version: 66.04
glider: 5
mission: 5
dive: 9
start: 11 7 108 19 13 13
data:
$ID,5
$MISSION,5
$DIVE,9
$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,-87432.32
$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,2000
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,17
$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
$GPS1,190337,6324.310,-553.196,38,0.9,38,-8.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-59.5
$GPS2,191221,6324.362,-553.117,37,1.6,37,-8.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.248,-0.091
$KALMAN_X,18860.8,138.6,-254.0,-9708.6,4454.7
$KALMAN_Y,-7370.0,721.0,141.9,-22964.1,-1957.2
$MHEAD_RNG_PITCHd_Wd,258.1,82778,-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,12,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,94,0.00,0.00,-76.12,0.000,2,0.000,0.000,427,2158,3263
$GC,97,-1.44,-146.6,3.9,-4.1,4,120,10.38,2.92,-4.30,0.000,4,0.149,0.084,2376,591,3431
$GC,339,-1.25,-146.6,50.6,-16.5,14,347,0.28,2.58,0.00,0.000,6,0.104,0.058,2429,2007,3432
$GC,656,-1.19,-146.6,93.6,-13.8,30,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2008,3433
$GC,965,-1.14,-146.6,135.1,-14.0,45,970,0.10,2.65,0.00,0.000,4,0.109,0.070,2447,591,3433
$GC,1038,-1.14,-146.6,145.0,-13.4,48,1042,0.00,2.58,0.00,0.000,6,0.000,0.059,2448,2003,3434
$GC,1354,-1.14,-146.6,181.4,-11.3,63,1358,0.00,2.65,0.00,0.000,4,0.000,0.074,2447,587,3434
$GC,1370,-1.14,-146.6,183.5,-11.4,64,1375,0.00,2.58,0.00,0.000,6,0.000,0.061,2448,2000,3434
$GC,1697,-1.14,-146.6,219.4,-10.9,80,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2009,3434
$GC,2006,-1.14,-146.6,254.0,-11.3,95,2011,0.00,2.65,0.00,0.000,4,0.000,0.077,2447,587,3435
$GC,2051,-1.14,-146.6,259.6,-12.4,97,2055,0.00,2.55,0.00,0.000,6,0.000,0.063,2448,1976,3435
$GC,2372,-1.14,-146.6,299.6,-12.8,113,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1977,3435
$GC,2681,-1.14,-146.6,337.8,-11.6,128,2685,0.00,2.62,0.00,0.000,4,0.000,0.081,2448,593,3435
$GC,2743,-1.14,-146.6,345.1,-12.0,131,2748,0.00,2.58,0.00,0.000,6,0.000,0.068,2448,1983,3435
$GC,3070,-1.14,-146.6,382.5,-11.1,147,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1983,3435
$GC,3379,-1.14,-146.6,416.5,-10.6,162,3384,0.00,2.70,0.00,0.000,4,0.000,0.090,2448,3406,3435
$GC,3424,-1.19,-146.6,421.6,-11.5,164,3429,0.00,2.67,0.00,0.000,6,0.000,0.073,2447,1975,3434
$GC,3745,-1.19,-146.6,456.4,-11.1,180,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1975,3434
$GC,4054,-1.19,-146.6,489.9,-10.4,195,4059,0.00,2.78,0.00,0.000,4,0.000,0.091,2447,3408,3434
$GC,4081,-1.19,-146.6,493.1,-11.0,196,4086,0.00,2.67,0.00,0.000,6,0.000,0.075,2447,1986,3434
$GC,4399,-1.23,-146.6,525.7,-10.2,211,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1986,3433
$GC,4708,-1.28,-146.6,557.1,-9.9,226,4713,0.12,2.75,0.00,0.000,4,0.071,0.093,2418,3406,3432
$GC,4758,-1.28,-146.6,562.9,-11.1,228,4762,0.00,2.67,0.00,0.000,6,0.000,0.077,2418,1991,3432
$GC,5074,-1.23,-146.6,599.9,-11.5,243,5079,0.00,2.78,0.00,0.000,4,0.000,0.095,2418,3412,3431
$GC,5102,-1.19,-146.6,603.5,-12.4,244,5107,0.10,2.67,0.00,0.000,6,0.130,0.079,2435,1999,3431
$GC,5423,-1.19,-146.6,638.1,-10.7,260,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1999,3430
$GC,5732,-1.19,-146.6,670.2,-10.6,275,5737,0.00,2.75,0.00,0.000,4,0.000,0.097,2435,3406,3429
$GC,5759,-1.19,-146.6,673.3,-11.0,276,5764,0.00,2.67,0.00,0.000,6,0.000,0.081,2435,1999,3429
$GC,6075,-1.19,-146.6,706.0,-10.3,291,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2000,3428
$GC,6385,-1.19,-146.6,736.8,-9.8,306,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2000,3427
$GC,6694,-1.19,-146.6,767.3,-10.0,321,6698,0.00,2.78,0.00,0.000,4,0.000,0.099,2435,3411,3426
$GC,6726,-1.19,-146.6,770.9,-11.0,322,6733,0.00,2.67,0.00,0.000,6,0.000,0.081,2435,2005,3426
$GC,7043,-1.19,-146.6,801.5,-9.5,338,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2004,3425
$GC,7352,-1.19,-146.6,831.9,-9.6,353,7356,0.00,2.75,0.00,0.000,4,0.000,0.098,2435,3405,3425
$GC,7384,-1.19,-146.6,835.4,-10.7,354,7391,0.00,2.65,0.00,0.000,6,0.000,0.084,2436,2014,3424
$GC,7700,-1.19,-146.6,865.8,-9.8,370,7701,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2014,3424
$GC,8010,-1.19,-146.6,895.4,-9.6,385,8011,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2014,3424
$GC,8320,-1.19,-146.6,926.2,-10.0,400,8324,0.00,2.72,0.00,0.000,4,0.000,0.100,2435,3405,3424
$GC,8359,-1.19,-146.6,930.3,-10.5,402,8364,0.00,2.65,0.00,0.000,6,0.000,0.083,2435,2015,3423
$GC,8685,-1.19,-146.6,963.2,-10.1,418,8687,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2015,3424
$STATE,8951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8951,begin apogee
$GC,8958,-0.33,0.0,990.5,10.2,431,9088,0.93,0.00,126.25,1.687,6,0.104,0.000,2623,2256,2832
$STATE,9089,end apogee,CONTROL_FINISHED_OK
$STATE,9089,begin climb
$GC,9092,1.44,146.6,995.2,0.0,437,9226,1.85,2.83,125.68,1.639,4,0.083,0.100,3009,3656,2234
$GC,9262,1.32,146.6,985.8,10.7,445,9268,0.12,2.75,0.00,0.000,6,0.117,0.083,2989,2245,2234
$GC,9584,1.38,183.7,958.5,8.3,461,9623,0.00,0.00,33.47,1.561,6,0.000,0.000,2988,2243,2081
$GC,9933,1.40,196.0,927.0,9.4,478,9954,0.00,2.83,11.57,1.444,4,0.000,0.097,2989,841,2033
$GC,9971,1.40,196.0,923.2,10.0,479,9977,0.00,2.75,0.00,0.000,6,0.000,0.083,2989,2251,2033
$GC,10287,1.48,221.5,893.7,8.8,495,10318,0.15,2.90,22.92,1.541,4,0.074,0.094,3022,839,1928
$GC,10354,1.42,221.5,886.5,11.7,498,10358,0.00,2.72,0.00,0.000,6,0.000,0.083,3022,2238,1928
$GC,10680,1.42,221.5,851.2,10.6,514,10684,0.00,2.78,0.00,0.000,4,0.000,0.101,3022,3657,1928
$GC,10708,1.37,221.5,848.0,11.7,515,10713,0.15,2.72,0.00,0.000,6,0.119,0.081,2997,2241,1928
$GC,11024,1.42,226.3,817.5,9.8,530,11035,0.00,2.75,5.97,1.248,4,0.000,0.097,2997,842,1908
$GC,11058,1.42,229.7,813.9,9.8,531,11068,0.00,2.72,4.85,1.135,6,0.000,0.083,2997,2244,1895
$GC,11391,1.47,229.7,779.3,10.7,548,11393,0.12,0.00,0.00,0.000,6,0.079,0.000,3022,2244,1895
$GC,11699,1.47,229.7,741.8,12.3,563,11704,0.00,2.78,0.00,0.000,4,0.000,0.096,3022,835,1894
$GC,11732,1.43,229.7,737.5,13.1,564,11739,0.00,2.70,0.00,0.000,6,0.000,0.085,3022,2235,1894
$GC,12048,1.43,229.7,699.0,12.2,580,12053,0.00,2.78,0.00,0.000,4,0.000,0.101,3022,3660,1894
$GC,12076,1.43,229.7,695.5,12.8,581,12080,0.00,2.72,0.00,0.000,6,0.000,0.080,3022,2230,1894
$GC,12392,1.43,229.7,658.6,11.5,596,12393,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2230,1894
$GC,12701,1.43,229.7,623.0,11.4,611,12702,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2231,1894
$GC,13010,1.43,229.7,588.5,10.9,626,13011,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2230,1894
$GC,13320,1.43,229.7,554.8,10.8,641,13324,0.00,2.83,0.00,0.000,4,0.000,0.100,3022,3661,1893
$GC,13346,1.43,229.7,551.6,11.1,642,13351,0.00,2.75,0.00,0.000,6,0.000,0.082,3022,2223,1894
$GC,13662,1.43,229.7,518.8,10.5,657,13663,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2223,1893
$GC,13971,1.43,229.7,485.0,10.9,672,13972,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2223,1893
$GC,14281,1.43,229.7,451.4,10.6,687,14285,0.00,2.80,0.00,0.000,4,0.000,0.097,3022,3658,1893
$GC,14313,1.43,229.7,447.7,11.2,688,14319,0.00,2.70,0.00,0.000,6,0.000,0.081,3022,2233,1893
$GC,14629,1.43,229.7,413.4,10.9,704,14633,0.00,2.65,0.00,0.000,4,0.000,0.091,3022,841,1893
$GC,14679,1.43,229.7,407.2,12.1,706,14683,0.00,2.65,0.00,0.000,6,0.000,0.079,3022,2240,1893
$GC,14995,1.43,229.7,369.1,12.5,721,14999,0.00,2.72,0.00,0.000,4,0.000,0.097,3022,3657,1894
$GC,15050,1.43,229.7,361.5,13.4,723,15056,0.00,2.67,0.00,0.000,6,0.000,0.079,3023,2237,1894
$GC,15365,1.43,229.7,323.3,11.8,739,15367,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2237,1893
$GC,15675,1.43,229.7,288.8,11.1,754,15679,0.00,2.62,0.00,0.000,4,0.000,0.087,3022,841,1893
$GC,15747,1.43,229.7,280.2,11.3,757,15751,0.00,2.65,0.00,0.000,6,0.000,0.076,3023,2244,1893
$GC,16062,1.43,229.7,244.2,11.6,772,16067,0.00,2.67,0.00,0.000,4,0.000,0.084,3023,841,1894
$GC,16084,1.43,229.7,241.4,12.4,773,16089,0.00,2.65,0.00,0.000,6,0.000,0.074,3023,2248,1894
$GC,16406,1.43,229.7,203.6,11.7,789,16410,0.00,2.67,0.00,0.000,4,0.000,0.088,3022,3662,1894
$GC,16449,1.43,229.7,198.3,12.1,791,16454,0.00,2.65,0.00,0.000,6,0.000,0.069,3023,2236,1895
$GC,16770,1.43,229.7,162.8,10.5,807,16775,0.00,2.72,0.00,0.000,4,0.000,0.086,3023,3658,1895
$GC,16821,1.44,233.7,157.2,9.8,809,16832,0.00,2.60,5.25,0.871,6,0.000,0.067,3023,2252,1879
$GC,17142,1.44,233.7,125.1,10.5,825,17143,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2252,1879
$GC,17451,1.45,240.0,93.9,9.7,840,17460,0.00,0.00,6.95,0.888,6,0.000,0.000,3023,2252,1853
$GC,17762,1.50,242.5,63.1,9.9,855,17768,0.00,0.00,4.05,0.706,6,0.000,0.000,3023,2251,1843
$GC,18071,1.55,242.5,28.2,11.4,870,18072,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2251,1843
$STATE,18294,end climb,SURFACE_DEPTH_REACHED
$STATE,18294,begin surface coast
$FINISH,0.7,1.027401
$STATE,18316,end surface coast,CONTROL_FINISHED_OK
$STATE,18316,begin surface
$SM_CCo,18339,4.35,0.682,0,0,1812,250.21
$SM_GC,2.11,0.00,0.00,4.35,0.000,0.000,0.682,426,1970,1812,-10.46,-0.62,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1808
$TCM_TEMP,15.50
$XPDR_PINGS,193
$ALTIM_TOP_PING,19.8,18.9
$24V_AH,23.5,4.522
$10V_AH,10.0,2.150
$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,25.900,152.375,346.975,4.350,0.000,75.516,59.529,182.833,57.250,0.000,0.000,37.528,1603.934,14333.940,504.307,1816.051,610.305,33.366,1420.302,0.000,1749.889,0.000,58.557,0.000
$DEVICE_MAMPS,148.798,101.244,1687.400,681.863,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,656.255,597.143,465.875,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44378,882
$CAP_FILE_SIZE,134318,0
$CFSIZE,254472192,251641856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,48,0,0
$GPS,081108,002007,6321.881,-556.875,31,0.9,31,-8.2