version: 66.04
glider: 5
mission: 5
dive: 15
start: 11 9 108 2 26 39
data:
$ID,5
$MISSION,5
$DIVE,15
$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,-87540.984
$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,25
$R_STBD_OVSHOOT,22
$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
$GPS1,021958,6305.635,-604.836,32,3.0,51,-8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-62.8
$GPS2,022547,6305.578,-604.920,13,2.7,32,-8.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.182,-0.191
$KALMAN_X,32732.8,-453.6,-424.7,-32515.6,3586.5
$KALMAN_Y,-21418.6,221.4,-168.9,-42899.8,-2757.9
$MHEAD_RNG_PITCHd_Wd,231.7,47370,-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,15,-1.44,-146.6,0.0,0.0,0,98,0.00,0.00,-80.88,0.000,6,0.000,0.000,423,1973,3431
$GC,102,-1.44,-146.6,5.0,-6.2,4,117,10.23,2.53,0.00,0.000,4,0.141,0.064,2377,592,3432
$GC,293,-1.25,-146.6,45.4,-16.2,11,300,0.25,2.53,0.00,0.000,6,0.097,0.054,2426,2000,3433
$GC,609,-1.20,-146.6,88.8,-14.3,27,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2000,3434
$GC,919,-1.14,-146.6,130.6,-13.2,42,921,0.12,0.00,0.00,0.000,6,0.100,0.000,2450,2001,3434
$GC,1227,-1.14,-146.6,167.8,-12.0,57,1231,0.00,2.60,0.00,0.000,4,0.000,0.069,2450,590,3435
$GC,1291,-1.14,-146.6,175.6,-12.7,60,1295,0.00,2.53,0.00,0.000,6,0.000,0.055,2450,1995,3435
$GC,1618,-1.14,-146.6,214.6,-11.9,76,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1995,3435
$GC,1928,-1.14,-146.6,251.8,-12.4,91,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1995,3435
$GC,2236,-1.14,-146.6,289.4,-11.8,106,2241,0.00,2.60,0.00,0.000,4,0.000,0.072,2450,593,3435
$GC,2264,-1.14,-146.6,293.0,-12.5,107,2268,0.00,2.53,0.00,0.000,6,0.000,0.058,2450,1994,3435
$GC,2580,-1.14,-146.6,327.8,-10.9,122,2584,0.00,2.60,0.00,0.000,4,0.000,0.075,2450,3408,3435
$GC,2635,-1.18,-146.6,333.7,-10.0,124,2642,0.00,2.55,0.00,0.000,6,0.000,0.058,2451,2000,3435
$GC,2951,-1.18,-146.6,367.4,-10.8,140,2955,0.00,2.58,0.00,0.000,4,0.000,0.076,2450,594,3435
$GC,3069,-1.18,-146.6,380.9,-11.6,145,3073,0.00,2.50,0.00,0.000,6,0.000,0.059,2450,1981,3435
$GC,3384,-1.18,-146.6,414.7,-10.7,160,3389,0.00,2.65,0.00,0.000,4,0.000,0.079,2450,3412,3435
$GC,3447,-1.23,-146.6,421.8,-11.6,163,3452,0.00,2.60,0.00,0.000,6,0.000,0.064,2450,1994,3435
$GC,3774,-1.23,-146.6,458.8,-11.6,179,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1994,3435
$GC,4084,-1.28,-146.6,494.1,-11.0,194,4086,0.12,0.00,0.00,0.000,6,0.066,0.000,2419,1994,3435
$GC,4393,-1.23,-146.6,532.3,-12.1,209,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1994,3434
$GC,4703,-1.18,-146.6,570.2,-12.2,224,4704,0.12,0.00,0.00,0.000,6,0.117,0.000,2442,1994,3433
$GC,5011,-1.18,-146.6,604.1,-10.8,239,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1994,3432
$GC,5321,-1.18,-146.6,636.8,-10.1,254,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1994,3431
$GC,5630,-1.18,-146.6,667.4,-9.8,269,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1994,3429
$GC,5939,-1.18,-146.6,697.8,-10.1,284,5944,0.00,2.72,0.00,0.000,4,0.000,0.094,2443,3404,3428
$GC,5966,-1.18,-146.6,700.7,-10.6,285,5971,0.00,2.67,0.00,0.000,6,0.000,0.078,2443,1984,3428
$GC,6282,-1.18,-146.6,732.5,-10.6,300,6286,0.00,2.65,0.00,0.000,4,0.000,0.097,2442,595,3427
$GC,6309,-1.18,-146.6,735.5,-10.7,301,6313,0.00,2.60,0.00,0.000,6,0.000,0.077,2442,1983,3427
$GC,6625,-1.18,-146.6,768.2,-10.5,316,6629,0.00,2.72,0.00,0.000,4,0.000,0.098,2442,3407,3426
$GC,6652,-1.18,-146.6,771.3,-11.1,317,6656,0.00,2.70,0.00,0.000,6,0.000,0.081,2442,1980,3426
$GC,6967,-1.18,-146.6,804.0,-10.5,332,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1979,3425
$GC,7277,-1.18,-146.6,836.0,-10.3,347,7281,0.00,2.78,0.00,0.000,4,0.000,0.097,2443,3408,3424
$GC,7310,-1.18,-146.6,839.4,-10.5,348,7316,0.00,2.67,0.00,0.000,6,0.000,0.081,2443,1992,3424
$GC,7626,-1.22,-146.6,871.4,-10.2,364,7627,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1992,3422
$GC,7936,-1.27,-146.6,902.0,-10.0,379,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1992,3422
$GC,8245,-1.31,-146.6,932.8,-10.0,394,8246,0.15,0.00,0.00,0.000,6,0.075,0.000,2409,1992,3421
$GC,8553,-1.26,-146.6,967.4,-11.2,409,8558,0.00,2.78,0.00,0.000,4,0.000,0.098,2409,3413,3420
$GC,8581,-1.19,-146.6,970.6,-11.2,410,8586,0.15,2.70,0.00,0.000,6,0.124,0.081,2435,1990,3420
$STATE,8770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8770,begin apogee
$GC,8777,-0.33,0.0,990.1,10.0,419,8905,0.93,0.00,124.57,1.672,6,0.104,0.000,2624,2250,2832
$STATE,8906,end apogee,CONTROL_FINISHED_OK
$STATE,8906,begin climb
$GC,8909,1.44,146.6,994.4,0.0,425,9042,1.85,2.83,124.88,1.625,4,0.081,0.099,3010,3656,2234
$GC,9080,1.32,146.6,984.3,10.8,433,9085,0.12,2.72,0.00,0.000,6,0.117,0.081,2991,2247,2234
$GC,9407,1.35,165.1,954.1,9.2,449,9426,0.00,0.00,17.35,1.494,6,0.000,0.000,2990,2247,2158
$GC,9736,1.35,165.1,920.6,10.1,465,9740,0.00,2.72,0.00,0.000,4,0.000,0.099,2991,844,2158
$GC,9780,1.35,165.1,915.9,10.8,467,9784,0.00,2.67,0.00,0.000,6,0.000,0.081,2990,2239,2158
$GC,10101,1.36,172.0,884.1,9.7,483,10115,0.00,2.83,7.45,1.331,4,0.000,0.095,2990,844,2130
$GC,10132,1.36,172.0,880.7,10.3,484,10137,0.00,2.70,0.00,0.000,6,0.000,0.081,2990,2239,2130
$GC,10448,1.36,172.0,848.8,10.2,499,10452,0.00,2.75,0.00,0.000,4,0.000,0.096,2990,841,2129
$GC,10481,1.36,172.0,845.1,11.1,500,10487,0.00,2.65,0.00,0.000,6,0.000,0.081,2990,2229,2129
$GC,10797,1.36,172.5,813.1,10.0,516,10802,0.00,2.78,0.00,0.000,4,0.000,0.100,2990,3661,2129
$GC,10824,1.36,172.5,810.1,10.4,517,10829,0.00,2.72,0.00,0.000,6,0.000,0.080,2990,2231,2129
$GC,11140,1.37,179.8,779.8,9.7,532,11154,0.00,2.75,8.23,1.345,4,0.000,0.096,2990,847,2098
$GC,11177,1.37,179.8,775.9,10.4,533,11183,0.00,2.67,0.00,0.000,6,0.000,0.081,2990,2234,2098
$GC,11493,1.37,179.8,744.1,10.4,549,11494,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2234,2098
$GC,11802,1.37,179.8,712.5,10.1,564,11806,0.00,2.70,0.00,0.000,4,0.000,0.093,2990,840,2097
$GC,11851,1.37,179.8,707.1,11.3,566,11856,0.00,2.65,0.00,0.000,6,0.000,0.079,2990,2233,2097
$GC,12168,1.37,179.8,675.6,10.0,581,12172,0.00,2.72,0.00,0.000,4,0.000,0.092,2990,833,2097
$GC,12217,1.37,179.8,670.2,10.8,583,12222,0.00,2.62,0.00,0.000,6,0.000,0.080,2990,2211,2097
$GC,12533,1.39,191.1,640.1,9.5,598,12546,0.00,0.00,10.80,1.348,6,0.000,0.000,2990,2212,2052
$GC,12843,1.45,198.9,610.2,9.6,613,12854,0.12,0.00,8.00,1.265,6,0.075,0.000,3018,2212,2021
$GC,13151,1.45,198.9,577.7,10.4,628,13156,0.00,2.65,0.00,0.000,4,0.000,0.091,3018,840,2021
$GC,13202,1.39,198.9,572.0,10.6,630,13206,0.00,2.60,0.00,0.000,6,0.000,0.078,3018,2209,2021
$GC,13518,1.39,198.9,540.0,10.5,645,13522,0.00,2.65,0.00,0.000,4,0.000,0.090,3018,834,2021
$GC,13550,1.39,198.9,536.3,11.0,646,13556,0.00,2.60,0.00,0.000,6,0.000,0.080,3018,2204,2021
$GC,13866,1.39,198.9,504.4,10.4,662,13870,0.00,2.78,0.00,0.000,4,0.000,0.097,3018,3655,2021
$GC,13916,1.34,198.9,498.7,11.6,664,13921,0.15,2.72,0.00,0.000,6,0.119,0.075,2993,2205,2021
$GC,14232,1.44,225.4,469.9,8.8,679,14262,0.00,2.67,22.98,1.316,4,0.000,0.086,2992,848,1913
$GC,14302,1.44,225.7,462.8,10.0,682,14307,0.00,2.58,0.00,0.000,6,0.000,0.074,2992,2204,1912
$GC,14623,1.53,225.7,430.4,10.4,698,14625,0.17,0.00,0.00,0.000,6,0.068,0.000,3032,2205,1913
$GC,14932,1.53,225.7,393.9,11.4,713,14933,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2205,1913
$GC,15241,1.53,225.7,358.6,11.5,728,15242,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2205,1913
$GC,15550,1.53,225.7,323.4,10.9,743,15552,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2219,1913
$GC,15860,1.53,225.7,288.2,11.2,758,15864,0.00,2.70,0.00,0.000,4,0.000,0.082,3032,3656,1913
$GC,15893,1.49,225.7,284.0,12.9,759,15899,0.00,2.70,0.00,0.000,6,0.000,0.064,3032,2188,1913
$GC,16209,1.49,225.7,248.1,11.3,775,16210,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2188,1914
$GC,16518,1.49,225.7,212.1,12.0,790,16519,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2188,1915
$GC,16827,1.49,225.7,174.4,12.1,805,16832,0.00,2.75,0.00,0.000,4,0.000,0.074,3032,3658,1916
$GC,16871,1.49,225.7,168.8,12.5,807,16875,0.00,2.65,0.00,0.000,6,0.000,0.057,3032,2193,1916
$GC,17192,1.49,225.7,131.8,11.4,823,17193,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2193,1917
$GC,17503,1.49,225.7,96.1,11.2,838,17507,0.00,2.47,0.00,0.000,4,0.000,0.071,3032,838,1918
$GC,17530,1.49,225.7,92.6,12.9,839,17534,0.00,2.50,0.00,0.000,6,0.000,0.058,3032,2215,1918
$GC,17846,1.49,225.7,56.9,11.4,854,17850,0.00,2.55,0.00,0.000,4,0.000,0.070,3032,840,1919
$GC,17901,1.49,225.7,50.1,12.4,856,17908,0.00,2.45,0.00,0.000,6,0.000,0.056,3032,2192,1919
$GC,18218,1.50,236.6,14.2,9.5,872,18239,0.00,2.60,12.05,0.835,4,0.000,0.067,3032,840,1867
$GC,18273,1.50,236.6,6.1,14.9,874,18277,0.00,2.45,0.00,0.000,6,0.000,0.055,3032,2184,1867
$STATE,18297,end climb,SURFACE_DEPTH_REACHED
$STATE,18298,begin surface coast
$FINISH,0.1,1.027350
$STATE,18320,end surface coast,CONTROL_FINISHED_OK
$STATE,18320,begin surface
$SM_CCo,18343,7.22,0.771,0,0,1812,250.21
$SM_GC,1.77,0.00,0.00,7.22,0.000,0.000,0.771,423,1966,1812,-10.47,-0.96,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1779
$TCM_TEMP,16.70
$XPDR_PINGS,249
$ALTIM_TOP_PING,18.4,999.0
$24V_AH,23.5,5.590
$10V_AH,10.0,2.626
$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,26.050,149.250,336.300,7.225,0.000,37.754,30.601,143.423,71.250,0.000,0.000,33.204,1608.856,14285.072,496.511,1808.245,502.609,33.367,1410.474,0.000,1744.195,0.000,58.470,0.000
$DEVICE_MAMPS,141.128,99.710,1672.060,770.835,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,650.057,593.388,453.616,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44328,876
$CAP_FILE_SIZE,133096,0
$CFSIZE,254472192,251256832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,44,0,0
$GPS,091108,073337,6302.708,-607.904,28,1.3,28,-8.2