version: 66.04
glider: 5
mission: 5
dive: 8
start: 11 7 108 13 54 8
data:
$ID,5
$MISSION,5
$DIVE,8
$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,330
$T_MISSION,360
$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,1
$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,-87394.164
$T_RSLEEP,2
$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,2190
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,20
$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
$GPS1,134738,6327.242,-556.602,41,1.2,41,-8.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-61.0
$GPS2,135315,6327.256,-556.572,15,1.3,15,-8.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.041,-0.260
$KALMAN_X,16828.4,-937.0,-409.5,-9275.7,6513.7
$KALMAN_Y,-6893.4,243.5,138.9,-17603.5,-1759.1
$MHEAD_RNG_PITCHd_Wd,197.1,87812,-18.1,-10.000
$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,13,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,99,0.00,0.00,-81.10,0.000,2,0.000,0.000,425,2169,3358
$GC,102,-1.44,-146.6,4.2,-5.0,4,117,10.40,0.00,-1.70,0.000,6,0.149,0.000,2377,2182,3431
$GC,435,-1.27,-146.6,68.9,-16.3,20,440,0.20,2.60,0.00,0.000,4,0.108,0.070,2418,781,3433
$GC,468,-1.19,-146.6,74.2,-14.5,21,475,0.10,2.60,0.00,0.000,6,0.109,0.061,2437,2198,3433
$GC,785,-1.19,-146.6,114.5,-12.7,37,790,0.00,2.65,0.00,0.000,4,0.000,0.071,2437,780,3434
$GC,925,-1.19,-146.6,132.6,-12.9,43,930,0.00,2.53,0.00,0.000,6,0.000,0.060,2436,2159,3434
$GC,1241,-1.19,-146.6,171.4,-11.9,58,1245,0.00,2.58,0.00,0.000,4,0.000,0.071,2437,777,3435
$GC,1386,-1.19,-146.6,189.0,-11.9,64,1392,0.00,2.47,0.00,0.000,6,0.000,0.061,2436,2125,3435
$GC,1702,-1.19,-146.6,225.7,-11.9,80,1707,0.00,2.53,0.00,0.000,4,0.000,0.076,2436,785,3436
$GC,1820,-1.19,-146.6,240.3,-12.6,85,1824,0.00,2.42,0.00,0.000,6,0.000,0.063,2436,2100,3436
$GC,2136,-1.19,-146.6,279.1,-12.3,100,2140,0.00,2.83,0.00,0.000,4,0.000,0.084,2437,3602,3436
$GC,2157,-1.19,-146.6,282.2,-13.1,101,2161,0.00,2.78,0.00,0.000,6,0.000,0.065,2437,2099,3436
$GC,2478,-1.19,-146.6,321.0,-11.8,117,2481,0.00,2.45,0.00,0.000,4,0.000,0.083,2436,786,3436
$GC,2511,-1.19,-146.6,325.3,-11.9,118,2516,0.00,2.45,0.00,0.000,6,0.000,0.069,2437,2110,3436
$GC,2833,-1.19,-146.6,362.7,-12.1,134,2837,0.00,2.53,0.00,0.000,4,0.000,0.084,2437,785,3436
$GC,2940,-1.19,-146.6,376.2,-12.5,139,2944,0.00,2.42,0.00,0.000,6,0.000,0.072,2437,2078,3436
$GC,3266,-1.19,-146.6,414.3,-11.6,155,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2079,3436
$GC,3576,-1.19,-146.6,449.4,-11.3,170,3581,0.00,2.50,0.00,0.000,4,0.000,0.089,2437,783,3435
$GC,3609,-1.19,-146.6,453.4,-11.7,171,3613,0.00,2.42,0.00,0.000,6,0.000,0.076,2437,2067,3435
$GC,3925,-1.19,-146.6,487.7,-10.6,186,3929,0.00,2.47,0.00,0.000,4,0.000,0.089,2437,784,3434
$GC,3946,-1.19,-146.6,490.3,-11.0,187,3951,0.00,2.40,0.00,0.000,6,0.000,0.077,2437,2056,3435
$GC,4274,-1.19,-146.6,525.7,-10.9,203,4278,0.00,2.47,0.00,0.000,4,0.000,0.092,2437,786,3433
$GC,4319,-1.19,-146.6,531.2,-11.5,205,4323,0.00,2.40,0.00,0.000,6,0.000,0.078,2437,2048,3433
$GC,4640,-1.19,-146.6,565.8,-10.4,221,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2048,3432
$GC,4950,-1.19,-146.6,598.9,-10.8,236,4954,0.00,2.45,0.00,0.000,4,0.000,0.091,2437,786,3431
$GC,5000,-1.19,-146.6,604.8,-11.4,238,5004,0.00,2.40,0.00,0.000,6,0.000,0.081,2437,2043,3431
$GC,5321,-1.19,-146.6,639.4,-10.5,254,5325,0.00,2.45,0.00,0.000,4,0.000,0.091,2437,783,3430
$GC,5348,-1.19,-146.6,642.6,-11.0,255,5352,0.00,2.40,0.00,0.000,6,0.000,0.080,2437,2040,3431
$GC,5666,-1.19,-146.6,676.4,-11.0,270,5670,0.00,2.45,0.00,0.000,4,0.000,0.094,2437,781,3430
$GC,5721,-1.19,-146.6,683.0,-11.7,272,5727,0.00,2.38,0.00,0.000,6,0.000,0.081,2437,2021,3430
$GC,6037,-1.19,-146.6,717.1,-10.6,288,6041,0.00,2.42,0.00,0.000,4,0.000,0.094,2437,780,3429
$GC,6065,-1.19,-146.6,720.3,-11.2,289,6069,0.00,2.38,0.00,0.000,6,0.000,0.081,2437,2021,3428
$GC,6381,-1.19,-146.6,753.2,-10.3,304,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2021,3427
$GC,6690,-1.19,-146.6,784.3,-9.8,319,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2022,3427
$GC,6999,-1.19,-146.6,815.6,-10.1,334,7003,0.00,2.42,0.00,0.000,4,0.000,0.095,2437,783,3426
$GC,7032,-1.19,-146.6,819.2,-11.7,335,7038,0.00,2.35,0.00,0.000,6,0.000,0.083,2437,2013,3426
$GC,7349,-1.19,-146.6,850.3,-9.7,351,7350,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2013,3425
$GC,7658,-1.19,-146.6,879.5,-9.1,366,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2013,3426
$GC,7967,-1.19,-146.6,908.8,-9.7,381,7971,0.00,2.40,0.00,0.000,4,0.000,0.096,2437,785,3425
$GC,7994,-1.19,-146.6,911.8,-10.3,382,7998,0.00,2.35,0.00,0.000,6,0.000,0.083,2437,2009,3425
$GC,8316,-1.19,-146.6,943.0,-9.9,398,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2009,3424
$GC,8625,-1.19,-146.6,972.2,-9.3,413,8626,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2009,3424
$STATE,8807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8808,begin apogee
$GC,8815,-0.33,0.0,990.0,9.5,422,8945,0.90,0.00,126.47,1.677,6,0.103,0.000,2622,2185,2832
$STATE,8945,end apogee,CONTROL_FINISHED_OK
$STATE,8945,begin climb
$GC,8948,1.44,146.6,994.2,0.0,428,9084,1.85,2.85,126.65,1.626,4,0.081,0.099,3009,3599,2233
$GC,9125,1.32,146.6,983.1,11.3,436,9131,0.12,2.72,0.00,0.000,6,0.117,0.084,2988,2197,2233
$GC,9442,1.32,147.0,952.4,10.0,451,9443,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2197,2233
$GC,9751,1.32,147.0,921.8,10.0,466,9752,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2197,2233
$GC,10060,1.33,153.8,891.3,9.7,481,10075,0.00,2.85,7.35,1.324,4,0.000,0.098,2988,3593,2205
$GC,10115,1.33,153.8,885.5,10.6,483,10119,0.00,2.70,0.00,0.000,6,0.000,0.081,2988,2194,2205
$GC,10430,1.34,162.2,854.2,9.6,498,10441,0.00,0.00,9.18,1.391,6,0.000,0.000,2988,2194,2170
$GC,10740,1.35,166.2,823.9,9.8,513,10747,0.00,0.00,5.38,1.192,6,0.000,0.000,2988,2194,2154
$GC,11049,1.36,170.9,793.4,9.8,528,11057,0.00,0.00,5.68,1.214,6,0.000,0.000,2988,2194,2135
$GC,11358,1.37,181.1,763.6,9.5,543,11375,0.00,2.83,10.80,1.405,4,0.000,0.097,2988,3595,2092
$GC,11403,1.37,181.1,759.1,10.3,544,11407,0.00,2.72,0.00,0.000,6,0.000,0.081,2988,2184,2092
$GC,11723,1.37,181.1,727.1,10.1,560,11724,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2185,2092
$GC,12033,1.38,183.5,696.7,9.9,575,12034,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2185,2092
$GC,12342,1.40,196.1,666.5,9.4,590,12362,0.00,0.00,14.18,1.404,6,0.000,0.000,2988,2185,2031
$GC,12672,1.46,208.9,634.9,9.4,606,12694,0.12,2.88,12.32,1.364,4,0.078,0.096,3016,3590,1980
$GC,12723,1.41,208.9,629.2,11.4,608,12727,0.00,2.70,0.00,0.000,6,0.000,0.080,3016,2191,1980
$GC,13043,1.41,208.9,594.2,11.1,624,13048,0.00,2.72,0.00,0.000,4,0.000,0.097,3016,781,1980
$GC,13065,1.41,208.9,591.7,10.6,625,13070,0.00,2.70,0.00,0.000,6,0.000,0.082,3016,2194,1980
$GC,13386,1.41,208.9,556.5,10.3,641,13388,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2195,1980
$GC,13696,1.42,215.5,525.5,9.7,656,13710,0.00,2.83,7.10,1.197,4,0.000,0.097,3016,3603,1953
$GC,13778,1.38,215.5,517.1,10.7,659,13784,0.00,2.70,0.00,0.000,6,0.000,0.079,3016,2191,1952
$GC,14094,1.38,219.8,485.6,9.8,675,14105,0.00,2.80,5.32,1.076,4,0.000,0.097,3016,3602,1936
$GC,14138,1.38,219.8,480.8,10.5,677,14143,0.00,2.67,0.00,0.000,6,0.000,0.079,3016,2202,1935
$GC,14460,1.39,222.3,449.3,9.9,693,14466,0.00,0.00,4.07,0.923,6,0.000,0.000,3016,2201,1925
$GC,14769,1.39,222.3,417.7,10.2,708,14773,0.00,2.70,0.00,0.000,4,0.000,0.092,3016,782,1925
$GC,14813,1.39,222.3,413.0,11.1,710,14818,0.00,2.70,0.00,0.000,6,0.000,0.079,3016,2201,1925
$GC,15134,1.39,222.3,380.0,10.4,726,15138,0.00,2.70,0.00,0.000,4,0.000,0.097,3016,3602,1925
$GC,15184,1.39,222.3,374.4,10.9,728,15188,0.00,2.67,0.00,0.000,6,0.000,0.076,3016,2188,1925
$GC,15499,1.39,222.3,341.9,10.2,743,15504,0.00,2.67,0.00,0.000,4,0.000,0.092,3017,781,1925
$GC,15527,1.39,222.3,338.9,10.6,744,15532,0.00,2.67,0.00,0.000,6,0.000,0.078,3016,2188,1925
$GC,15843,1.41,238.6,309.2,9.3,759,15865,0.00,2.78,14.93,1.182,4,0.000,0.091,3016,3604,1859
$GC,15889,1.41,238.6,304.7,10.3,761,15893,0.00,2.70,0.00,0.000,6,0.000,0.074,3016,2182,1859
$GC,16215,1.43,249.8,273.9,9.5,777,16232,0.00,2.70,10.98,1.122,4,0.000,0.087,3016,782,1813
$GC,16259,1.43,249.8,269.1,10.6,778,16264,0.00,2.67,0.00,0.000,6,0.000,0.074,3016,2185,1813
$GC,16581,1.47,249.8,234.9,10.9,794,16585,0.00,2.70,0.00,0.000,4,0.000,0.088,3016,3602,1813
$GC,16647,1.47,249.8,226.8,11.8,797,16652,0.00,2.62,0.00,0.000,6,0.000,0.070,3016,2191,1813
$GC,16968,1.47,249.8,187.5,12.0,813,16972,0.00,2.65,0.00,0.000,4,0.000,0.084,3016,781,1813
$GC,16989,1.47,249.8,184.8,13.1,814,16994,0.00,2.67,0.00,0.000,6,0.000,0.073,3016,2204,1813
$GC,17310,1.52,249.8,148.6,11.5,830,17315,0.00,2.62,0.00,0.000,4,0.000,0.084,3017,3601,1814
$GC,17366,1.56,249.8,141.7,12.7,832,17374,0.12,2.60,0.00,0.000,6,0.072,0.065,3045,2189,1814
$GC,17684,1.56,249.8,104.4,12.0,848,17688,0.00,2.70,0.00,0.000,4,0.000,0.080,3045,3608,1815
$GC,17717,1.56,249.8,100.0,12.7,849,17723,0.00,2.60,0.00,0.000,6,0.000,0.064,3045,2189,1815
$GC,18034,1.56,249.8,59.7,13.1,865,18039,0.00,2.67,0.00,0.000,4,0.000,0.077,3045,3604,1816
$GC,18078,1.56,249.8,53.0,14.7,867,18083,0.00,2.58,0.00,0.000,6,0.000,0.061,3045,2198,1816
$GC,18399,1.56,249.8,10.8,14.1,883,18404,0.00,2.67,0.00,0.000,4,0.000,0.076,3045,3607,1817
$STATE,18441,end climb,SURFACE_DEPTH_REACHED
$STATE,18441,begin surface coast
$FINISH,0.1,1.027408
$STATE,18465,end surface coast,CONTROL_FINISHED_OK
$STATE,18465,begin surface
$SM_CCo,18490,0.52,0.153,0,0,1813,250.21
$SM_GC,1.35,0.00,0.00,0.52,0.000,0.000,0.153,428,2166,1813,-10.45,-0.57,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1821
$TCM_TEMP,17.80
$XPDR_PINGS,184
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,23.5,4.342
$10V_AH,10.0,2.069
$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,25.475,177.100,360.400,0.525,0.000,37.755,27.022,152.178,55.000,0.000,0.000,15.232,1658.749,14248.169,522.738,1887.834,513.479,33.343,1502.078,0.000,1840.021,0.000,58.597,0.000
$DEVICE_MAMPS,148.798,101.244,1676.662,153.400,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,662.369,600.785,450.331,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44381,886
$CAP_FILE_SIZE,139811,0
$CFSIZE,254472192,251699200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,53,0,0
$GPS,071108,190337,6324.310,-553.196,38,0.9,38,-8.2