6,219,4629,0.00,2.55,0.00,0.000,6,0.000,0.053,2551,2020,3433
$GC,4940,-0.62,-146.6,391.9,-7.7,234,4945,0.00,2.50,0.00,0.000,4,0.000,0.065,2551,3407,3433
$GC,4996,-0.62,-146.6,396.6,-8.6,236,5002,0.00,2.47,0.00,0.000,6,0.000,0.053,2551,2024,3432
$GC,5312,-0.62,-146.6,422.6,-8.5,252,5317,0.00,2.55,0.00,0.000,4,0.000,0.066,2551,3413,3432
$GC,5346,-0.62,-146.6,425.7,-9.3,253,5352,0.00,2.45,0.00,0.000,6,0.000,0.054,2551,2046,3432
$GC,5662,-0.62,-146.6,450.7,-6.9,269,5667,0.00,2.60,0.00,0.000,4,0.000,0.068,2551,584,3432
$GC,5725,-0.62,-146.6,454.7,-6.5,272,5730,0.00,2.55,0.00,0.000,6,0.000,0.053,2551,2023,3432
$GC,6053,-0.62,-146.6,473.7,-5.0,288,6057,0.00,2.62,0.00,0.000,4,0.000,0.070,2551,593,3432
$GC,6183,-0.62,-146.6,481.4,-5.6,294,6187,0.00,2.50,0.00,0.000,6,0.000,0.054,2551,1999,3432
$GC,6509,-0.62,-146.6,497.7,-6.0,310,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2001,3432
$GC,6819,-0.62,-146.6,519.9,-7.7,325,6823,0.00,2.60,0.00,0.000,4,0.000,0.074,2551,593,3431
$GC,6881,-0.62,-146.6,524.9,-8.2,328,6886,0.00,2.50,0.00,0.000,6,0.000,0.058,2551,1986,3431
$GC,7213,-0.62,-146.6,550.0,-7.5,344,7218,0.00,2.58,0.00,0.000,4,0.000,0.074,2551,3405,3430
$GC,7236,-0.62,-146.6,551.8,-7.9,345,7241,0.00,2.60,0.00,0.000,6,0.000,0.062,2551,1976,3430
$GC,7564,-0.62,-146.6,575.2,-7.0,361,7569,0.00,2.67,0.00,0.000,4,0.000,0.074,2551,3411,3430
$GC,7592,-0.62,-146.6,577.5,-7.2,362,7596,0.00,2.60,0.00,0.000,6,0.000,0.064,2551,1988,3429
$GC,7908,-0.62,-146.6,596.3,-5.7,377,7913,0.00,2.65,0.00,0.000,4,0.000,0.074,2551,3411,3429
$GC,7941,-0.62,-146.6,598.4,-6.6,378,7948,0.00,2.55,0.00,0.000,6,0.000,0.064,2551,2018,3429
$GC,8257,-0.62,-146.6,621.1,-8.3,394,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2019,3429
$GC,8566,-0.62,-146.6,644.4,-6.9,409,8571,0.00,2.65,0.00,0.000,4,0.000,0.085,2551,587,3427
$GC,8607,-0.62,-146.6,647.2,-6.9,411,8612,0.00,2.62,0.00,0.000,6,0.000,0.067,2551,2025,3427
$GC,8934,-0.62,-146.6,665.9,-5.7,427,8938,0.00,2.58,0.00,0.000,4,0.000,0.084,2551,3410,3425
$GC,8978,-0.67,-146.6,668.9,-7.0,429,8983,0.00,2.58,0.00,0.000,6,0.000,0.071,2551,2019,3425
$GC,9300,-0.67,-146.6,688.0,-6.5,445,9302,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2019,3425
$GC,9610,-0.67,-146.6,707.0,-5.9,460,9614,0.00,2.70,0.00,0.000,4,0.000,0.094,2551,584,3424
$GC,9642,-0.67,-146.6,709.3,-7.2,461,9648,0.00,2.65,0.00,0.000,6,0.000,0.073,2551,2021,3424
$GC,9959,-0.67,-146.6,729.6,-6.6,477,9963,0.00,2.60,0.00,0.000,4,0.000,0.087,2551,3407,3422
$GC,9986,-0.67,-146.6,731.7,-6.6,478,9991,0.00,2.58,0.00,0.000,6,0.000,0.074,2551,2028,3422
$GC,10302,-0.67,-146.6,754.4,-7.2,493,10306,0.00,2.72,0.00,0.000,4,0.000,0.094,2551,583,3421
$GC,10329,-0.67,-146.6,756.5,-7.2,494,10334,0.00,2.67,0.00,0.000,6,0.000,0.074,2551,2026,3421
$GC,10645,-0.67,-146.6,778.4,-6.7,509,10649,0.00,2.60,0.00,0.000,4,0.000,0.092,2551,3409,3419
$GC,10673,-0.71,-146.6,780.4,-7.3,510,10677,0.00,2.60,0.00,0.000,6,0.000,0.077,2551,2024,3420
$GC,10990,-0.76,-146.6,799.3,-5.0,525,10991,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2024,3419
$GC,11298,-0.80,-146.6,818.7,-7.3,540,11300,0.12,0.00,0.00,0.000,6,0.072,0.000,2520,2025,3417
$GC,11608,-0.75,-146.6,839.5,-6.0,555,11612,0.00,2.67,0.00,0.000,4,0.000,0.093,2520,3408,3416
$GC,11626,-0.70,-146.6,840.7,-6.4,556,11631,0.12,2.60,0.00,0.000,6,0.111,0.080,2546,2030,3416
$GC,11953,-0.70,-146.6,862.7,-5.9,572,11954,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2029,3414
$GC,12262,-0.70,-146.6,879.2,-5.1,587,12267,0.00,2.65,0.00,0.000,4,0.000,0.091,2545,3409,3414
$GC,12284,-0.70,-146.6,880.5,-6.0,588,12289,0.00,2.60,0.00,0.000,6,0.000,0.077,2545,2026,3414
$GC,12606,-0.70,-146.6,898.7,-6.1,604,12607,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2025,3412
$GC,12916,-0.70,-146.6,917.5,-5.9,619,12917,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2025,3412
$GC,13224,-0.70,-146.6,938.4,-6.2,634,13228,0.00,2.67,0.00,0.000,4,0.000,0.094,2545,3415,3411
$GC,13280,-0.75,-146.6,942.3,-6.8,636,13286,0.00,2.60,0.00,0.000,6,0.000,0.079,2545,2038,3411
$STATE,13367,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13367,begin apogee
$GC,13374,-0.33,0.0,948.7,7.4,641,13510,0.40,0.00,131.38,1.622,6,0.093,0.000,2626,2206,2832
$STATE,13510,end apogee,CONTROL_FINISHED_OK
$STATE,13510,begin climb
$GC,13513,0.97,146.6,954.0,0.0,648,13659,1.35,2.75,135.27,1.571,4,0.084,0.091,2907,3604,2234
$GC,13731,0.90,153.9,945.3,5.8,658,13745,0.00,2.67,8.70,1.308,6,0.000,0.078,2907,2202,2204
$GC,14063,0.90,153.9,923.6,6.2,674,14067,0.00,2.72,0.00,0.000,4,0.000,0.096,2907,790,2204
$GC,14108,0.84,153.9,920.5,6.3,676,14113,0.12,2.67,0.00,0.000,6,0.104,0.078,2885,2197,2204
$GC,14429,0.97,236.9,904.5,3.7,692,14514,0.12,2.78,76.15,1.546,4,0.070,0.092,2915,3605,1866
$GC,14526,0.97,236.9,898.5,7.6,696,14530,0.00,2.75,0.00,0.000,6,0.000,0.077,2915,2177,1866
$GC,14842,0.97,236.9,877.7,6.5,711,14846,0.00,2.67,0.00,0.000,4,0.000,0.096,2915,788,1868
$GC,14874,0.97,236.9,875.0,7.4,712,14880,0.00,2.65,0.00,0.000,6,0.000,0.077,2915,2184,1868
$GC,15191,0.97,236.9,853.2,6.4,728,15195,0.00,2.72,0.00,0.000,4,0.000,0.094,2915,786,1868
$GC,15218,0.97,236.9,851.3,6.3,729,15222,0.00,2.62,0.00,0.000,6,0.000,0.077,2915,2174,1868
$GC,15533,0.97,236.9,831.0,6.6,744,15538,0.00,2.67,0.00,0.000,4,0.000,0.094,2914,792,1868
$GC,15555,0.97,236.9,829.6,6.5,745,15560,0.00,2.60,0.00,0.000,6,0.000,0.078,2915,2167,1868
$GC,15877,0.97,236.9,808.8,6.4,761,15878,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2168,1868
$GC,16186,0.97,236.9,790.5,6.1,776,16191,0.00,2.67,0.00,0.000,4,0.000,0.092,2916,790,1868
$GC,16220,0.97,236.9,787.7,8.1,777,16227,0.00,2.60,0.00,0.000,6,0.000,0.077,2915,2166,1868
$GC,16536,0.97,236.9,767.0,6.0,793,16537,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2165,1868
$GC,16845,0.99,244.4,748.7,5.8,808,16860,0.00,2.72,8.70,1.340,4,0.000,0.091,2915,787,1835
$GC,16890,0.99,244.4,745.9,6.2,810,16895,0.00,2.60,0.00,0.000,6,0.000,0.077,2916,2152,1835
$GC,17218,0.99,244.4,724.8,6.7,826,17219,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2153,1834
$GC,17527,0.99,244.4,704.5,6.3,841,17531,0.00,2.65,0.00,0.000,4,0.000,0.093,2915,787,1834
$GC,17560,0.99,244.4,702.3,6.7,842,17566,0.00,2.55,0.00,0.000,6,0.000,0.077,2915,2140,1834
$GC,17876,1.02,262.7,684.4,5.5,858,17899,0.00,2.75,17.50,1.421,4,0.000,0.091,2915,784,1761
$GC,17923,1.05,282.1,681.5,5.5,860,17947,0.00,2.58,19.20,1.410,6,0.000,0.076,2915,2133,1680
$GC,18279,1.09,282.1,660.1,6.2,877,18284,0.10,2.62,0.00,0.000,4,0.075,0.091,2942,788,1680
$GC,18296,1.09,282.1,658.6,6.9,878,18301,0.00,2.50,0.00,0.000,6,0.000,0.076,2942,2116,1680
$GC,18623,1.09,282.1,632.1,8.1,894,18624,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2116,1680
$GC,18933,1.09,282.1,608.1,7.4,909,18938,0.00,2.83,0.00,0.000,4,0.000,0.088,2942,3611,1680
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$STATE,27103,end climb,SURFACE_DEPTH_REACHED
$STATE,27103,begin surface coast
$FINISH,0.4,1.027505
$STATE,27144,end surface coast,CONTROL_FINISHED_OK
$STATE,27144,begin surface
$SM_CCo,27227,0.00,0.000,0,0,1633,294.11
$SM_GC,1.24,11.05,0.00,0.00,0.039,0.000,0.000,422,1966,1633,-10.39,-0.96,294.11
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1783
$TCM_TEMP,17.20
$XPDR_PINGS,365
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,875.9,82.0
$24V_AH,23.5,47.618
$10V_AH,10.1,23.497
$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
$DEVICE_SECS,24.300,281.350,412.075,0.000,0.000,37.753,38.127,180.966,99.500,0.000,0.000,16.519,2384.373,21127.420,624.702,2753.648,734.326,0.000,2046.754,0.000,2683.852,0.000,55.112,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,968.782,882.985,704.609,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66423,1303
$CAP_FILE_SIZE,201511,0
$CFSIZE,254472192,235454464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,82,0,0
$GPS,030109,182424,6018.411,-458.459,27,0.9,45,-6.7