version: 66.04
glider: 5
mission: 5
dive: 356
start: 1 21 109 6 46 21
data:
$ID,5
$MISSION,5
$DIVE,356
$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,-94409.164
$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,42
$R_STBD_OVSHOOT,21
$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
$GPS1,063837,6048.822,-540.535,41,1.0,41,-7.2
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-61.6
$GPS2,064602,6048.833,-540.422,12,1.1,12,-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,143.2,100005,-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,16,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-80.72,0.000,2,0.000,0.000,421,1977,3391
$GC,102,-0.97,-146.6,4.7,-5.6,4,125,10.98,2.70,-0.88,0.000,4,0.135,0.075,2526,3416,3432
$GC,322,-0.88,-146.6,31.5,-8.2,13,329,0.12,2.53,0.00,0.000,6,0.093,0.051,2552,2009,3432
$GC,640,-0.88,-146.6,51.7,-6.3,29,644,0.00,2.55,0.00,0.000,4,0.000,0.064,2552,586,3432
$GC,667,-0.88,-146.6,54.0,-7.6,30,672,0.00,2.53,0.00,0.000,6,0.000,0.053,2552,2005,3432
$GC,983,-0.88,-146.6,75.9,-6.8,45,988,0.00,2.58,0.00,0.000,4,0.000,0.065,2553,595,3432
$GC,1006,-0.88,-146.6,77.6,-7.6,46,1010,0.00,2.50,0.00,0.000,6,0.000,0.054,2552,1995,3432
$GC,1328,-0.88,-146.6,100.3,-6.8,62,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1996,3432
$GC,1638,-0.88,-146.6,125.3,-7.8,77,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1997,3432
$GC,1947,-0.88,-146.6,147.6,-7.1,92,1951,0.00,2.58,0.00,0.000,4,0.000,0.067,2552,585,3432
$GC,1991,-0.88,-146.6,151.1,-7.8,94,1995,0.00,2.53,0.00,0.000,6,0.000,0.054,2552,2000,3432
$GC,2311,-0.88,-146.6,173.5,-6.9,110,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2002,3432
$GC,2623,-0.88,-146.6,196.1,-7.2,125,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2002,3433
$GC,2930,-0.88,-146.6,219.4,-7.4,140,2934,0.00,2.58,0.00,0.000,4,0.000,0.067,2552,590,3433
$GC,2969,-0.88,-146.6,222.5,-8.2,142,2974,0.00,2.50,0.00,0.000,6,0.000,0.054,2552,1995,3432
$GC,3297,-0.88,-146.6,247.1,-7.4,158,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1995,3432
$GC,3605,-0.88,-146.6,270.8,-7.6,173,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1995,3432
$GC,3916,-0.88,-146.6,292.5,-6.6,188,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1995,3432
$GC,4225,-0.88,-146.6,313.4,-7.1,203,4229,0.00,2.55,0.00,0.000,4,0.000,0.067,2552,3411,3432
$GC,4258,-0.88,-146.6,316.1,-7.4,204,4264,0.00,2.53,0.00,0.000,6,0.000,0.054,2552,2000,3432
$GC,4573,-0.88,-146.6,338.5,-7.1,220,4578,0.00,2.53,0.00,0.000,4,0.000,0.069,2552,593,3432
$GC,4614,-0.88,-146.6,341.6,-8.1,222,4619,0.00,2.53,0.00,0.000,6,0.000,0.054,2552,2013,3432
$GC,4941,-0.88,-146.6,365.7,-7.1,238,4945,0.00,2.53,0.00,0.000,4,0.000,0.067,2552,3415,3433
$GC,4991,-0.88,-146.6,369.5,-7.7,240,4995,0.00,2.53,0.00,0.000,6,0.000,0.055,2552,2003,3432
$GC,5307,-0.88,-146.6,391.3,-6.8,255,5312,0.00,2.58,0.00,0.000,4,0.000,0.066,2552,3411,3432
$GC,5335,-0.88,-146.6,393.2,-6.7,256,5339,0.00,2.50,0.00,0.000,6,0.000,0.056,2552,2020,3432
$GC,5651,-0.88,-146.6,414.6,-7.3,271,5655,0.00,2.58,0.00,0.000,4,0.000,0.071,2552,592,3432
$GC,5714,-0.88,-146.6,419.5,-8.1,274,5718,0.00,2.53,0.00,0.000,6,0.000,0.055,2552,2015,3432
$GC,6040,-0.88,-146.6,440.9,-6.9,290,6044,0.00,2.53,0.00,0.000,4,0.000,0.070,2552,3411,3432
$GC,6125,-0.88,-146.6,447.7,-7.9,294,6129,0.00,2.50,0.00,0.000,6,0.000,0.058,2552,2026,3432
$GC,6455,-0.88,-146.6,475.3,-8.5,310,6460,0.00,2.55,0.00,0.000,4,0.000,0.069,2552,3408,3432
$GC,6533,-0.88,-146.6,482.3,-8.1,313,6540,0.00,2.45,0.00,0.000,6,0.000,0.060,2552,2056,3432
$GC,6850,-0.88,-146.6,504.8,-6.7,329,6854,0.00,2.65,0.00,0.000,4,0.000,0.073,2552,591,3432
$GC,6883,-0.88,-146.6,507.4,-7.4,330,6889,0.00,2.62,0.00,0.000,6,0.000,0.060,2552,2056,3432
$GC,7199,-0.88,-146.6,531.0,-7.2,346,7203,0.00,2.47,0.00,0.000,4,0.000,0.077,2552,3404,3431
$GC,7262,-0.93,-146.6,535.5,-7.4,349,7266,0.00,2.42,0.00,0.000,6,0.000,0.064,2552,2074,3431
$STATE,7504,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7504,begin apogee
$GC,7511,-0.33,0.0,550.4,6.2,361,7646,0.57,0.00,128.62,1.223,6,0.080,0.000,2674,2144,2831
$STATE,7647,end apogee,CONTROL_FINISHED_OK
$STATE,7647,begin climb
$GC,7650,0.97,146.6,555.5,0.0,368,7788,1.30,2.67,128.35,1.186,4,0.072,0.076,2953,3529,2234
$GC,7814,0.85,161.9,550.0,5.6,375,7835,0.12,2.65,15.00,1.078,6,0.100,0.071,2931,2123,2171
$GC,8154,0.79,161.9,526.7,6.7,392,8159,0.00,2.67,0.00,0.000,4,0.000,0.079,2931,3527,2170
$GC,8235,0.72,161.9,520.4,7.4,395,8242,0.15,2.55,0.00,0.000,6,0.094,0.070,2901,2160,2169
$GC,8551,0.76,190.9,502.5,5.2,411,8582,0.00,2.78,25.98,1.165,4,0.000,0.081,2901,711,2052
$GC,8601,0.82,199.5,499.6,5.8,413,8616,0.10,2.72,8.85,1.037,6,0.067,0.067,2928,2167,2018
$GC,8945,0.82,201.0,478.6,6.0,430,8947,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2167,2017
$GC,9253,0.84,213.2,461.7,5.7,445,9272,0.00,0.00,12.95,1.120,6,0.000,0.000,2928,2167,1962
$GC,9582,0.84,213.2,441.2,6.6,461,9586,0.00,2.55,0.00,0.000,4,0.000,0.078,2928,3532,1961
$GC,9637,0.84,213.2,436.8,8.2,463,9643,0.00,2.58,0.00,0.000,6,0.000,0.066,2928,2144,1961
$GC,9954,0.84,213.2,412.5,7.5,479,9958,0.00,2.65,0.00,0.000,4,0.000,0.076,2929,706,1961
$GC,10020,0.84,213.2,407.2,7.5,482,10025,0.00,2.60,0.00,0.000,6,0.000,0.061,2929,2130,1961
$GC,10342,0.84,213.2,385.5,6.4,498,10346,0.00,2.60,0.00,0.000,4,0.000,0.074,2929,3537,1961
$GC,10370,0.84,213.2,383.6,7.2,499,10375,0.00,2.60,0.00,0.000,6,0.000,0.062,2929,2118,1961
$GC,10686,0.89,244.7,366.6,5.1,514,10720,0.00,2.67,27.80,1.114,4,0.000,0.071,2929,716,1834
$GC,10739,0.90,251.1,363.6,5.8,516,10751,0.00,2.60,7.12,0.940,6,0.000,0.058,2929,2130,1808
$GC,11061,0.91,253.0,345.3,5.9,532,11068,0.00,0.00,3.97,0.729,6,0.000,0.000,2929,2130,1800
$GC,11392,0.91,253.0,324.2,6.4,548,11393,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2130,1800
$GC,11702,0.91,253.0,304.1,6.6,563,11706,0.00,2.62,0.00,0.000,4,0.000,0.070,2929,708,1801
$GC,11729,0.91,253.0,301.8,7.8,564,11734,0.00,2.55,0.00,0.000,6,0.000,0.057,2929,2119,1801
$GC,12045,0.91,253.0,279.9,6.8,579,12046,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2120,1802
$GC,12354,0.91,253.0,256.2,7.4,594,12358,0.00,2.60,0.00,0.000,4,0.000,0.070,2929,710,1803
$GC,12388,0.91,253.0,253.5,7.6,595,12394,0.00,2.50,0.00,0.000,6,0.000,0.056,2929,2101,1803
$GC,12704,0.91,253.0,230.4,7.3,611,12708,0.00,2.60,0.00,0.000,4,0.000,0.066,2929,3534,1803
$GC,12737,0.96,253.0,227.7,7.3,612,12744,0.10,2.58,0.00,0.000,6,0.061,0.054,2959,2103,1802
$GC,13054,0.92,253.0,202.8,7.6,628,13058,0.00,2.50,0.00,0.000,4,0.000,0.067,2959,715,1803
$GC,13070,0.87,253.0,201.3,7.6,628,13077,0.12,2.53,0.00,0.000,6,0.087,0.054,2933,2123,1803
$GC,13387,0.87,253.0,180.0,6.5,644,13388,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2123,1803
$GC,13697,0.87,253.0,159.2,6.9,659,13701,0.00,2.58,0.00,0.000,4,0.000,0.067,2933,718,1803
$GC,13718,0.87,253.0,157.6,6.9,660,13723,0.00,2.50,0.00,0.000,6,0.000,0.054,2933,2114,1803
$GC,14039,0.87,253.0,136.3,6.8,676,14040,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2114,1804
$GC,14349,0.87,253.0,116.1,6.8,691,14351,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2114,1804
$GC,14659,0.87,253.0,96.1,6.3,706,14660,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2114,1804
$GC,14967,0.87,253.0,77.4,6.3,721,14968,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2114,1805
$GC,15278,0.91,253.0,57.4,6.1,736,15282,0.00,2.55,0.00,0.000,4,0.000,0.064,2933,3529,1805
$GC,15311,0.96,253.0,54.9,7.2,737,15317,0.00,2.53,0.00,0.000,6,0.000,0.052,2933,2112,1805
$GC,15628,0.96,253.0,35.0,6.4,753,15633,0.00,2.53,0.00,0.000,4,0.000,0.067,2933,710,1805
$GC,15657,0.96,253.0,32.6,7.5,754,15661,0.00,2.50,0.00,0.000,6,0.000,0.053,2933,2110,1805
$GC,15974,1.01,253.0,11.0,6.9,769,15978,0.15,2.55,0.00,0.000,4,0.051,0.063,2977,3528,1806
$GC,16001,0.93,253.0,8.7,9.2,770,16006,0.15,2.55,0.00,0.000,6,0.083,0.052,2946,2102,1805
$STATE,16088,end climb,SURFACE_DEPTH_REACHED
$STATE,16088,begin surface coast
$FINISH,0.2,1.019437
$STATE,16151,end surface coast,CONTROL_FINISHED_OK
$STATE,16151,begin surface
$SM_CCo,16234,0.00,0.000,0,0,1805,251.92
$SM_GC,1.10,11.00,0.00,0.00,0.041,0.000,0.000,425,1967,1805,-10.58,-0.96,251.92
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1822
$TCM_TEMP,16.70
$XPDR_PINGS,50
$ALTIM_BOTTOM_PING,475.3,84.7
$24V_AH,23.7,61.296
$10V_AH,10.1,30.227
$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,24.875,149.050,358.650,0.000,0.000,37.759,27.046,255.818,16.500,0.000,0.000,14.597,1428.864,12443.929,499.778,1673.919,632.985,0.000,1364.220,0.000,1639.826,0.000,28.199,0.000
$DEVICE_MAMPS,134.992,81.302,1223.365,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,572.956,522.590,549.501,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37931,777
$CAP_FILE_SIZE,121554,0
$CFSIZE,254472192,230617088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,0,0
$GPS,210109,111807,6047.614,-538.474,36,1.3,36,-7.2