version: 66.04
glider: 5
mission: 5
dive: 12
start: 11 8 108 11 5 35
data:
$ID,5
$MISSION,5
$DIVE,12
$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,-87478.805
$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,28
$R_STBD_OVSHOOT,17
$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
$GPS1,104929,6315.316,-557.863,40,2.8,59,-8.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-58.4
$GPS2,110444,6315.271,-557.586,15,1.2,15,-8.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.214,-0.153
$KALMAN_X,27097.6,-256.9,-21.1,-21468.0,3928.7
$KALMAN_Y,-12907.9,-462.0,-362.7,-32564.5,-379.7
$MHEAD_RNG_PITCHd_Wd,242.6,65624,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.15,0.000,2,0.000,0.000,423,1978,3396
$GC,102,-1.44,-146.6,4.6,-5.1,4,119,10.23,2.53,-0.77,0.000,4,0.140,0.075,2376,598,3430
$GC,333,-1.25,-146.6,53.1,-16.7,13,339,0.28,2.55,0.00,0.000,6,0.098,0.055,2428,2007,3431
$GC,650,-1.19,-146.6,99.2,-13.9,28,654,0.00,2.62,0.00,0.000,4,0.000,0.071,2428,595,3432
$GC,694,-1.15,-146.6,106.0,-15.0,30,699,0.10,2.55,0.00,0.000,6,0.104,0.056,2447,2002,3432
$GC,1016,-1.15,-146.6,148.9,-13.6,46,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2002,3433
$GC,1325,-1.15,-146.6,191.2,-13.7,61,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2002,3433
$GC,1634,-1.15,-146.6,230.0,-12.5,76,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2002,3433
$GC,1944,-1.15,-146.6,266.6,-11.8,91,1948,0.00,2.62,0.00,0.000,4,0.000,0.074,2448,596,3433
$GC,2028,-1.15,-146.6,276.9,-12.0,95,2032,0.00,2.53,0.00,0.000,6,0.000,0.058,2448,1993,3433
$GC,2355,-1.15,-146.6,310.4,-9.7,111,2360,0.00,2.62,0.00,0.000,4,0.000,0.075,2448,3413,3433
$GC,2422,-1.15,-146.6,317.9,-11.1,114,2427,0.00,2.60,0.00,0.000,6,0.000,0.062,2448,1996,3433
$GC,2744,-1.15,-146.6,351.7,-10.4,130,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1996,3433
$GC,3052,-1.15,-146.6,384.8,-11.0,145,3056,0.00,2.60,0.00,0.000,4,0.000,0.082,2448,594,3433
$GC,3091,-1.15,-146.6,389.3,-12.3,147,3096,0.00,2.58,0.00,0.000,6,0.000,0.065,2447,1998,3433
$GC,3419,-1.15,-146.6,426.0,-11.2,163,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1998,3433
$GC,3727,-1.15,-146.6,462.2,-11.9,178,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1998,3432
$GC,4037,-1.15,-146.6,497.7,-10.9,193,4041,0.00,2.67,0.00,0.000,4,0.000,0.087,2448,590,3431
$GC,4064,-1.15,-146.6,500.9,-11.5,194,4068,0.00,2.62,0.00,0.000,6,0.000,0.073,2448,2000,3431
$GC,4380,-1.15,-146.6,533.3,-9.9,209,4384,0.00,2.67,0.00,0.000,4,0.000,0.091,2448,3413,3430
$GC,4407,-1.15,-146.6,536.1,-10.0,210,4412,0.00,2.65,0.00,0.000,6,0.000,0.075,2447,1999,3430
$GC,4723,-1.15,-146.6,566.3,-9.6,225,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1999,3429
$GC,5032,-1.15,-146.6,597.1,-10.3,240,5037,0.00,2.72,0.00,0.000,4,0.000,0.092,2448,3408,3428
$GC,5066,-1.19,-146.6,600.8,-10.4,241,5072,0.00,2.65,0.00,0.000,6,0.000,0.077,2447,2000,3427
$GC,5382,-1.23,-146.6,634.5,-10.8,257,5383,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2000,3426
$GC,5691,-1.28,-146.6,666.2,-10.2,272,5696,0.12,2.72,0.00,0.000,4,0.075,0.094,2419,3407,3426
$GC,5719,-1.28,-146.6,669.5,-12.3,273,5723,0.00,2.65,0.00,0.000,6,0.000,0.080,2419,2006,3425
$GC,6035,-1.24,-146.6,706.4,-11.6,288,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2007,3424
$GC,6344,-1.24,-146.6,743.5,-11.9,303,6348,0.00,2.72,0.00,0.000,4,0.000,0.095,2419,3406,3424
$GC,6383,-1.24,-146.6,748.5,-12.5,305,6388,0.00,2.62,0.00,0.000,6,0.000,0.081,2419,2022,3423
$GC,6710,-1.24,-146.6,786.7,-11.5,321,6714,0.00,2.72,0.00,0.000,4,0.000,0.098,2419,593,3422
$GC,6743,-1.18,-146.6,790.7,-12.2,322,6750,0.12,2.70,0.00,0.000,6,0.124,0.081,2441,2022,3422
$GC,7058,-1.18,-146.6,823.0,-10.3,338,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2029,3422
$GC,7368,-1.18,-146.6,853.3,-9.7,353,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2029,3421
$GC,7677,-1.18,-146.6,884.8,-10.1,368,7678,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2029,3420
$GC,7986,-1.18,-146.6,915.4,-10.2,383,7991,0.00,2.78,0.00,0.000,4,0.000,0.094,2441,588,3419
$GC,8013,-1.18,-146.6,918.6,-11.4,384,8018,0.00,2.70,0.00,0.000,6,0.000,0.082,2441,2018,3420
$GC,8329,-1.18,-146.6,949.7,-9.9,399,8330,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2018,3418
$GC,8638,-1.22,-146.6,980.2,-10.0,414,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2018,3418
$STATE,8738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8738,begin apogee
$GC,8745,-0.33,0.0,990.4,10.0,419,8873,0.90,0.00,124.68,1.675,6,0.104,0.000,2624,2256,2832
$STATE,8874,end apogee,CONTROL_FINISHED_OK
$STATE,8874,begin climb
$GC,8877,1.44,146.6,995.1,0.0,425,9012,1.85,2.80,125.88,1.621,4,0.081,0.097,3009,3654,2234
$GC,9053,1.33,146.6,985.3,10.2,433,9058,0.00,2.72,0.00,0.000,6,0.000,0.082,3009,2250,2234
$GC,9370,1.28,157.1,955.3,9.5,448,9383,0.17,0.00,10.60,1.407,6,0.119,0.000,2978,2250,2191
$GC,9678,1.34,191.8,928.8,8.4,463,9711,0.00,0.00,30.70,1.544,6,0.000,0.000,2979,2250,2050
$GC,10008,1.43,206.3,899.3,9.3,479,10030,0.15,2.80,14.07,1.476,4,0.074,0.100,3010,842,1991
$GC,10064,1.39,206.3,892.9,11.8,481,10069,0.00,2.75,0.00,0.000,6,0.000,0.083,3010,2258,1991
$GC,10380,1.39,206.3,857.9,11.1,496,10385,0.00,2.78,0.00,0.000,4,0.000,0.097,3010,842,1991
$GC,10402,1.39,206.3,855.2,11.6,497,10406,0.00,2.70,0.00,0.000,6,0.000,0.083,3010,2244,1990
$GC,10722,1.39,206.3,819.5,11.4,513,10727,0.00,2.78,0.00,0.000,4,0.000,0.097,3010,841,1991
$GC,10744,1.39,206.3,816.7,12.2,514,10749,0.00,2.67,0.00,0.000,6,0.000,0.081,3010,2242,1990
$GC,11065,1.39,206.3,780.7,11.0,530,11070,0.00,2.75,0.00,0.000,4,0.000,0.097,3010,841,1990
$GC,11104,1.39,206.3,776.2,11.9,532,11109,0.00,2.67,0.00,0.000,6,0.000,0.081,3010,2236,1990
$GC,11431,1.39,206.3,740.9,10.6,548,11435,0.00,2.75,0.00,0.000,4,0.000,0.097,3010,839,1990
$GC,11463,1.39,206.3,737.2,11.2,549,11470,0.00,2.65,0.00,0.000,6,0.000,0.081,3010,2225,1990
$GC,11779,1.39,206.3,702.6,11.1,565,11780,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2225,1990
$GC,12088,1.39,206.3,667.9,11.4,580,12093,0.00,2.72,0.00,0.000,4,0.000,0.095,3011,836,1990
$GC,12116,1.39,206.3,664.5,12.6,581,12121,0.00,2.65,0.00,0.000,6,0.000,0.081,3010,2222,1990
$GC,12432,1.39,206.3,628.8,11.2,596,12437,0.00,2.67,0.00,0.000,4,0.000,0.094,3010,841,1990
$GC,12459,1.39,206.3,625.5,10.6,597,12463,0.00,2.60,0.00,0.000,6,0.000,0.081,3010,2209,1989
$GC,12775,1.39,211.3,593.0,9.8,612,12783,0.00,0.00,5.97,1.175,6,0.000,0.000,3011,2209,1970
$GC,13084,1.41,222.9,563.5,9.5,627,13100,0.00,2.72,10.93,1.305,4,0.000,0.091,3010,840,1922
$GC,13124,1.41,222.9,559.5,10.4,628,13128,0.00,2.60,0.00,0.000,6,0.000,0.079,3010,2199,1922
$GC,13450,1.41,222.9,524.9,10.7,644,13451,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2199,1922
$GC,13759,1.41,222.9,493.4,10.3,659,13760,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2199,1923
$GC,14069,1.45,224.1,462.5,9.9,674,14073,0.00,2.65,0.00,0.000,4,0.000,0.092,3010,835,1922
$GC,14102,1.45,224.1,459.0,10.5,675,14108,0.00,2.58,0.00,0.000,6,0.000,0.078,3011,2196,1922
$GC,14418,1.50,224.1,426.3,10.5,691,14423,0.00,2.80,0.00,0.000,4,0.000,0.095,3010,3658,1922
$GC,14463,1.50,224.1,420.8,12.5,693,14467,0.00,2.75,0.00,0.000,6,0.000,0.077,3010,2202,1922
$GC,14784,1.55,224.1,384.9,11.3,709,14785,0.12,0.00,0.00,0.000,6,0.084,0.000,3037,2203,1922
$GC,15093,1.55,224.1,345.7,12.6,724,15097,0.00,2.58,0.00,0.000,4,0.000,0.087,3037,839,1922
$GC,15142,1.49,224.1,339.2,12.8,726,15147,0.00,2.53,0.00,0.000,6,0.000,0.074,3037,2189,1922
$GC,15459,1.49,224.1,302.5,11.2,741,15463,0.00,2.78,0.00,0.000,4,0.000,0.089,3037,3657,1922
$GC,15521,1.42,224.1,295.0,11.8,744,15526,0.15,2.70,0.00,0.000,6,0.118,0.071,3012,2201,1923
$GC,15851,1.48,228.0,262.4,9.8,760,15864,0.00,2.80,6.15,0.979,4,0.000,0.083,3012,3657,1901
$GC,15904,1.48,228.0,256.5,10.0,762,15908,0.00,2.70,0.00,0.000,6,0.000,0.066,3012,2202,1901
$GC,16220,1.54,233.0,225.6,9.8,777,16234,0.12,2.80,6.07,0.941,4,0.073,0.079,3040,3666,1881
$GC,16257,1.54,233.0,221.1,12.8,778,16263,0.00,2.67,0.00,0.000,6,0.000,0.062,3040,2217,1881
$GC,16572,1.54,233.0,186.8,10.7,794,16577,0.00,2.72,0.00,0.000,4,0.000,0.077,3040,3667,1882
$GC,16622,1.54,233.0,180.8,12.1,796,16626,0.00,2.62,0.00,0.000,6,0.000,0.060,3040,2228,1882
$GC,16938,1.54,233.0,144.9,11.8,811,16942,0.00,2.55,0.00,0.000,4,0.000,0.073,3040,839,1883
$GC,16965,1.54,233.0,141.4,12.5,812,16969,0.00,2.58,0.00,0.000,6,0.000,0.061,3040,2244,1883
$GC,17282,1.54,233.0,104.0,12.0,827,17284,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2244,1884
$GC,17590,1.54,233.0,67.6,11.8,842,17591,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2244,1885
$GC,17899,1.54,233.0,28.7,12.8,857,17904,0.00,2.60,0.00,0.000,4,0.000,0.072,3040,3664,1885
$GC,17927,1.54,233.0,24.8,13.3,858,17931,0.00,2.60,0.00,0.000,6,0.000,0.055,3040,2223,1886
$STATE,18096,end climb,SURFACE_DEPTH_REACHED
$STATE,18096,begin surface coast
$FINISH,0.2,1.027015
$STATE,18119,end surface coast,CONTROL_FINISHED_OK
$STATE,18119,begin surface
$SM_CCo,18142,10.25,0.825,0,0,1812,250.21
$SM_GC,2.02,0.00,0.00,10.25,0.000,0.000,0.825,423,1981,1812,-10.47,-0.54,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1800
$TCM_TEMP,16.50
$XPDR_PINGS,216
$ALTIM_TOP_PING,18.7,999.0
$24V_AH,23.5,5.072
$10V_AH,10.0,2.392
$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,25.900,161.050,335.050,10.250,0.000,151.038,137.500,314.556,63.000,0.000,0.000,15.700,1610.618,14266.720,503.391,1780.831,908.797,33.356,1417.225,0.000,1736.219,0.000,58.516,0.000
$DEVICE_MAMPS,139.594,99.710,1675.128,824.525,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,643.571,587.698,441.603,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44312,867
$CAP_FILE_SIZE,142144,0
$CFSIZE,254472192,251445248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,49,0,0
$GPS,081108,160925,6311.978,-600.783,37,2.0,37,-8.2