version: 66.04
glider: 5
mission: 5
dive: 357
start: 1 21 109 11 25 15
data:
$ID,5
$MISSION,5
$DIVE,357
$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,-94424.023
$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,30
$R_STBD_OVSHOOT,24
$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
$GPS1,111807,6047.614,-538.474,36,1.3,36,-7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-64.0
$GPS2,112456,6047.633,-538.494,14,1.2,14,-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,143.0,97173,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.97,-146.6,0.0,0.0,0,101,0.00,0.00,-81.25,0.000,2,0.000,0.000,425,1978,3409
$GC,105,-0.97,-146.6,4.7,-5.4,4,127,11.00,2.60,-0.47,0.000,4,0.138,0.074,2527,3407,3432
$GC,291,-0.87,-146.6,34.3,-10.9,12,296,0.12,2.53,0.00,0.000,6,0.091,0.050,2552,1995,3432
$GC,613,-0.87,-146.6,60.8,-7.8,28,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1994,3433
$GC,922,-0.87,-146.6,84.4,-7.8,43,926,0.00,2.58,0.00,0.000,4,0.000,0.062,2553,3416,3433
$GC,943,-0.87,-146.6,86.1,-7.8,44,947,0.00,2.53,0.00,0.000,6,0.000,0.050,2553,2000,3432
$GC,1265,-0.87,-146.6,110.7,-7.6,60,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1999,3433
$GC,1573,-0.87,-146.6,135.0,-7.9,75,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1999,3433
$GC,1882,-0.87,-146.6,160.5,-8.3,90,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1999,3433
$GC,2192,-0.87,-146.6,184.3,-7.5,105,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1999,3433
$GC,2501,-0.87,-146.6,207.3,-7.4,120,2505,0.00,2.58,0.00,0.000,4,0.000,0.063,2553,3412,3432
$GC,2528,-0.87,-146.6,209.6,-8.0,121,2532,0.00,2.53,0.00,0.000,6,0.000,0.052,2553,1997,3433
$GC,2844,-0.87,-146.6,232.9,-7.5,136,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1996,3433
$GC,3154,-0.87,-146.6,256.1,-7.3,151,3158,0.00,2.58,0.00,0.000,4,0.000,0.064,2553,3408,3432
$GC,3181,-0.87,-146.6,258.2,-7.2,152,3185,0.00,2.50,0.00,0.000,6,0.000,0.051,2553,2005,3432
$GC,3496,-0.87,-146.6,279.9,-6.7,167,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2005,3432
$GC,3807,-0.87,-146.6,300.3,-6.4,182,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2005,3432
$GC,4115,-0.87,-146.6,319.9,-6.3,197,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2005,3432
$GC,4424,-0.87,-146.6,339.2,-6.7,212,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2005,3432
$GC,4734,-0.87,-146.6,359.5,-6.5,227,4739,0.00,2.55,0.00,0.000,4,0.000,0.065,2553,3406,3432
$GC,4756,-0.87,-146.6,361.0,-6.1,228,4761,0.00,2.50,0.00,0.000,6,0.000,0.054,2553,2004,3432
$GC,5078,-0.87,-146.6,381.1,-6.0,244,5082,0.00,2.53,0.00,0.000,4,0.000,0.068,2553,595,3432
$GC,5125,-0.87,-146.6,383.9,-6.0,246,5129,0.00,2.47,0.00,0.000,6,0.000,0.054,2553,1990,3432
$GC,5451,-0.87,-146.6,403.2,-5.7,262,5455,0.00,2.55,0.00,0.000,4,0.000,0.067,2553,3402,3433
$GC,5507,-0.87,-146.6,406.7,-6.1,264,5512,0.00,2.55,0.00,0.000,6,0.000,0.056,2553,1981,3432
$GC,5824,-0.87,-146.6,427.0,-6.8,279,5828,0.00,2.60,0.00,0.000,4,0.000,0.067,2553,3402,3433
$GC,5958,-0.87,-146.6,437.1,-7.5,285,5962,0.00,2.53,0.00,0.000,6,0.000,0.057,2553,1997,3433
$GC,6279,-0.87,-146.6,460.5,-7.4,301,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1997,3432
$GC,6588,-0.87,-146.6,480.7,-6.3,316,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1997,3432
$GC,6898,-0.87,-146.6,500.2,-6.6,331,6903,0.00,2.62,0.00,0.000,4,0.000,0.075,2553,3410,3432
$GC,6945,-0.87,-146.6,503.5,-6.6,333,6950,0.00,2.55,0.00,0.000,6,0.000,0.064,2553,2012,3431
$GC,7266,-0.87,-146.6,524.6,-6.6,349,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2012,3431
$GC,7575,-0.87,-146.6,542.3,-5.4,364,7580,0.00,2.62,0.00,0.000,4,0.000,0.080,2553,584,3429
$GC,7599,-0.87,-146.6,543.7,-5.8,365,7603,0.00,2.60,0.00,0.000,6,0.000,0.066,2553,2013,3430
$GC,7920,-0.87,-146.6,562.6,-5.8,381,7925,0.00,2.67,0.00,0.000,4,0.000,0.084,2553,589,3429
$GC,7948,-0.87,-146.6,564.5,-6.8,382,7952,0.00,2.60,0.00,0.000,6,0.000,0.068,2553,2011,3429
$GC,8265,-0.87,-146.6,583.9,-5.8,397,8266,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2024,3427
$GC,8573,-0.93,-146.6,604.8,-6.7,412,8578,0.00,2.60,0.00,0.000,4,0.000,0.084,2553,3406,3427
$GC,8601,-0.93,-146.6,607.0,-8.5,413,8605,0.00,2.60,0.00,0.000,6,0.000,0.074,2553,2008,3426
$STATE,8831,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8831,begin apogee
$GC,8840,-0.33,0.0,621.6,6.1,424,8975,0.57,0.00,130.12,1.325,6,0.084,0.000,2673,2133,2832
$STATE,8975,end apogee,CONTROL_FINISHED_OK
$STATE,8976,begin climb
$GC,8979,0.97,146.6,626.1,0.0,431,9118,1.30,2.70,131.32,1.274,4,0.073,0.084,2950,3523,2234
$GC,9194,0.81,146.6,615.7,7.1,440,9200,0.15,2.67,0.00,0.000,6,0.097,0.075,2922,2116,2234
$GC,9517,0.75,148.0,596.9,6.0,456,9518,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2115,2233
$GC,9827,0.75,184.0,578.9,5.0,471,9869,0.00,2.80,33.67,1.255,4,0.000,0.084,2922,3517,2082
$GC,9938,0.70,184.0,571.9,6.8,476,9943,0.12,2.62,0.00,0.000,6,0.105,0.074,2898,2136,2082
$GC,10268,0.78,200.9,552.9,5.5,492,10290,0.00,2.83,16.77,1.220,4,0.000,0.089,2898,707,2012
$GC,10307,0.78,200.9,550.1,6.4,493,10313,0.00,2.70,0.00,0.000,6,0.000,0.071,2899,2140,2012
$GC,10623,0.84,200.9,531.4,6.1,509,10625,0.12,0.00,0.00,0.000,6,0.067,0.000,2930,2141,2010
$GC,10933,0.84,200.9,510.1,6.8,524,10937,0.00,2.72,0.00,0.000,4,0.000,0.087,2931,713,2010
$GC,10977,0.78,200.9,506.7,7.5,526,10982,0.00,2.65,0.00,0.000,6,0.000,0.072,2930,2134,2010
$GC,11299,0.78,200.9,484.2,7.1,542,11304,0.00,2.65,0.00,0.000,4,0.000,0.085,2930,3539,2009
$GC,11366,0.78,200.9,479.1,6.6,545,11371,0.00,2.65,0.00,0.000,6,0.000,0.073,2931,2129,2009
$GC,11689,0.80,212.0,459.6,5.7,561,11705,0.00,2.70,11.00,1.164,4,0.000,0.083,2931,713,1966
$GC,11740,0.76,212.0,456.2,6.8,562,11744,0.00,2.65,0.00,0.000,6,0.000,0.069,2931,2132,1966
$GC,12056,0.76,212.0,437.1,6.3,577,12057,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2132,1965
$GC,12365,0.76,212.0,414.5,7.8,592,12369,0.00,2.67,0.00,0.000,4,0.000,0.081,2930,704,1965
$GC,12387,0.76,212.0,412.6,8.0,593,12391,0.00,2.60,0.00,0.000,6,0.000,0.067,2930,2115,1965
$GC,12708,0.76,212.0,388.2,7.2,609,12709,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2117,1965
$GC,13017,0.76,212.0,366.6,6.6,624,13021,0.00,2.62,0.00,0.000,4,0.000,0.076,2930,3532,1965
$GC,13040,0.76,212.0,365.0,7.0,625,13044,0.00,2.62,0.00,0.000,6,0.000,0.064,2931,2103,1965
$GC,13361,0.76,212.0,344.3,6.6,641,13362,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2104,1965
$GC,13670,0.76,212.0,324.2,6.7,656,13674,0.00,2.67,0.00,0.000,4,0.000,0.071,2931,3538,1965
$GC,13703,0.76,212.0,321.7,7.4,657,13710,0.00,2.60,0.00,0.000,6,0.000,0.058,2931,2107,1965
$GC,14019,0.76,212.0,300.8,6.6,673,14023,0.00,2.53,0.00,0.000,4,0.000,0.068,2930,709,1966
$GC,14042,0.76,212.0,299.2,6.7,674,14046,0.00,2.55,0.00,0.000,6,0.000,0.058,2931,2126,1966
$GC,14369,0.76,212.0,277.7,6.4,690,14373,0.00,2.58,0.00,0.000,4,0.000,0.069,2931,3540,1967
$GC,14402,0.76,212.0,275.3,6.3,691,14408,0.00,2.58,0.00,0.000,6,0.000,0.055,2931,2112,1967
$GC,14717,0.76,212.0,255.6,6.1,707,14719,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2112,1968
$GC,15027,0.76,212.0,236.4,6.3,722,15031,0.00,2.62,0.00,0.000,4,0.000,0.065,2931,3540,1968
$GC,15059,0.76,212.0,234.0,7.2,723,15066,0.00,2.55,0.00,0.000,6,0.000,0.053,2930,2117,1968
$GC,15375,0.76,212.0,214.3,6.1,739,15376,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2117,1970
$GC,15685,0.76,212.2,195.6,6.0,754,15686,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2117,1970
$GC,15994,0.78,227.1,177.4,5.6,769,16016,0.00,2.65,15.12,0.913,4,0.000,0.064,2931,3533,1905
$GC,16044,0.78,227.1,174.2,6.4,771,16048,0.00,2.55,0.00,0.000,6,0.000,0.051,2930,2121,1905
$GC,16365,0.78,227.1,152.9,7.0,787,16366,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2121,1905
$GC,16674,0.78,227.1,132.6,6.7,802,16678,0.00,2.60,0.00,0.000,4,0.000,0.064,2931,3537,1906
$GC,16707,0.78,227.1,130.2,7.1,803,16713,0.00,2.53,0.00,0.000,6,0.000,0.051,2931,2124,1906
$GC,17025,0.78,227.1,109.7,6.4,819,17026,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2124,1906
$GC,17332,0.80,238.6,89.0,5.7,834,17353,0.00,2.65,11.23,0.822,4,0.000,0.061,2931,3539,1859
$GC,17377,0.80,238.6,85.9,7.0,836,17381,0.00,2.53,0.00,0.000,6,0.000,0.050,2931,2135,1859
$GC,17705,0.84,238.6,63.2,7.4,852,17709,0.00,2.55,0.00,0.000,4,0.000,0.064,2931,714,1859
$GC,17732,0.84,238.6,60.7,8.1,853,17737,0.00,2.55,0.00,0.000,6,0.000,0.052,2931,2146,1859
$GC,18048,0.84,238.6,39.0,6.0,868,18049,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2147,1859
$GC,18360,0.84,238.6,15.7,7.7,883,18361,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2146,1859
$STATE,18561,end climb,SURFACE_DEPTH_REACHED
$STATE,18561,begin surface coast
$FINISH,0.1,1.027421
$STATE,18624,end surface coast,CONTROL_FINISHED_OK
$STATE,18624,begin surface
$SM_CCo,18647,9.77,0.615,1,0,1811,250.21
$SM_GC,1.55,0.00,0.00,9.77,0.000,0.000,0.615,422,1978,1811,-10.69,-0.59,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1827
$TCM_TEMP,16.70
$XPDR_PINGS,48
$ALTIM_BOTTOM_PING,550.2,80.5
$24V_AH,23.6,61.440
$10V_AH,10.1,30.310
$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,24.350,146.225,349.250,9.775,0.000,44.234,27.327,210.979,16.750,0.000,0.000,14.238,1617.616,14501.512,501.628,1837.646,613.821,0.000,1435.414,0.000,1799.460,0.000,32.952,0.000
$DEVICE_MAMPS,138.060,88.972,1324.609,615.134,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,660.449,604.555,568.440,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44247,896
$CAP_FILE_SIZE,130510,0
$CFSIZE,254472192,230543360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,44,1,0
$GPS,210109,163737,6046.642,-536.431,40,1.1,40,-7.2