version: 66.04
glider: 5
mission: 5
dive: 17
start: 11 9 108 12 51 37
data:
$ID,5
$MISSION,5
$DIVE,17
$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,-87569.422
$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,27
$R_STBD_OVSHOOT,16
$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
$GPS1,124155,6259.251,-609.628,38,0.9,38,-8.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-63.8
$GPS2,125045,6259.200,-609.645,12,1.4,12,-8.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.052,-0.258
$KALMAN_X,34338.8,-249.4,-78.9,-38547.9,1878.0
$KALMAN_Y,-25070.9,205.4,98.9,-51308.3,-2749.3
$MHEAD_RNG_PITCHd_Wd,199.7,35777,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.28,0.000,2,0.000,0.000,424,1961,3395
$GC,102,-1.44,-146.6,4.6,-5.4,4,119,10.25,2.53,-0.80,0.000,4,0.143,0.081,2376,600,3430
$GC,211,-1.24,-146.6,32.7,-19.9,8,216,0.28,2.55,0.00,0.000,6,0.098,0.054,2428,2015,3431
$GC,540,-1.19,-146.6,79.2,-14.0,24,545,0.00,2.62,0.00,0.000,4,0.000,0.069,2428,596,3431
$GC,569,-1.12,-146.6,83.8,-15.0,25,574,0.12,2.53,0.00,0.000,6,0.103,0.055,2453,1997,3432
$GC,885,-1.12,-146.6,121.0,-11.6,40,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1997,3432
$GC,1193,-1.12,-146.6,156.0,-11.3,55,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1997,3432
$GC,1503,-1.12,-146.6,192.0,-11.7,70,1507,0.00,2.58,0.00,0.000,4,0.000,0.069,2453,596,3433
$GC,1535,-1.12,-146.6,196.1,-12.1,71,1541,0.00,2.53,0.00,0.000,6,0.000,0.055,2453,1998,3433
$GC,1851,-1.12,-146.6,233.6,-12.2,87,1855,0.00,2.60,0.00,0.000,4,0.000,0.071,2453,593,3433
$GC,1890,-1.12,-146.6,238.8,-13.2,89,1895,0.00,2.50,0.00,0.000,6,0.000,0.056,2453,1981,3432
$GC,2217,-1.12,-146.6,281.4,-13.5,105,2222,0.00,2.58,0.00,0.000,4,0.000,0.073,2453,594,3433
$GC,2257,-1.12,-146.6,287.0,-14.4,107,2262,0.00,2.47,0.00,0.000,6,0.000,0.057,2453,1968,3433
$GC,2584,-1.12,-146.6,329.5,-13.0,123,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1969,3433
$GC,2894,-1.16,-146.6,367.0,-12.1,138,2898,0.00,2.55,0.00,0.000,4,0.000,0.075,2453,599,3433
$GC,2966,-1.16,-146.6,375.8,-12.3,141,2970,0.00,2.45,0.00,0.000,6,0.000,0.058,2453,1957,3433
$GC,3282,-1.20,-146.6,412.7,-12.0,156,3287,0.00,2.65,0.00,0.000,4,0.000,0.076,2453,3406,3433
$GC,3338,-1.26,-146.6,419.4,-11.5,158,3345,0.12,2.65,0.00,0.000,6,0.064,0.061,2422,1951,3433
$GC,3655,-1.21,-146.6,458.3,-12.0,174,3658,0.00,2.47,0.00,0.000,4,0.000,0.078,2422,596,3433
$GC,3746,-1.17,-146.6,469.7,-12.7,178,3751,0.10,2.42,0.00,0.000,6,0.110,0.061,2441,1937,3433
$GC,4072,-1.17,-146.6,504.9,-11.1,194,4077,0.00,2.55,0.00,0.000,4,0.000,0.084,2441,595,3433
$GC,4100,-1.17,-146.6,508.5,-12.8,195,4104,0.00,2.42,0.00,0.000,6,0.000,0.067,2441,1915,3433
$GC,4415,-1.17,-146.6,544.5,-11.3,210,4420,0.00,2.80,0.00,0.000,4,0.000,0.087,2442,3406,3432
$GC,4471,-1.17,-146.6,551.2,-12.2,212,4477,0.00,2.78,0.00,0.000,6,0.000,0.071,2441,1914,3431
$GC,4786,-1.17,-146.6,587.2,-11.7,228,4791,0.00,2.85,0.00,0.000,4,0.000,0.088,2442,3405,3431
$GC,4842,-1.22,-146.6,594.0,-11.8,230,4848,0.00,2.75,0.00,0.000,6,0.000,0.073,2441,1930,3431
$GC,5158,-1.22,-146.6,631.4,-11.7,246,5163,0.00,2.83,0.00,0.000,4,0.000,0.091,2441,3403,3430
$GC,5214,-1.26,-146.6,638.1,-11.9,248,5220,0.00,2.72,0.00,0.000,6,0.000,0.074,2441,1943,3429
$GC,5529,-1.26,-146.6,674.7,-11.6,264,5534,0.00,2.83,0.00,0.000,4,0.000,0.091,2441,3413,3428
$GC,5552,-1.26,-146.6,677.4,-12.0,265,5557,0.00,2.75,0.00,0.000,6,0.000,0.075,2441,1947,3428
$GC,5879,-1.26,-146.6,713.7,-10.9,281,5883,0.00,2.55,0.00,0.000,4,0.000,0.093,2442,597,3426
$GC,5907,-1.26,-146.6,717.0,-11.1,282,5912,0.00,2.50,0.00,0.000,6,0.000,0.074,2441,1939,3426
$GC,6224,-1.26,-146.6,750.8,-10.8,297,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1939,3425
$GC,6532,-1.26,-146.6,783.9,-10.8,312,6537,0.00,2.80,0.00,0.000,4,0.000,0.097,2441,3403,3424
$GC,6560,-1.26,-146.6,787.2,-11.9,313,6564,0.00,2.75,0.00,0.000,6,0.000,0.079,2441,1947,3424
$GC,6875,-1.26,-146.6,821.3,-10.8,328,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1946,3423
$GC,7185,-1.26,-146.6,853.9,-10.5,343,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1946,3422
$GC,7494,-1.26,-146.6,886.3,-10.4,358,7498,0.00,2.85,0.00,0.000,4,0.000,0.097,2442,3409,3421
$GC,7561,-1.31,-146.6,894.0,-12.2,361,7566,0.12,2.78,0.00,0.000,6,0.080,0.081,2413,1942,3421
$GC,7884,-1.26,-146.6,932.0,-11.7,377,7889,0.00,2.85,0.00,0.000,4,0.000,0.097,2413,3406,3421
$GC,7912,-1.20,-146.6,935.6,-11.8,378,7917,0.12,2.75,0.00,0.000,6,0.127,0.080,2433,1951,3420
$GC,8228,-1.20,-146.6,968.0,-9.9,393,8233,0.00,2.85,0.00,0.000,4,0.000,0.098,2434,3411,3420
$GC,8250,-1.20,-146.6,970.3,-9.8,394,8254,0.00,2.75,0.00,0.000,6,0.000,0.080,2434,1956,3419
$STATE,8464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8464,begin apogee
$GC,8472,-0.33,0.0,991.7,9.8,405,8599,0.93,0.00,124.20,1.682,6,0.102,0.000,2623,2254,2832
$STATE,8600,end apogee,CONTROL_FINISHED_OK
$STATE,8600,begin climb
$GC,8603,1.44,146.6,995.2,0.0,411,8736,1.85,2.80,124.78,1.631,4,0.080,0.100,3010,3655,2234
$GC,8765,1.33,146.6,985.0,10.8,418,8771,0.00,2.72,0.00,0.000,6,0.000,0.080,3010,2246,2234
$GC,9081,1.27,146.6,953.7,10.3,434,9083,0.17,0.00,0.00,0.000,6,0.110,0.000,2978,2246,2233
$GC,9390,1.30,169.0,925.3,9.0,449,9416,0.00,2.78,20.52,1.515,4,0.000,0.094,2978,843,2142
$GC,9438,1.30,169.0,920.5,10.2,451,9443,0.00,2.72,0.00,0.000,6,0.000,0.079,2978,2252,2142
$GC,9755,1.35,169.0,888.5,10.5,466,9759,0.00,2.78,0.00,0.000,4,0.000,0.093,2978,839,2141
$GC,9782,1.35,169.0,885.4,11.0,467,9786,0.00,2.70,0.00,0.000,6,0.000,0.080,2978,2247,2141
$GC,10098,1.40,169.0,853.1,10.6,482,10100,0.12,0.00,0.00,0.000,6,0.074,0.000,3008,2247,2141
$GC,10406,1.40,169.0,817.7,11.3,497,10411,0.00,2.72,0.00,0.000,4,0.000,0.092,3007,841,2140
$GC,10469,1.33,169.0,810.4,12.2,500,10473,0.00,2.67,0.00,0.000,6,0.000,0.080,3007,2243,2140
$GC,10796,1.33,169.0,774.2,10.6,516,10800,0.00,2.75,0.00,0.000,4,0.000,0.093,3007,837,2140
$GC,10840,1.26,169.0,769.2,11.5,518,10845,0.17,2.67,0.00,0.000,6,0.111,0.080,2976,2238,2140
$GC,11164,1.38,199.8,740.4,8.6,534,11199,0.12,2.85,26.75,1.485,4,0.074,0.091,3004,840,2017
$GC,11238,1.38,199.8,731.8,11.8,537,11243,0.00,2.65,0.00,0.000,6,0.000,0.080,3004,2225,2017
$GC,11554,1.38,199.8,697.4,10.5,552,11555,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2225,2016
$GC,11863,1.38,199.8,663.6,11.8,567,11867,0.00,2.67,0.00,0.000,4,0.000,0.091,3004,843,2016
$GC,11912,1.38,199.8,657.9,10.6,569,11917,0.00,2.60,0.00,0.000,6,0.000,0.078,3004,2214,2016
$GC,12228,1.38,199.8,623.3,11.0,584,12229,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2214,2016
$GC,12537,1.38,199.8,590.4,10.1,599,12542,0.00,2.65,0.00,0.000,4,0.000,0.091,3004,838,2016
$GC,12559,1.38,199.8,588.1,10.1,600,12563,0.00,2.60,0.00,0.000,6,0.000,0.077,3004,2212,2016
$GC,12880,1.38,199.8,555.2,10.1,616,12885,0.00,2.78,0.00,0.000,4,0.000,0.096,3004,3656,2016
$GC,12913,1.38,199.8,551.3,11.0,617,12919,0.00,2.72,0.00,0.000,6,0.000,0.078,3004,2212,2016
$GC,13229,1.38,199.9,519.6,10.0,633,13230,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2211,2016
$GC,13538,1.38,199.9,488.7,10.2,648,13542,0.00,2.58,0.00,0.000,4,0.000,0.088,3004,840,2016
$GC,13615,1.38,199.9,480.2,11.1,651,13621,0.00,2.58,0.00,0.000,6,0.000,0.074,3004,2211,2016
$GC,13931,1.38,201.6,448.4,9.9,667,13932,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2211,2016
$GC,14241,1.39,210.2,418.7,9.6,682,14256,0.00,2.67,9.88,1.183,4,0.000,0.082,3005,837,1976
$GC,14319,1.39,210.2,410.4,11.3,684,14325,0.00,2.58,0.00,0.000,6,0.000,0.071,3004,2206,1975
$GC,14635,1.44,213.2,379.2,9.9,700,14641,0.00,0.00,4.53,0.920,6,0.000,0.000,3004,2207,1962
$GC,14944,1.51,230.4,349.1,9.2,715,14967,0.12,2.62,15.48,1.164,4,0.068,0.076,3034,840,1891
$GC,15014,1.47,230.4,341.3,12.4,718,15018,0.00,2.58,0.00,0.000,6,0.000,0.067,3034,2216,1891
$GC,15340,1.47,230.4,303.8,11.1,734,15344,0.00,2.70,0.00,0.000,4,0.000,0.083,3034,3657,1891
$GC,15380,1.47,230.4,299.2,11.7,736,15385,0.00,2.67,0.00,0.000,6,0.000,0.063,3034,2200,1891
$GC,15706,1.47,230.4,262.0,11.8,752,15707,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2199,1892
$GC,16016,1.47,230.4,225.7,11.5,767,16017,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2199,1893
$GC,16325,1.47,230.4,191.4,11.2,782,16326,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2199,1894
$GC,16634,1.47,230.4,155.3,12.3,797,16639,0.00,2.70,0.00,0.000,4,0.000,0.072,3033,3656,1895
$GC,16684,1.47,230.4,148.8,12.4,799,16688,0.00,2.65,0.00,0.000,6,0.000,0.054,3034,2188,1895
$GC,17000,1.47,230.4,111.5,11.6,814,17005,0.00,2.75,0.00,0.000,4,0.000,0.071,3034,3665,1896
$GC,17040,1.47,230.4,106.6,11.6,816,17044,0.00,2.62,0.00,0.000,6,0.000,0.054,3034,2203,1896
$GC,17367,1.47,230.4,68.2,12.6,832,17368,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2202,1898
$GC,17676,1.47,230.4,28.3,12.5,847,17677,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2202,1898
$STATE,17879,end climb,SURFACE_DEPTH_REACHED
$STATE,17879,begin surface coast
$FINISH,0.1,1.027407
$STATE,17901,end surface coast,CONTROL_FINISHED_OK
$STATE,17901,begin surface
$SM_CCo,17924,11.45,0.819,0,0,1812,250.21
$SM_GC,1.41,0.00,0.00,11.45,0.000,0.000,0.819,423,1975,1812,-10.47,-0.90,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1774
$TCM_TEMP,16.70
$XPDR_PINGS,297
$ALTIM_TOP_PING,19.2,999.0
$24V_AH,23.5,5.943
$10V_AH,10.0,2.785
$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,26.200,176.850,326.125,11.450,0.000,76.854,60.758,205.654,83.250,0.000,0.000,12.690,1599.083,13902.561,497.815,1817.686,650.832,33.362,1438.790,0.000,1772.857,0.000,58.452,0.000
$DEVICE_MAMPS,143.429,99.710,1682.031,819.156,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,634.798,580.988,448.625,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44286,858
$CAP_FILE_SIZE,139536,0
$CFSIZE,254472192,251121664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,58,0,0
$GPS,091108,175155,6256.035,-608.601,42,1.1,42,-8.1