version: 66.04
glider: 5
mission: 5
dive: 175
start: 12 12 108 2 59 28
data:
$ID,5
$MISSION,5
$DIVE,175
$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,550
$T_MISSION,580
$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,-90711.367
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2650
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,19
$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
$GPS1,024802,6033.078,-355.467,42,2.0,42,-6.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-56.1
$GPS2,025837,6033.225,-355.213,76,1.1,81,-6.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.090,-0.202
$KALMAN_X,128497.5,391.3,-691.4,-22315.8,14992.7
$KALMAN_Y,50063.8,221.8,1001.1,-397726.9,9075.9
$MHEAD_RNG_PITCHd_Wd,210.1,32090,-11.0,-6.000
$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,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-81.45,0.000,2,0.000,0.000,421,1952,3334
$GC,102,-0.97,-146.6,4.4,-5.1,4,125,10.32,2.50,-2.25,0.000,4,0.133,0.071,2429,601,3432
$GC,182,-0.64,-146.6,23.5,-13.5,7,187,0.38,2.50,0.00,0.000,6,0.086,0.049,2508,2008,3432
$GC,498,-0.47,-146.6,48.6,-12.3,22,500,0.17,0.00,0.00,0.000,6,0.084,0.000,2546,2008,3432
$GC,808,-0.47,-146.6,82.1,-9.0,37,813,0.00,2.55,0.00,0.000,4,0.000,0.063,2546,602,3433
$GC,859,-0.42,-146.6,85.7,-7.2,39,864,0.00,2.47,0.00,0.000,6,0.000,0.050,2546,2001,3433
$GC,1178,-0.37,-146.6,106.2,-6.3,54,1179,0.12,0.00,0.00,0.000,6,0.088,0.000,2573,2001,3432
$GC,1485,-0.37,-146.6,126.0,-3.1,69,1490,0.00,2.50,0.00,0.000,4,0.000,0.061,2573,3404,3433
$GC,1508,-0.42,-146.6,127.0,-4.2,70,1513,0.00,2.50,0.00,0.000,6,0.000,0.048,2573,1993,3432
$GC,1830,-0.42,-146.6,147.4,-8.2,86,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1993,3432
$GC,2140,-0.42,-146.6,168.9,-7.3,101,2144,0.00,2.55,0.00,0.000,4,0.000,0.059,2573,3405,3432
$GC,2167,-0.47,-146.6,171.4,-8.3,102,2172,0.12,2.50,0.00,0.000,6,0.055,0.048,2536,1990,3432
$GC,2485,-0.41,-146.6,202.5,-9.8,117,2487,0.10,0.00,0.00,0.000,6,0.094,0.000,2558,1989,3433
$GC,2793,-0.41,-146.6,226.9,-7.8,132,2797,0.00,2.58,0.00,0.000,4,0.000,0.060,2558,3412,3432
$GC,2820,-0.41,-146.6,229.2,-8.3,133,2824,0.00,2.53,0.00,0.000,6,0.000,0.049,2558,1988,3433
$GC,3135,-0.41,-146.6,255.2,-8.4,148,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1988,3433
$GC,3445,-0.41,-146.6,279.6,-7.6,163,3449,0.00,2.58,0.00,0.000,4,0.000,0.061,2558,3411,3433
$GC,3489,-0.41,-146.6,282.9,-7.6,165,3493,0.00,2.50,0.00,0.000,6,0.000,0.050,2558,2000,3433
$GC,3810,-0.41,-146.6,305.9,-6.8,181,3815,0.00,2.50,0.00,0.000,4,0.000,0.064,2558,597,3433
$GC,3846,-0.41,-146.6,308.4,-6.9,182,3852,0.00,2.50,0.00,0.000,6,0.000,0.050,2558,2011,3432
$GC,4162,-0.41,-146.6,327.2,-5.0,198,4166,0.00,2.50,0.00,0.000,4,0.000,0.063,2558,3412,3432
$GC,4201,-0.41,-146.6,329.1,-4.9,200,4206,0.00,2.50,0.00,0.000,6,0.000,0.052,2558,2008,3433
$GC,4529,-0.41,-146.6,347.0,-6.1,216,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2007,3432
$GC,4838,-0.41,-146.6,370.4,-7.8,231,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2007,3433
$GC,5147,-0.41,-146.6,392.0,-6.7,246,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2007,3432
$GC,5457,-0.41,-146.6,412.9,-6.7,261,5461,0.00,2.55,0.00,0.000,4,0.000,0.064,2558,3411,3433
$GC,5501,-0.41,-146.6,416.2,-7.1,263,5505,0.00,2.53,0.00,0.000,6,0.000,0.053,2558,1993,3433
$GC,5821,-0.41,-146.6,437.0,-6.6,279,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1993,3432
$GC,6131,-0.41,-146.6,454.2,-5.0,294,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1993,3432
$GC,6440,-0.41,-146.6,472.1,-5.8,309,6445,0.00,2.58,0.00,0.000,4,0.000,0.065,2558,3406,3432
$GC,6496,-0.41,-146.6,475.8,-7.2,311,6503,0.00,2.47,0.00,0.000,6,0.000,0.054,2557,2018,3432
$GC,6812,-0.41,-146.6,499.1,-7.2,327,6816,0.00,2.53,0.00,0.000,4,0.000,0.065,2558,3403,3432
$GC,6839,-0.41,-146.6,501.0,-7.0,328,6843,0.00,2.50,0.00,0.000,6,0.000,0.055,2557,2007,3432
$GC,7155,-0.41,-146.6,519.7,-5.7,343,7160,0.00,2.53,0.00,0.000,4,0.000,0.065,2558,3402,3432
$GC,7206,-0.46,-146.6,523.0,-6.5,345,7210,0.00,2.47,0.00,0.000,6,0.000,0.056,2558,2022,3432
$GC,7522,-0.50,-146.6,542.9,-6.5,360,7523,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2022,3432
$GC,7832,-0.54,-146.6,561.3,-5.9,375,7834,0.12,0.00,0.00,0.000,6,0.060,0.000,2521,2021,3432
$STATE,7993,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7993,begin apogee
$GC,8000,-0.33,0.0,573.1,7.4,383,8124,0.25,0.00,121.28,1.217,6,0.080,0.000,2576,2207,2832
$STATE,8125,end apogee,CONTROL_FINISHED_OK
$STATE,8125,begin climb
$GC,8128,0.97,146.6,576.5,0.0,389,8256,1.30,2.75,119.53,1.188,4,0.058,0.073,2860,779,2234
$GC,8368,1.22,223.5,567.7,3.9,400,8440,0.25,2.60,63.58,1.167,6,0.049,0.058,2925,2200,1920
$GC,8756,1.22,223.5,541.8,6.9,419,8760,0.00,2.62,0.00,0.000,4,0.000,0.077,2925,795,1920
$GC,8800,1.22,223.5,538.6,7.6,421,8804,0.00,2.58,0.00,0.000,6,0.000,0.062,2925,2198,1920
$GC,9120,1.22,223.5,518.5,6.6,437,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2198,1919
$GC,9430,1.22,223.5,496.7,6.9,452,9435,0.00,2.62,0.00,0.000,4,0.000,0.075,2925,794,1918
$GC,9503,1.22,223.5,490.7,9.0,455,9507,0.00,2.50,0.00,0.000,6,0.000,0.061,2925,2174,1917
$GC,9819,1.22,223.5,468.7,6.6,470,9823,0.00,2.65,0.00,0.000,4,0.000,0.074,2925,3612,1916
$GC,9885,1.22,223.5,463.9,7.2,473,9890,0.00,2.62,0.00,0.000,6,0.000,0.063,2925,2172,1916
$GC,10206,1.22,223.5,443.9,6.2,489,10210,0.00,2.53,0.00,0.000,4,0.000,0.070,2925,782,1916
$GC,10250,1.22,223.5,440.8,7.3,491,10255,0.00,2.50,0.00,0.000,6,0.000,0.057,2926,2170,1916
$GC,10571,1.22,223.5,419.2,7.6,507,10575,0.00,2.53,0.00,0.000,4,0.000,0.068,2926,791,1916
$GC,10638,1.22,223.5,413.4,8.9,510,10642,0.00,2.45,0.00,0.000,6,0.000,0.054,2926,2157,1916
$GC,10960,1.22,223.5,389.7,7.0,526,10964,0.00,2.62,0.00,0.000,4,0.000,0.067,2925,3606,1916
$GC,10987,1.22,223.5,387.5,7.3,527,10991,0.00,2.62,0.00,0.000,6,0.000,0.057,2925,2145,1916
$GC,11303,1.22,223.5,365.6,7.0,542,11307,0.00,2.45,0.00,0.000,4,0.000,0.067,2925,784,1916
$GC,11336,1.22,223.5,363.0,7.4,543,11342,0.00,2.42,0.00,0.000,6,0.000,0.052,2926,2145,1916
$GC,11652,1.22,223.5,341.6,7.0,559,11653,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2146,1916
$GC,11961,1.22,223.5,319.2,6.9,574,11965,0.00,2.47,0.00,0.000,4,0.000,0.066,2925,782,1916
$GC,12000,1.22,223.5,316.3,7.1,575,12006,0.00,2.42,0.00,0.000,6,0.000,0.052,2926,2144,1917
$GC,12316,1.22,223.5,295.2,6.6,591,12317,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2144,1917
$GC,12625,1.22,223.5,275.5,6.1,606,12626,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2145,1917
$GC,12935,1.22,223.5,256.5,6.3,621,12939,0.00,2.47,0.00,0.000,4,0.000,0.065,2925,787,1918
$GC,12956,1.22,223.5,254.9,7.4,622,12960,0.00,2.40,0.00,0.000,6,0.000,0.051,2925,2137,1918
$GC,13278,1.22,223.5,234.3,6.5,638,13279,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2138,1918
$GC,13587,1.30,276.8,214.7,4.5,653,13637,0.00,2.58,42.70,0.949,4,0.000,0.063,2926,788,1703
$GC,13673,1.37,276.8,210.0,6.1,657,13678,0.10,2.40,0.00,0.000,6,0.054,0.051,2958,2129,1703
$GC,14000,1.37,276.8,180.9,9.6,673,14001,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2129,1704
$GC,14309,1.37,276.8,149.6,10.0,688,14310,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2128,1704
$GC,14618,1.37,276.8,123.0,7.4,703,14620,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2129,1704
$GC,14928,1.37,276.8,95.5,9.2,718,14932,0.00,2.45,0.00,0.000,4,0.000,0.065,2958,788,1705
$GC,14955,1.37,276.8,92.9,8.7,719,14959,0.00,2.40,0.00,0.000,6,0.000,0.051,2958,2138,1705
$GC,15273,1.37,276.8,71.2,10.5,734,15274,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2146,1705
$GC,15580,1.37,276.8,47.0,8.5,749,15582,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2138,1706
$GC,15890,1.37,276.8,20.9,8.4,764,15894,0.00,2.45,0.00,0.000,4,0.000,0.064,2958,789,1706
$GC,15946,1.55,425.3,20.6,1.9,766,16068,0.12,2.40,113.53,0.811,6,0.051,0.052,2997,2161,1097
$STATE,16122,end climb,SURFACE_DEPTH_REACHED
$STATE,16122,begin surface coast
$FINISH,0.2,1.026991
$STATE,16144,end surface coast,CONTROL_FINISHED_OK
$STATE,16144,begin surface
$SM_CCo,16227,0.00,0.000,0,0,1098,425.35
$SM_GC,1.04,11.30,0.00,0.00,0.038,0.000,0.000,420,1980,1098,-10.17,-0.51,425.35
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1760
$TCM_TEMP,17.30
$XPDR_PINGS,499
$ALTIM_TOP_PING,19.7,19.6
$ALTIM_BOTTOM_PING,525.8,56.2
$24V_AH,23.9,31.204
$10V_AH,10.1,15.130
$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,24.675,126.550,460.600,0.000,0.000,76.783,69.726,228.932,129.500,0.000,0.000,81.451,1410.620,12519.542,543.302,1712.125,671.727,33.362,1406.937,0.000,1611.276,0.000,32.651,0.000
$DEVICE_MAMPS,132.691,76.700,1217.229,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,572.755,523.534,508.709,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37998,776
$CAP_FILE_SIZE,120829,0
$CFSIZE,254472192,241700864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,44,0,0
$GPS,121208,073108,6033.470,-349.100,36,1.8,36,-6.2