version: 66.04
glider: 5
mission: 5
dive: 180
start: 12 13 108 0 56 3
data:
$ID,5
$MISSION,5
$DIVE,180
$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,-90811.875
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,004932,6037.910,-334.309,38,1.2,38,-6.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-48.0
$GPS2,005509,6038.070,-334.225,13,1.2,13,-6.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.129,-0.180
$KALMAN_X,157633.9,-2792.5,-2447.5,-29191.3,41786.9
$KALMAN_Y,85742.3,-3082.1,-2436.2,-417567.7,46197.7
$MHEAD_RNG_PITCHd_Wd,221.6,46781,-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,13,begin dive
$GC,16,-0.97,-146.6,0.0,0.0,0,139,0.00,0.00,-120.90,0.000,2,0.000,0.000,424,1979,3202
$GC,142,-0.97,-146.6,4.0,-3.7,6,165,10.25,2.53,-5.72,0.000,4,0.128,0.074,2432,590,3429
$GC,235,-0.61,-146.6,23.1,-14.0,10,240,0.40,2.53,0.00,0.000,6,0.085,0.050,2516,2008,3428
$GC,563,-0.50,-146.6,58.2,-8.2,26,565,0.12,0.00,0.00,0.000,6,0.094,0.000,2543,2029,3429
$GC,872,-0.44,-146.6,72.7,-7.6,41,877,0.00,2.62,0.00,0.000,4,0.000,0.066,2543,585,3429
$GC,923,-0.38,-146.6,78.2,-10.2,43,928,0.12,2.53,0.00,0.000,6,0.094,0.051,2569,2007,3429
$GC,1239,-0.38,-146.6,106.3,-8.8,58,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2027,3429
$GC,1549,-0.38,-146.6,127.1,-5.4,73,1553,0.00,2.60,0.00,0.000,4,0.000,0.066,2569,584,3428
$GC,1576,-0.38,-146.6,128.8,-5.6,74,1581,0.00,2.50,0.00,0.000,6,0.000,0.051,2569,1998,3429
$GC,1898,-0.38,-146.6,148.8,-6.7,90,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1998,3429
$GC,2208,-0.38,-146.6,167.9,-6.0,105,2212,0.00,2.53,0.00,0.000,4,0.000,0.061,2569,3413,3429
$GC,2248,-0.38,-146.6,170.1,-5.1,107,2252,0.00,2.50,0.00,0.000,6,0.000,0.049,2569,1997,3429
$GC,2575,-0.38,-146.6,187.7,-5.2,123,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1997,3429
$GC,2884,-0.38,-146.6,203.7,-5.6,138,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1997,3429
$GC,3193,-0.38,-146.6,222.9,-6.9,153,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1997,3429
$GC,3502,-0.38,-146.6,240.9,-7.1,168,3506,0.00,2.50,0.00,0.000,4,0.000,0.065,2569,598,3429
$GC,3535,-0.38,-146.6,243.2,-7.0,169,3541,0.00,2.47,0.00,0.000,6,0.000,0.051,2569,1996,3429
$GC,3851,-0.38,-146.6,262.7,-6.2,185,3855,0.00,2.53,0.00,0.000,4,0.000,0.063,2569,3408,3429
$GC,3891,-0.43,-146.6,264.8,-5.4,187,3896,0.00,2.50,0.00,0.000,6,0.000,0.051,2569,1997,3429
$GC,4219,-0.43,-146.6,283.2,-6.0,203,4223,0.00,2.55,0.00,0.000,4,0.000,0.063,2569,3403,3429
$GC,4259,-0.48,-146.6,285.8,-6.5,205,4264,0.10,2.47,0.00,0.000,6,0.059,0.051,2539,2008,3429
$GC,4587,-0.42,-146.6,309.1,-7.2,221,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1994,3429
$GC,4896,-0.36,-146.6,332.2,-7.9,236,4901,0.15,2.53,0.00,0.000,4,0.087,0.066,2571,598,3429
$GC,4940,-0.42,-146.6,335.5,-7.3,238,4945,0.00,2.47,0.00,0.000,6,0.000,0.051,2571,1998,3428
$GC,5263,-0.46,-146.6,354.0,-6.0,254,5267,0.00,2.50,0.00,0.000,4,0.000,0.064,2571,3407,3429
$GC,5296,-0.51,-146.6,356.3,-6.9,255,5303,0.15,2.53,0.00,0.000,6,0.051,0.053,2527,1990,3429
$GC,5613,-0.43,-146.6,383.6,-9.1,271,5615,0.12,0.00,0.00,0.000,6,0.091,0.000,2554,1990,3429
$GC,5921,-0.43,-146.6,407.7,-7.2,286,5926,0.00,2.58,0.00,0.000,4,0.000,0.064,2554,3405,3428
$GC,5955,-0.43,-146.6,410.1,-7.1,287,5961,0.00,2.50,0.00,0.000,6,0.000,0.054,2553,2002,3428
$GC,6271,-0.43,-146.6,431.6,-7.4,303,6275,0.00,2.55,0.00,0.000,4,0.000,0.064,2554,3412,3428
$GC,6310,-0.43,-146.6,434.5,-7.3,305,6314,0.00,2.50,0.00,0.000,6,0.000,0.054,2554,2008,3428
$GC,6643,-0.43,-146.6,459.1,-7.2,321,6648,0.00,2.53,0.00,0.000,4,0.000,0.065,2554,3403,3427
$GC,6671,-0.43,-146.6,461.1,-7.1,322,6676,0.00,2.50,0.00,0.000,6,0.000,0.054,2554,2003,3427
$GC,6987,-0.43,-146.6,480.2,-5.7,337,6992,0.00,2.55,0.00,0.000,4,0.000,0.065,2554,3402,3428
$GC,7021,-0.43,-146.6,482.2,-5.4,338,7027,0.00,2.47,0.00,0.000,6,0.000,0.056,2554,2022,3427
$GC,7338,-0.43,-146.6,501.3,-5.8,354,7339,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2022,3428
$GC,7646,-0.43,-146.6,521.3,-6.7,369,7651,0.00,2.55,0.00,0.000,4,0.000,0.069,2554,3405,3427
$GC,7702,-0.43,-146.6,525.7,-7.9,371,7708,0.00,2.47,0.00,0.000,6,0.000,0.059,2554,2032,3427
$GC,8018,-0.43,-146.6,546.3,-6.2,387,8023,0.00,2.60,0.00,0.000,4,0.000,0.072,2554,597,3426
$GC,8040,-0.43,-146.6,547.8,-6.3,388,8045,0.00,2.55,0.00,0.000,6,0.000,0.058,2553,2023,3427
$GC,8362,-0.75,-146.6,550.4,0.1,404,8367,0.28,2.65,0.00,0.000,4,0.058,0.074,2483,592,3426
$STATE,8454,end dive,NO_VERTICAL_VELOCITY
$STATE,8454,begin apogee
$GC,8464,-0.33,0.0,550.4,0.0,408,8588,0.40,0.00,120.90,1.210,6,0.064,0.000,2578,2200,2832
$STATE,8589,end apogee,CONTROL_FINISHED_OK
$STATE,8589,begin climb
$GC,8592,0.97,146.6,550.3,0.0,414,8720,1.30,2.70,120.62,1.180,4,0.066,0.074,2857,792,2233
$GC,8752,1.15,182.1,545.4,5.0,421,8788,0.20,2.60,30.17,1.126,6,0.051,0.060,2912,2206,2089
$GC,9106,1.24,182.1,524.2,6.1,439,9111,0.00,2.65,0.00,0.000,4,0.000,0.076,2912,793,2088
$GC,9296,1.24,182.1,512.1,7.1,447,9302,0.00,2.42,0.00,0.000,6,0.000,0.062,2912,2120,2088
$GC,9612,1.26,193.0,494.2,5.7,463,9627,0.00,2.80,10.45,1.060,4,0.000,0.077,2912,3602,2044
$GC,9667,1.30,218.8,491.1,5.3,464,9695,0.00,2.75,22.60,1.142,6,0.000,0.067,2912,2122,1940
$GC,10004,1.30,218.8,471.5,6.3,481,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2122,1939
$GC,10314,1.30,218.8,452.9,6.0,496,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2122,1938
$GC,10623,1.30,218.8,431.3,6.9,511,10627,0.00,2.78,0.00,0.000,4,0.000,0.071,2912,3613,1938
$GC,10650,1.30,218.8,429.3,7.3,512,10654,0.00,2.70,0.00,0.000,6,0.000,0.061,2912,2130,1938
$GC,10966,1.34,218.8,408.5,6.2,527,10971,0.12,2.42,0.00,0.000,4,0.060,0.070,2948,793,1938
$GC,11012,1.27,218.8,404.9,8.1,529,11017,0.12,2.40,0.00,0.000,6,0.084,0.055,2923,2129,1938
$GC,11333,1.31,249.1,385.9,5.2,545,11365,0.00,2.75,25.95,1.095,4,0.000,0.067,2923,3604,1816
$GC,11382,1.31,249.1,383.1,6.1,547,11386,0.00,2.70,0.00,0.000,6,0.000,0.058,2924,2129,1816
$GC,11698,1.36,253.7,364.6,5.9,562,11709,0.10,2.42,5.70,0.861,4,0.061,0.067,2953,792,1796
$GC,11739,1.30,253.7,361.7,7.5,564,11744,0.00,2.42,0.00,0.000,6,0.000,0.053,2953,2141,1796
$GC,12066,1.30,253.7,338.3,7.2,580,12067,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2142,1797
$GC,12376,1.30,253.7,317.6,6.3,595,12380,0.00,2.47,0.00,0.000,4,0.000,0.067,2952,793,1797
$GC,12404,1.25,253.7,315.8,6.3,596,12408,0.15,2.40,0.00,0.000,6,0.081,0.054,2922,2134,1797
$GC,12720,1.32,261.2,298.9,5.8,611,12730,0.00,0.00,7.95,0.896,6,0.000,0.000,2922,2134,1767
$GC,13029,1.38,261.2,280.0,6.2,626,13034,0.12,2.47,0.00,0.000,4,0.054,0.067,2960,788,1767
$GC,13063,1.31,261.2,277.2,8.5,627,13070,0.12,2.40,0.00,0.000,6,0.084,0.053,2935,2131,1767
$GC,13379,1.31,261.2,254.8,7.0,643,13380,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2132,1767
$GC,13688,1.31,261.2,234.1,6.4,658,13692,0.00,2.45,0.00,0.000,4,0.000,0.068,2935,789,1767
$GC,13721,1.31,261.2,231.8,6.2,659,13725,0.00,2.38,0.00,0.000,6,0.000,0.053,2935,2120,1768
$GC,14037,1.33,274.6,213.0,5.6,674,14055,0.00,0.00,12.57,0.904,6,0.000,0.000,2935,2120,1711
$GC,14367,1.53,367.4,199.6,3.5,690,14447,0.20,2.58,73.95,0.958,4,0.048,0.068,2989,786,1334
$GC,14465,1.48,367.4,192.8,8.1,694,14471,0.00,2.40,0.00,0.000,6,0.000,0.053,2989,2108,1333
$GC,14781,1.42,367.4,164.3,10.5,710,14782,0.15,0.00,0.00,0.000,6,0.077,0.000,2958,2128,1335
$GC,15091,1.47,367.4,137.5,8.1,725,15095,0.00,2.45,0.00,0.000,4,0.000,0.067,2958,789,1336
$GC,15135,1.47,367.4,133.9,8.1,727,15139,0.00,2.35,0.00,0.000,6,0.000,0.051,2958,2103,1336
$GC,15456,1.47,367.4,109.8,7.1,743,15457,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2106,1336
$GC,15767,1.47,367.4,87.6,6.1,758,15771,0.00,2.42,0.00,0.000,4,0.000,0.068,2958,793,1337
$GC,15808,1.47,367.4,83.8,9.6,760,15812,0.00,2.33,0.00,0.000,6,0.000,0.051,2958,2100,1337
$GC,16136,1.52,367.4,60.4,6.2,776,16137,0.10,0.00,0.00,0.000,6,0.058,0.000,2990,2113,1337
$GC,16445,1.47,367.4,33.3,10.0,791,16446,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2102,1337
$GC,16754,1.41,367.4,5.6,7.1,806,16759,0.17,2.40,0.00,0.000,4,0.074,0.064,2949,793,1337
$STATE,16773,end climb,SURFACE_DEPTH_REACHED
$STATE,16773,begin surface coast
$FINISH,1.6,1.027339
$STATE,16797,end surface coast,CONTROL_FINISHED_OK
$STATE,16797,begin surface
$SM_CCo,16882,0.00,0.000,0,0,1337,366.72
$SM_GC,0.83,11.00,0.00,0.00,0.037,0.000,0.000,420,2039,1337,-10.17,0.82,366.72
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1796
$TCM_TEMP,19.10
$XPDR_PINGS,499
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,23.9,31.949
$10V_AH,10.1,15.492
$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,25.975,151.575,430.875,0.000,0.000,37.763,29.113,151.390,129.500,0.000,0.000,13.152,1490.707,12896.203,607.301,1706.967,520.107,33.368,1489.095,0.000,1672.850,0.000,31.258,0.000
$DEVICE_MAMPS,128.089,76.700,1209.559,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,592.802,543.844,525.597,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41145,808
$CAP_FILE_SIZE,128749,0
$CFSIZE,254472192,241418240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,0,0
$GPS,131208,053837,6038.868,-332.248,35,1.7,35,-6.1