version: 66.04
glider: 5
mission: 5
dive: 250
start: 12 29 108 22 22 12
data:
$ID,5
$MISSION,5
$DIVE,250
$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,2
$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,-92182.781
$T_RSLEEP,27
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,15
$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
$GPS1,221556,6052.560,-520.594,39,1.8,39,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-62.6
$GPS2,222151,6052.557,-520.547,13,1.9,13,-7.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,SSEC_NW
$TGT_LATLONG,6058.000,-547.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.132,-0.177
$KALMAN_X,220775.9,-921.1,-1644.0,-80717.6,25183.1
$KALMAN_Y,135954.9,-405.3,-1430.2,-453990.2,21805.5
$MHEAD_RNG_PITCHd_Wd,300.1,25825,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-80.30,0.000,6,0.000,0.000,421,1965,3430
$GC,101,-0.97,-146.6,5.4,-6.5,4,117,10.77,2.50,0.00,0.000,4,0.136,0.061,2482,585,3431
$GC,242,-0.76,-146.6,30.6,-11.5,9,247,0.25,2.55,0.00,0.000,6,0.091,0.053,2534,2011,3431
$GC,558,-0.69,-146.6,58.6,-8.4,24,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2012,3432
$GC,868,-0.61,-146.6,82.0,-7.4,39,870,0.15,0.00,0.00,0.000,6,0.087,0.000,2566,2012,3432
$GC,1177,-0.61,-146.6,103.2,-6.9,54,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2012,3432
$GC,1487,-0.61,-146.6,125.9,-7.4,69,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2012,3432
$GC,1797,-0.61,-146.6,149.0,-7.8,84,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2012,3432
$GC,2104,-0.61,-146.6,171.2,-7.1,99,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2012,3432
$GC,2413,-0.61,-146.6,192.2,-6.6,114,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2012,3433
$GC,2723,-0.61,-146.6,212.7,-6.7,129,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2012,3433
$GC,3032,-0.61,-146.6,235.5,-7.4,144,3036,0.00,2.53,0.00,0.000,4,0.000,0.067,2566,3409,3433
$GC,3065,-0.66,-146.6,238.1,-7.9,145,3071,0.00,2.53,0.00,0.000,6,0.000,0.053,2566,1998,3433
$GC,3382,-0.66,-146.6,259.0,-6.2,161,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1998,3433
$GC,3690,-0.66,-146.6,277.8,-6.1,176,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1998,3433
$GC,3999,-0.66,-146.6,297.6,-6.4,191,4004,0.00,2.58,0.00,0.000,4,0.000,0.065,2566,3408,3433
$GC,4073,-0.71,-146.6,302.8,-6.9,194,4077,0.00,2.50,0.00,0.000,6,0.000,0.052,2566,2009,3432
$GC,4389,-0.71,-146.6,324.3,-6.7,209,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2008,3433
$GC,4698,-0.71,-146.6,343.8,-5.7,224,4703,0.00,2.58,0.00,0.000,4,0.000,0.065,2567,3415,3432
$GC,4733,-0.77,-146.6,345.8,-5.5,225,4740,0.17,2.50,0.00,0.000,6,0.054,0.054,2518,2015,3432
$GC,5049,-0.67,-146.6,369.5,-8.2,241,5054,0.15,2.58,0.00,0.000,4,0.086,0.065,2550,3408,3432
$GC,5192,-0.67,-146.6,380.0,-7.2,247,5196,0.00,2.47,0.00,0.000,6,0.000,0.055,2550,2031,3432
$GC,5510,-0.67,-146.6,400.2,-6.5,262,5514,0.00,2.60,0.00,0.000,4,0.000,0.071,2550,593,3432
$GC,5559,-0.67,-146.6,404.5,-8.2,264,5564,0.00,2.60,0.00,0.000,6,0.000,0.056,2550,2047,3432
$GC,5876,-0.67,-146.6,426.8,-7.3,279,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2049,3432
$GC,6184,-0.67,-146.6,448.1,-6.4,294,6189,0.00,2.72,0.00,0.000,4,0.000,0.078,2550,585,3432
$GC,6218,-0.67,-146.6,450.6,-7.4,295,6224,0.00,2.62,0.00,0.000,6,0.000,0.062,2551,2040,3432
$GC,6534,-0.67,-146.6,473.1,-7.5,311,6538,0.00,2.53,0.00,0.000,4,0.000,0.080,2550,3405,3432
$GC,6574,-0.67,-146.6,476.3,-8.0,313,6579,0.00,2.53,0.00,0.000,6,0.000,0.066,2550,2028,3432
$GC,6902,-0.67,-146.6,500.8,-7.7,329,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2028,3431
$GC,7211,-0.67,-146.6,524.4,-7.6,344,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2027,3430
$GC,7520,-0.67,-146.6,546.9,-7.1,359,7524,0.00,2.67,0.00,0.000,4,0.000,0.086,2550,586,3429
$GC,7547,-0.67,-146.6,549.2,-8.2,360,7551,0.00,2.65,0.00,0.000,6,0.000,0.069,2550,2029,3429
$GC,7864,-0.67,-146.6,573.2,-7.6,375,7869,0.00,2.60,0.00,0.000,4,0.000,0.087,2550,3417,3427
$GC,7909,-0.67,-146.6,577.0,-9.0,377,7914,0.00,2.58,0.00,0.000,6,0.000,0.071,2550,2029,3427
$GC,8233,-0.67,-146.6,600.7,-7.3,393,8234,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2029,3427
$GC,8539,-0.67,-146.6,622.2,-6.9,408,8540,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2029,3425
$GC,8848,-0.67,-146.6,643.4,-6.7,423,8849,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2029,3424
$STATE,9134,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9134,begin apogee
$GC,9142,-0.33,0.0,661.8,6.2,437,9276,0.35,0.00,127.62,1.384,6,0.075,0.000,2626,2205,2832
$STATE,9277,end apogee,CONTROL_FINISHED_OK
$STATE,9277,begin climb
$GC,9280,0.97,146.6,662.3,0.0,444,9417,1.35,0.00,129.73,1.333,6,0.074,0.000,2909,2205,2234
$GC,9727,0.99,164.4,641.5,5.5,466,9749,0.00,2.80,16.67,1.242,4,0.000,0.086,2909,793,2161
$GC,9841,0.99,164.4,634.7,6.1,471,9845,0.00,2.65,0.00,0.000,6,0.000,0.073,2909,2204,2160
$GC,10167,1.03,183.5,616.7,5.5,487,10192,0.00,2.80,18.12,1.269,4,0.000,0.086,2909,797,2083
$GC,10216,1.04,191.1,613.7,5.8,489,10232,0.00,2.65,8.25,1.138,6,0.000,0.074,2909,2197,2053
$GC,10542,1.10,232.9,595.8,4.9,505,10582,0.12,0.00,37.80,1.316,6,0.065,0.000,2942,2197,1882
$GC,10892,1.05,232.9,573.6,6.7,522,10897,0.00,2.72,0.00,0.000,4,0.000,0.089,2943,786,1883
$GC,10948,0.97,232.9,569.4,7.8,524,10954,0.17,2.62,0.00,0.000,6,0.098,0.073,2908,2185,1883
$GC,11264,1.02,232.9,551.1,6.1,540,11265,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2186,1882
$GC,11574,1.07,232.9,531.0,6.8,555,11579,0.12,2.70,0.00,0.000,4,0.069,0.087,2941,788,1882
$GC,11624,1.02,232.9,526.9,8.5,557,11629,0.00,2.60,0.00,0.000,6,0.000,0.073,2940,2175,1882
$GC,11940,0.98,232.9,500.8,8.1,572,11942,0.15,0.00,0.00,0.000,6,0.097,0.000,2909,2175,1882
$GC,12250,1.02,232.9,478.9,7.0,587,12251,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2176,1882
$GC,12559,1.08,234.6,460.2,6.0,602,12564,0.12,2.67,0.00,0.000,4,0.069,0.084,2943,783,1882
$GC,12604,1.01,234.6,456.5,8.3,604,12609,0.12,2.60,0.00,0.000,6,0.101,0.072,2918,2177,1882
$GC,12926,1.01,234.6,432.2,7.1,620,12927,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2178,1881
$GC,13235,1.01,234.6,413.4,6.1,635,13239,0.00,2.62,0.00,0.000,4,0.000,0.082,2917,789,1881
$GC,13307,1.01,234.6,408.1,7.1,638,13312,0.00,2.55,0.00,0.000,6,0.000,0.069,2917,2168,1881
$GC,13623,1.01,234.6,387.5,6.5,653,13627,0.00,2.60,0.00,0.000,4,0.000,0.080,2917,788,1881
$GC,13667,1.01,234.6,384.6,6.8,655,13671,0.00,2.50,0.00,0.000,6,0.000,0.066,2917,2146,1881
$GC,13988,1.01,234.6,364.8,6.4,671,13989,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2146,1881
$GC,14298,1.06,234.6,343.6,6.8,686,14302,0.00,2.53,0.00,0.000,4,0.000,0.074,2917,791,1881
$GC,14337,1.06,234.6,340.6,7.4,688,14341,0.00,2.45,0.00,0.000,6,0.000,0.063,2918,2141,1881
$GC,14664,1.11,234.6,320.2,6.0,704,14669,0.10,2.70,0.00,0.000,4,0.065,0.072,2946,3616,1882
$GC,14692,1.11,234.6,318.2,7.5,705,14696,0.00,2.67,0.00,0.000,6,0.000,0.058,2946,2136,1882
$GC,15008,1.11,234.6,297.4,6.9,720,15009,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2135,1882
$GC,15317,1.11,234.6,274.6,7.5,735,15322,0.00,0.00,3.60,0.683,6,0.000,0.000,2946,2135,1875
$GC,15626,1.11,234.6,250.5,7.8,750,15627,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2136,1876
$GC,15936,1.11,234.6,228.5,6.5,765,15937,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2136,1877
$GC,16245,1.11,234.6,209.4,6.2,780,16249,0.00,2.45,0.00,0.000,4,0.000,0.068,2946,783,1878
$GC,16278,1.07,234.6,207.0,6.8,781,16282,0.00,2.45,0.00,0.000,6,0.000,0.054,2947,2149,1878
$GC,16600,1.07,234.6,184.0,8.0,797,16604,0.00,2.50,0.00,0.000,4,0.000,0.067,2946,789,1878
$GC,16633,1.07,234.6,181.0,9.5,798,16639,0.00,2.42,0.00,0.000,6,0.000,0.055,2946,2141,1878
$GC,16948,1.07,234.6,156.2,7.2,814,16950,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2140,1879
$GC,17259,1.07,234.6,132.6,8.1,829,17263,0.00,2.47,0.00,0.000,4,0.000,0.067,2946,790,1879
$GC,17287,1.07,234.6,130.4,8.5,830,17291,0.00,2.42,0.00,0.000,6,0.000,0.054,2946,2143,1879
$GC,17603,1.07,234.6,109.1,6.9,845,17604,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2144,1880
$GC,17912,1.07,234.6,84.0,8.9,860,17916,0.00,2.50,0.00,0.000,4,0.000,0.067,2946,782,1881
$GC,17953,1.07,234.6,80.5,7.2,862,17957,0.00,2.40,0.00,0.000,6,0.000,0.054,2946,2125,1881
$GC,18286,1.07,234.6,53.1,7.9,878,18287,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2126,1881
$GC,18595,1.10,256.0,31.1,5.4,893,18616,0.00,0.00,19.70,0.832,6,0.000,0.000,2946,2126,1788
$GC,18925,1.12,265.5,10.7,5.7,909,18939,0.00,2.50,9.15,0.769,4,0.000,0.067,2946,787,1749
$GC,18980,1.12,265.5,5.6,8.6,911,18984,0.00,2.40,0.00,0.000,6,0.000,0.052,2946,2123,1749
$STATE,19004,end climb,SURFACE_DEPTH_REACHED
$STATE,19004,begin surface coast
$FINISH,0.4,1.027478
$STATE,19047,end surface coast,CONTROL_FINISHED_OK
$STATE,19047,begin surface
$SM_CCo,19130,0.00,0.000,0,0,1748,265.91
$SM_GC,1.39,11.02,0.00,0.00,0.037,0.000,0.000,423,1982,1748,-10.38,-0.48,265.91
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1783
$TCM_TEMP,16.70
$XPDR_PINGS,264
$ALTIM_TOP_PING,19.0,17.8
$ALTIM_BOTTOM_PING,600.7,70.4
$24V_AH,23.7,44.029
$10V_AH,10.1,21.730
$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,25.150,123.975,370.650,0.000,0.000,37.752,28.960,153.455,71.500,0.000,0.000,13.399,1637.563,14959.608,532.132,1816.798,535.118,0.000,1423.368,0.000,1785.850,0.000,39.513,0.000
$DEVICE_MAMPS,135.759,88.972,1384.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,674.318,616.307,563.565,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47443,914
$CAP_FILE_SIZE,128398,0
$CFSIZE,254472192,236843008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,0,0
$GPS,301208,034228,6052.249,-524.797,29,2.2,48,-7.1