version: 66.04
glider: 5
mission: 5
dive: 281
start: 1 5 109 18 18 58
data:
$ID,5
$MISSION,5
$DIVE,281
$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,135
$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,-92776.172
$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,33
$R_STBD_OVSHOOT,22
$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
$GPS1,181231,6026.640,-416.036,41,1.7,41,-6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-60.4
$GPS2,181838,6026.725,-415.932,14,1.7,14,-6.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6019.088,-400.512
$TGT_RADIUS,1852.000
$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,141.4,20000,-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,-97.88,0.000,6,0.000,0.000,419,1957,3430
$GC,121,-0.97,-146.6,5.6,-5.1,5,138,10.77,2.65,0.00,0.000,4,0.136,0.063,2482,3416,3431
$GC,342,-0.78,-146.6,39.7,-9.6,14,347,0.22,2.53,0.00,0.000,6,0.088,0.049,2529,2001,3432
$GC,670,-0.70,-146.6,67.6,-8.5,30,674,0.00,2.53,0.00,0.000,4,0.000,0.067,2529,593,3432
$GC,715,-0.63,-146.6,71.1,-7.9,32,720,0.15,2.50,0.00,0.000,6,0.088,0.051,2561,2000,3432
$GC,1036,-0.63,-146.6,92.4,-7.0,48,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2000,3433
$GC,1348,-0.63,-146.6,114.6,-7.3,63,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2000,3433
$GC,1655,-0.63,-146.6,134.1,-6.2,78,1659,0.00,2.53,0.00,0.000,4,0.000,0.063,2561,3409,3433
$GC,1682,-0.63,-146.6,136.0,-6.4,79,1686,0.00,2.53,0.00,0.000,6,0.000,0.050,2561,1993,3433
$GC,1999,-0.63,-146.6,155.1,-6.0,94,2003,0.00,2.53,0.00,0.000,4,0.000,0.066,2561,584,3433
$GC,2026,-0.63,-146.6,156.9,-6.4,95,2031,0.00,2.53,0.00,0.000,6,0.000,0.051,2561,2008,3433
$GC,2342,-0.63,-146.6,173.9,-5.4,110,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2008,3433
$GC,2654,-0.63,-146.6,191.7,-5.8,125,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2008,3433
$GC,2960,-0.63,-146.6,213.1,-7.5,140,2965,0.00,2.60,0.00,0.000,4,0.000,0.069,2561,588,3433
$GC,3004,-0.63,-146.6,216.7,-8.2,142,3009,0.00,2.50,0.00,0.000,6,0.000,0.053,2561,1997,3433
$GC,3326,-0.63,-146.6,240.7,-7.1,158,3330,0.00,2.53,0.00,0.000,4,0.000,0.065,2561,3402,3433
$GC,3354,-0.63,-146.6,242.7,-7.3,159,3358,0.00,2.53,0.00,0.000,6,0.000,0.051,2561,1988,3433
$GC,3669,-0.63,-146.6,265.9,-7.4,174,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1988,3433
$GC,3979,-0.63,-146.6,287.7,-6.6,189,3983,0.00,2.60,0.00,0.000,4,0.000,0.064,2560,3412,3433
$GC,4019,-0.63,-146.6,290.4,-7.4,191,4023,0.00,2.53,0.00,0.000,6,0.000,0.052,2561,1995,3433
$GC,4345,-0.63,-146.6,313.7,-7.4,207,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1996,3433
$GC,4655,-0.63,-146.6,339.7,-8.8,222,4659,0.00,2.53,0.00,0.000,4,0.000,0.070,2561,592,3433
$GC,4677,-0.63,-146.6,341.9,-9.0,223,4681,0.00,2.50,0.00,0.000,6,0.000,0.053,2561,2000,3433
$GC,4998,-0.63,-146.6,365.5,-6.2,239,5002,0.00,2.53,0.00,0.000,4,0.000,0.067,2561,3410,3433
$GC,5040,-0.63,-146.6,368.1,-6.5,241,5044,0.00,2.53,0.00,0.000,6,0.000,0.054,2561,1996,3432
$GC,5367,-0.63,-146.6,385.7,-5.7,257,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1996,3433
$GC,5675,-0.63,-146.6,405.7,-6.6,272,5680,0.00,2.58,0.00,0.000,4,0.000,0.068,2561,3402,3432
$GC,5726,-0.68,-146.6,409.4,-7.2,274,5731,0.00,2.50,0.00,0.000,6,0.000,0.055,2561,2008,3432
$GC,6043,-0.68,-146.6,429.2,-5.5,289,6047,0.00,2.55,0.00,0.000,4,0.000,0.071,2561,597,3432
$GC,6092,-0.74,-146.6,432.3,-6.1,291,6097,0.00,2.47,0.00,0.000,6,0.000,0.055,2561,1986,3432
$GC,6410,-0.74,-146.6,449.8,-5.8,306,6418,0.00,2.58,0.00,0.000,4,0.000,0.071,2561,3406,3432
$GC,6474,-0.79,-146.6,453.9,-6.3,308,6481,0.15,2.58,0.00,0.000,6,0.058,0.058,2520,1979,3432
$GC,6791,-0.73,-146.6,479.4,-8.5,324,6796,0.10,2.65,0.00,0.000,4,0.092,0.071,2541,3412,3432
$GC,6846,-0.73,-146.6,483.7,-7.2,326,6852,0.00,2.55,0.00,0.000,6,0.000,0.060,2541,2004,3432
$GC,7162,-0.73,-146.6,503.7,-6.4,342,7166,0.00,2.58,0.00,0.000,4,0.000,0.077,2541,591,3431
$GC,7195,-0.73,-146.6,506.1,-7.8,343,7201,0.00,2.55,0.00,0.000,6,0.000,0.060,2541,2008,3431
$GC,7512,-0.73,-146.6,524.9,-5.9,359,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2009,3430
$GC,7821,-0.73,-146.6,542.7,-5.7,374,7825,0.00,2.67,0.00,0.000,4,0.000,0.084,2541,587,3430
$GC,7861,-0.73,-146.6,545.1,-6.6,376,7866,0.00,2.58,0.00,0.000,6,0.000,0.065,2541,2003,3430
$GC,8188,-0.73,-146.6,565.2,-6.8,392,8192,0.00,2.60,0.00,0.000,4,0.000,0.083,2541,3414,3429
$GC,8243,-0.73,-146.6,568.6,-6.2,394,8249,0.00,2.60,0.00,0.000,6,0.000,0.070,2541,2005,3428
$GC,8559,-0.73,-146.6,587.4,-6.9,410,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2004,3428
$GC,8868,-0.73,-146.6,611.8,-9.2,425,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2004,3426
$STATE,9030,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9030,begin apogee
$GC,9037,-0.33,0.0,624.8,7.9,433,9173,0.40,0.00,129.02,1.336,6,0.087,0.000,2623,2208,2831
$STATE,9173,end apogee,CONTROL_FINISHED_OK
$STATE,9173,begin climb
$GC,9177,0.97,146.6,629.9,0.0,440,9315,1.33,2.83,129.05,1.288,4,0.065,0.084,2909,789,2234
$GC,9347,1.02,181.3,624.0,5.1,448,9389,0.00,2.65,31.92,1.233,6,0.000,0.072,2909,2197,2092
$GC,9699,1.06,206.3,604.8,5.3,465,9724,0.08,0.00,23.30,1.233,6,0.073,0.000,2933,2197,1990
$GC,10028,1.00,206.3,580.3,7.4,481,10033,0.00,2.72,0.00,0.000,4,0.000,0.090,2933,785,1989
$GC,10091,0.96,206.3,574.6,8.6,484,10096,0.12,2.62,0.00,0.000,6,0.094,0.074,2909,2186,1989
$GC,10418,0.96,206.3,553.1,6.8,500,10422,0.00,2.67,0.00,0.000,4,0.000,0.088,2909,794,1988
$GC,10445,0.96,206.3,550.9,8.3,501,10450,0.00,2.58,0.00,0.000,6,0.000,0.073,2909,2171,1988
$GC,10762,0.99,230.7,532.5,5.3,516,10790,0.00,2.72,22.02,1.268,4,0.000,0.088,2909,792,1891
$GC,10807,1.00,236.0,530.0,5.9,518,10819,0.00,2.60,6.22,1.038,6,0.000,0.073,2909,2166,1870
$GC,11129,1.14,289.0,514.3,4.5,534,11182,0.17,2.70,46.83,1.285,4,0.062,0.086,2956,794,1653
$GC,11205,1.08,289.0,509.0,7.8,537,11212,0.12,2.55,0.00,0.000,6,0.101,0.073,2934,2145,1652
$GC,11522,1.08,292.5,489.5,5.9,553,11532,0.00,2.80,4.93,0.950,4,0.000,0.086,2934,3610,1639
$GC,11561,1.08,292.5,486.8,6.3,555,11565,0.00,2.72,0.00,0.000,6,0.000,0.073,2934,2159,1639
$GC,11888,1.08,292.5,462.0,8.8,571,11889,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2160,1639
$GC,12197,1.08,292.5,436.0,8.1,586,12202,0.00,2.55,0.00,0.000,4,0.000,0.080,2933,784,1639
$GC,12237,1.08,292.5,432.6,8.1,588,12242,0.00,2.55,0.00,0.000,6,0.000,0.064,2934,2172,1639
$GC,12564,1.08,292.5,407.8,7.4,604,12569,0.00,2.60,0.00,0.000,4,0.000,0.076,2933,786,1639
$GC,12609,1.08,292.5,404.6,7.3,606,12614,0.00,2.47,0.00,0.000,6,0.000,0.062,2934,2141,1639
$GC,12931,1.08,292.5,382.3,7.0,622,12935,0.00,2.70,0.00,0.000,4,0.000,0.075,2934,3605,1639
$GC,12971,1.13,292.5,379.3,7.3,624,12975,0.00,2.65,0.00,0.000,6,0.000,0.061,2933,2153,1639
$GC,13298,1.13,292.5,357.3,6.9,640,13302,0.00,2.50,0.00,0.000,4,0.000,0.072,2934,785,1639
$GC,13342,1.13,292.5,353.8,7.8,642,13346,0.00,2.50,0.00,0.000,6,0.000,0.058,2934,2167,1639
$GC,13662,1.13,292.5,331.2,7.2,658,13667,0.00,2.55,0.00,0.000,4,0.000,0.070,2934,783,1640
$GC,13713,1.13,292.5,327.1,7.8,660,13718,0.00,2.45,0.00,0.000,6,0.000,0.057,2934,2141,1640
$GC,14029,1.18,292.5,301.9,8.2,675,14034,0.10,2.50,0.00,0.000,4,0.060,0.070,2964,792,1641
$GC,14057,1.18,292.5,299.1,10.3,676,14061,0.00,2.40,0.00,0.000,6,0.000,0.056,2963,2125,1641
$GC,14374,1.13,292.5,269.3,8.7,691,14379,0.00,2.70,0.00,0.000,4,0.000,0.068,2963,3613,1641
$GC,14402,1.13,292.5,266.5,10.2,692,14406,0.00,2.70,0.00,0.000,6,0.000,0.055,2963,2111,1642
$GC,14718,1.09,292.5,240.8,7.7,707,14723,0.12,2.40,0.00,0.000,4,0.085,0.068,2937,787,1642
$GC,14740,1.09,292.5,238.9,8.4,708,14745,0.00,2.38,0.00,0.000,6,0.000,0.053,2937,2116,1642
$GC,15062,1.09,292.5,217.7,6.7,724,15063,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2117,1644
$GC,15372,1.13,292.5,197.1,6.8,739,15376,0.00,2.45,0.00,0.000,4,0.000,0.067,2937,782,1644
$GC,15405,1.18,292.5,194.6,7.2,740,15411,0.00,2.38,0.00,0.000,6,0.000,0.053,2937,2109,1644
$GC,15722,1.22,292.5,173.7,6.7,756,15723,0.12,0.00,0.00,0.000,6,0.054,0.000,2975,2109,1644
$GC,16032,1.16,292.5,145.3,9.4,771,16036,0.12,2.45,0.00,0.000,4,0.086,0.066,2948,784,1644
$GC,16064,1.16,292.5,142.3,7.6,772,16071,0.00,2.35,0.00,0.000,6,0.000,0.053,2948,2100,1645
$GC,16381,1.16,292.5,118.6,7.7,788,16385,0.00,2.72,0.00,0.000,4,0.000,0.066,2948,3611,1645
$GC,16414,1.16,292.5,115.8,8.7,789,16421,0.00,2.70,0.00,0.000,6,0.000,0.051,2948,2093,1645
$GC,16730,1.16,292.5,91.3,8.3,805,16734,0.00,2.35,0.00,0.000,4,0.000,0.068,2948,790,1646
$GC,16748,1.16,292.5,89.8,9.0,806,16753,0.00,2.35,0.00,0.000,6,0.000,0.051,2948,2111,1645
$GC,17076,1.16,292.5,62.6,9.2,822,17081,0.00,2.45,0.00,0.000,4,0.000,0.065,2948,780,1645
$GC,17104,1.16,292.5,59.4,10.9,823,17108,0.00,2.33,0.00,0.000,6,0.000,0.053,2948,2079,1646
$GC,17422,1.16,292.5,34.9,7.1,838,17426,0.00,2.72,0.00,0.000,4,0.000,0.064,2948,3608,1646
$GC,17439,1.16,292.5,33.1,9.3,839,17444,0.00,2.75,0.00,0.000,6,0.000,0.050,2949,2057,1647
$GC,17766,1.16,292.5,8.7,7.6,855,17768,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2056,1647
$STATE,17825,end climb,SURFACE_DEPTH_REACHED
$STATE,17825,begin surface coast
$FINISH,0.3,1.027451
$STATE,17867,end surface coast,CONTROL_FINISHED_OK
$STATE,17867,begin surface
$SM_CCo,17950,0.00,0.000,0,0,1646,290.93
$SM_GC,1.26,11.10,0.00,0.00,0.041,0.000,0.000,421,1956,1646,-10.40,-1.24,290.93
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1803
$TCM_TEMP,17.00
$XPDR_PINGS,139
$ALTIM_BOTTOM_PING,551.0,83.6
$24V_AH,23.7,49.247
$10V_AH,10.1,24.328
$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,25.200,184.950,393.300,0.000,0.000,37.754,28.457,165.795,39.500,0.000,0.000,16.235,1594.532,13739.811,564.525,1843.425,569.023,0.000,1528.513,0.000,1802.628,0.000,32.971,0.000
$DEVICE_MAMPS,135.759,89.739,1336.114,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,634.728,579.746,544.588,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44333,860
$CAP_FILE_SIZE,138848,0
$CFSIZE,254472192,234885120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,50,0,0
$GPS,050109,231925,6028.111,-409.339,40,1.4,40,-6.3