version: 66.04
glider: 5
mission: 5
dive: 276
start: 1 4 109 14 30 21
data:
$ID,5
$MISSION,5
$DIVE,276
$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,-92693.078
$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,30
$R_STBD_OVSHOOT,19
$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,3
$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
$GPS1,142324,6017.413,-440.909,41,1.2,41,-6.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-60.9
$GPS2,143002,6017.445,-440.833,14,1.1,14,-6.6
$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,140.0,20073,-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,-146.6,0.0,0.0,0,118,0.00,0.00,-97.68,0.000,6,0.000,0.000,422,1964,3430
$GC,122,-0.97,-146.6,5.8,-5.2,5,138,10.68,2.47,0.00,0.000,4,0.132,0.058,2480,595,3431
$GC,335,-0.75,-146.6,40.0,-11.2,13,342,0.28,2.50,0.00,0.000,6,0.087,0.051,2538,2007,3432
$GC,654,-0.68,-146.6,65.7,-8.3,29,658,0.00,2.55,0.00,0.000,4,0.000,0.061,2538,597,3432
$GC,831,-0.60,-146.6,82.6,-9.2,37,836,0.15,2.45,0.00,0.000,6,0.088,0.051,2570,1977,3432
$GC,1159,-0.60,-146.6,103.6,-6.1,53,1163,0.00,2.58,0.00,0.000,4,0.000,0.062,2570,3412,3432
$GC,1186,-0.60,-146.6,105.5,-6.7,54,1190,0.00,2.55,0.00,0.000,6,0.000,0.048,2570,1978,3432
$GC,1502,-0.60,-146.6,127.1,-7.0,69,1507,0.00,2.60,0.00,0.000,4,0.000,0.061,2570,3405,3433
$GC,1525,-0.60,-146.6,128.9,-7.4,70,1529,0.00,2.53,0.00,0.000,6,0.000,0.048,2570,1983,3433
$GC,1847,-0.60,-146.6,152.8,-7.2,86,1851,0.00,2.50,0.00,0.000,4,0.000,0.065,2570,584,3433
$GC,1874,-0.60,-146.6,155.2,-8.4,87,1878,0.00,2.47,0.00,0.000,6,0.000,0.051,2570,1978,3433
$GC,2196,-0.60,-146.6,175.3,-6.3,103,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1980,3433
$GC,2504,-0.60,-146.6,196.1,-6.6,118,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1980,3433
$GC,2813,-0.60,-146.6,218.5,-7.1,133,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1980,3432
$GC,3123,-0.60,-146.6,241.6,-7.8,148,3127,0.00,2.58,0.00,0.000,4,0.000,0.065,2570,3414,3433
$GC,3150,-0.64,-146.6,243.8,-7.7,149,3155,0.00,2.58,0.00,0.000,6,0.000,0.051,2570,1970,3433
$GC,3466,-0.64,-146.6,266.0,-6.8,164,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1970,3433
$GC,3776,-0.64,-146.6,285.3,-6.2,179,3780,0.00,2.62,0.00,0.000,4,0.000,0.064,2570,3406,3432
$GC,3798,-0.68,-146.6,286.9,-6.2,180,3802,0.00,2.55,0.00,0.000,6,0.000,0.051,2570,1978,3432
$GC,4119,-0.68,-146.6,307.8,-7.0,196,4124,0.00,2.60,0.00,0.000,4,0.000,0.064,2570,3403,3432
$GC,4147,-0.73,-146.6,310.0,-7.5,197,4152,0.15,2.53,0.00,0.000,6,0.056,0.051,2528,1990,3432
$GC,4464,-0.65,-146.6,336.8,-7.8,212,4469,0.12,2.60,0.00,0.000,4,0.093,0.064,2556,3402,3432
$GC,4497,-0.65,-146.6,339.2,-7.0,213,4503,0.00,2.50,0.00,0.000,6,0.000,0.051,2556,2001,3432
$GC,4814,-0.65,-146.6,360.5,-7.4,229,4818,0.00,2.58,0.00,0.000,4,0.000,0.066,2555,3407,3432
$GC,4847,-0.65,-146.6,363.6,-9.3,230,4853,0.00,2.47,0.00,0.000,6,0.000,0.053,2556,2022,3432
$GC,5164,-0.65,-146.6,389.1,-7.5,246,5168,0.00,2.55,0.00,0.000,4,0.000,0.067,2556,3410,3432
$GC,5259,-0.65,-146.6,396.2,-7.0,250,5263,0.00,2.45,0.00,0.000,6,0.000,0.054,2556,2042,3432
$GC,5587,-0.65,-146.6,417.3,-6.1,266,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2042,3431
$GC,5897,-0.65,-146.6,433.0,-5.1,281,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2042,3432
$GC,6206,-0.65,-146.6,449.3,-5.9,296,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2041,3431
$GC,6515,-0.65,-146.6,468.0,-5.9,311,6519,0.00,2.65,0.00,0.000,4,0.000,0.077,2556,593,3431
$GC,6559,-0.65,-146.6,471.3,-7.5,313,6563,0.00,2.62,0.00,0.000,6,0.000,0.059,2556,2054,3432
$GC,6880,-0.65,-146.6,494.9,-7.9,329,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2054,3431
$GC,7189,-0.65,-146.6,518.8,-7.5,344,7193,0.00,2.72,0.00,0.000,4,0.000,0.081,2556,597,3430
$GC,7238,-0.65,-146.6,522.7,-8.5,346,7243,0.00,2.62,0.00,0.000,6,0.000,0.064,2555,2043,3430
$GC,7555,-0.65,-146.6,546.5,-7.6,361,7560,0.00,2.72,0.00,0.000,4,0.000,0.082,2556,591,3429
$GC,7617,-0.69,-146.6,551.5,-8.4,364,7622,0.00,2.60,0.00,0.000,6,0.000,0.065,2556,2024,3429
$GC,7944,-0.69,-146.6,573.3,-6.2,380,7949,0.00,2.58,0.00,0.000,4,0.000,0.081,2556,3412,3428
$GC,7973,-0.73,-146.6,575.1,-6.4,381,7978,0.00,2.55,0.00,0.000,6,0.000,0.069,2556,2029,3427
$GC,8290,-0.73,-146.6,593.7,-5.3,396,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2028,3427
$GC,8600,-0.73,-146.6,613.7,-7.1,411,8601,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2028,3426
$GC,8909,-0.81,-146.6,632.8,-5.8,426,8914,0.15,2.65,0.00,0.000,4,0.068,0.086,2518,3408,3424
$GC,8959,-0.74,-146.6,636.8,-8.5,428,8964,0.00,2.60,0.00,0.000,6,0.000,0.074,2518,2015,3424
$GC,9276,-0.69,-146.6,660.5,-6.1,443,9281,0.15,2.67,0.00,0.000,4,0.097,0.092,2549,594,3423
$GC,9309,-0.69,-146.6,662.5,-5.9,444,9316,0.00,2.62,0.00,0.000,6,0.000,0.074,2549,2013,3423
$GC,9626,-0.69,-146.6,684.6,-8.8,460,9630,0.00,2.62,0.00,0.000,4,0.000,0.091,2549,3406,3421
$GC,9669,-0.69,-146.6,688.3,-9.8,462,9674,0.00,2.62,0.00,0.000,6,0.000,0.076,2549,2008,3421
$STATE,9947,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9947,begin apogee
$GC,9954,-0.33,0.0,707.4,5.6,476,10089,0.38,0.00,129.07,1.437,6,0.090,0.000,2626,2209,2831
$STATE,10090,end apogee,CONTROL_FINISHED_OK
$STATE,10090,begin climb
$GC,10093,0.97,146.6,711.5,0.0,483,10232,1.33,2.72,130.85,1.378,4,0.071,0.091,2909,3602,2234
$GC,10244,0.92,156.9,706.2,5.7,490,10261,0.00,2.70,11.20,1.201,6,0.000,0.074,2909,2192,2192
$GC,10571,0.92,156.9,684.6,8.0,506,10572,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2184,2191
$GC,10879,1.01,210.7,667.8,4.5,521,10934,0.00,2.78,47.95,1.366,4,0.000,0.092,2909,791,1973
$GC,10969,1.02,221.6,663.6,5.7,525,10987,0.00,2.70,11.38,1.234,6,0.000,0.075,2909,2210,1928
$GC,11297,1.04,231.3,643.5,5.7,541,11312,0.00,2.83,10.35,1.235,4,0.000,0.089,2909,787,1888
$GC,11352,1.07,248.8,640.2,5.5,542,11378,0.10,2.72,16.65,1.299,6,0.071,0.075,2936,2222,1817
$GC,11690,1.07,248.8,615.7,8.0,559,11695,0.00,2.78,0.00,0.000,4,0.000,0.091,2937,787,1817
$GC,11740,0.99,248.8,610.8,9.4,561,11745,0.00,2.65,0.00,0.000,6,0.000,0.077,2937,2187,1817
$GC,12057,0.99,248.8,584.7,8.1,576,12061,0.00,2.70,0.00,0.000,4,0.000,0.091,2937,790,1817
$GC,12097,0.95,248.8,581.1,8.7,578,12102,0.15,2.60,0.00,0.000,6,0.101,0.077,2908,2169,1817
$GC,12424,1.02,248.8,558.3,6.3,594,12425,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2170,1816
$GC,12734,1.08,248.8,540.1,6.0,609,12739,0.12,2.67,0.00,0.000,4,0.072,0.088,2940,788,1816
$GC,12790,1.03,248.8,535.4,8.0,611,12796,0.00,2.58,0.00,0.000,6,0.000,0.076,2940,2159,1815
$GC,13106,1.03,248.8,509.0,8.7,627,13110,0.00,2.62,0.00,0.000,4,0.000,0.088,2940,792,1815
$GC,13151,0.99,248.8,504.7,9.4,629,13156,0.12,2.53,0.00,0.000,6,0.104,0.074,2915,2141,1815
$GC,13472,1.04,248.8,482.6,6.1,645,13473,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2140,1815
$GC,13782,1.09,248.8,462.1,6.3,660,13787,0.10,2.75,0.00,0.000,4,0.074,0.084,2942,3611,1814
$GC,13821,1.09,248.8,459.0,8.0,662,13826,0.00,2.72,0.00,0.000,6,0.000,0.069,2941,2139,1815
$GC,14148,1.09,248.8,436.6,6.9,678,14149,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2139,1814
$GC,14457,1.09,248.8,410.9,7.9,693,14462,0.00,2.78,0.00,0.000,4,0.000,0.077,2941,3614,1815
$GC,14513,1.09,248.8,406.1,8.8,695,14519,0.00,2.67,0.00,0.000,6,0.000,0.062,2942,2145,1815
$GC,14829,1.09,248.8,384.4,6.4,711,14833,0.00,2.72,0.00,0.000,4,0.000,0.074,2941,3605,1815
$GC,14869,1.09,248.8,381.4,8.1,713,14873,0.00,2.62,0.00,0.000,6,0.000,0.059,2942,2155,1815
$GC,15195,1.09,248.8,359.2,6.7,729,15199,0.00,2.47,0.00,0.000,4,0.000,0.071,2941,791,1816
$GC,15228,1.09,248.8,356.9,6.8,730,15235,0.00,2.47,0.00,0.000,6,0.000,0.058,2941,2164,1816
$GC,15545,1.09,248.8,334.3,7.5,746,15549,0.00,2.53,0.00,0.000,4,0.000,0.068,2941,792,1817
$GC,15568,1.09,248.8,332.4,8.5,747,15573,0.00,2.45,0.00,0.000,6,0.000,0.058,2941,2151,1818
$GC,15895,1.09,248.8,308.0,7.5,763,15900,0.00,2.50,0.00,0.000,4,0.000,0.068,2942,793,1819
$GC,15918,1.09,248.8,306.3,7.5,764,15922,0.00,2.42,0.00,0.000,6,0.000,0.057,2941,2144,1818
$GC,16244,1.09,248.8,281.0,8.0,780,16245,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2144,1819
$GC,16553,1.09,248.8,257.0,7.7,795,16555,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2144,1819
$GC,16863,1.09,248.8,233.4,7.3,810,16868,0.00,2.65,0.00,0.000,4,0.000,0.067,2941,3607,1821
$GC,16885,1.09,248.8,231.6,7.3,811,16890,0.00,2.65,0.00,0.000,6,0.000,0.052,2942,2124,1821
$GC,17207,1.09,248.8,208.5,6.9,827,17208,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2123,1822
$GC,17516,1.09,248.8,185.5,7.3,842,17518,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2124,1823
$GC,17825,1.09,248.8,163.8,6.8,857,17830,0.00,2.70,0.00,0.000,4,0.000,0.064,2942,3604,1823
$GC,17852,1.09,248.8,161.9,7.1,858,17857,0.00,2.60,0.00,0.000,6,0.000,0.049,2941,2138,1823
$GC,18169,1.09,248.8,140.8,7.0,873,18170,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2139,1824
$GC,18479,1.09,248.8,120.2,7.0,888,18480,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2138,1824
$GC,18787,1.09,248.8,98.4,7.0,903,18788,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2138,1825
$GC,19097,1.09,248.8,77.2,6.8,918,19106,0.00,2.70,3.78,0.578,4,0.000,0.063,2942,3606,1816
$GC,19124,1.09,248.8,75.2,6.3,919,19128,0.00,2.60,0.00,0.000,6,0.000,0.048,2941,2141,1816
$GC,19445,1.09,248.8,51.9,8.0,935,19446,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2141,1817
$GC,19754,1.09,248.8,27.8,7.7,950,19758,0.00,2.67,0.00,0.000,4,0.000,0.063,2941,3607,1817
$GC,19782,1.09,248.8,25.7,7.5,951,19786,0.00,2.58,0.00,0.000,6,0.000,0.048,2941,2152,1818
$GC,20098,1.10,253.5,5.9,5.9,966,20108,0.00,2.45,5.45,0.656,4,0.000,0.061,2941,790,1796
$STATE,20123,end climb,SURFACE_DEPTH_REACHED
$STATE,20123,begin surface coast
$FINISH,2.3,1.027309
$STATE,20147,end surface coast,CONTROL_FINISHED_OK
$STATE,20147,begin surface
$SM_CCo,20233,0.00,0.000,0,0,1795,254.13
$SM_GC,1.47,11.15,0.00,0.00,0.043,0.000,0.000,422,2029,1795,-10.40,1.10,254.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1790
$TCM_TEMP,19.20
$XPDR_PINGS,145
$ALTIM_BOTTOM_PING,651.6,65.4
$24V_AH,23.6,48.381
$10V_AH,10.1,23.898
$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,25.125,187.600,366.675,0.000,0.000,37.759,28.325,189.760,42.000,0.000,0.000,14.786,1776.858,15640.148,542.685,2044.018,619.214,0.000,1590.081,0.000,2001.283,0.000,39.268,0.000
$DEVICE_MAMPS,131.924,92.040,1437.358,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,717.169,654.311,589.320,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50488,968
$CAP_FILE_SIZE,148998,0
$CFSIZE,254472192,235200512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,57,0,0
$GPS,040109,200854,6020.061,-430.536,27,1.9,44,-6.5