version: 66.04
glider: 5
mission: 5
dive: 5
start: 11 6 108 21 58 29
data:
$ID,5
$MISSION,5
$DIVE,5
$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,-87344.891
$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,2190
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,45
$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
$GPS1,215426,6336.590,-557.936,7,1.0,13,-8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-64.2
$GPS2,215739,6336.582,-557.845,13,1.2,13,-8.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.198,-0.174
$KALMAN_X,5330.2,1213.7,53.7,-1460.7,3680.9
$KALMAN_Y,-1504.9,-320.5,7.5,-5014.9,-984.0
$MHEAD_RNG_PITCHd_Wd,237.1,104965,-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,-81.32,0.000,2,0.000,0.000,427,2215,3369
$GC,102,-1.44,-146.6,4.7,-5.7,4,125,10.48,2.75,-1.42,0.000,4,0.153,0.085,2376,781,3432
$GC,256,-1.27,-146.6,38.2,-17.4,10,263,0.22,2.58,0.00,0.000,6,0.107,0.064,2418,2172,3433
$GC,573,-1.21,-146.6,85.2,-14.9,26,577,0.00,2.62,0.00,0.000,4,0.000,0.075,2418,780,3433
$GC,658,-1.15,-146.6,97.8,-15.0,30,663,0.15,2.60,0.00,0.000,6,0.107,0.066,2447,2182,3433
$GC,986,-1.15,-146.6,138.6,-12.0,46,990,0.00,2.65,0.00,0.000,4,0.000,0.077,2448,778,3433
$GC,1041,-1.19,-146.6,146.0,-13.5,48,1048,0.00,2.58,0.00,0.000,6,0.000,0.066,2448,2172,3434
$GC,1357,-1.19,-146.6,188.3,-13.2,64,1361,0.00,2.62,0.00,0.000,4,0.000,0.078,2448,784,3434
$GC,1378,-1.19,-146.6,191.3,-13.8,65,1383,0.00,2.58,0.00,0.000,6,0.000,0.067,2448,2168,3434
$GC,1699,-1.19,-146.6,235.0,-13.9,81,1704,0.00,2.62,0.00,0.000,4,0.000,0.080,2448,785,3434
$GC,1755,-1.19,-146.6,243.5,-14.8,83,1761,0.00,2.58,0.00,0.000,6,0.000,0.071,2448,2163,3434
$GC,2071,-1.19,-146.6,287.5,-13.4,99,2075,0.00,2.62,0.00,0.000,4,0.000,0.082,2448,785,3434
$GC,2126,-1.19,-146.6,294.8,-13.0,101,2132,0.00,2.55,0.00,0.000,6,0.000,0.072,2448,2145,3434
$GC,2442,-1.19,-146.6,330.1,-11.0,117,2446,0.00,2.60,0.00,0.000,4,0.000,0.084,2448,786,3434
$GC,2481,-1.19,-146.6,334.7,-12.0,119,2486,0.00,2.55,0.00,0.000,6,0.000,0.074,2448,2144,3434
$GC,2808,-1.19,-146.6,370.9,-11.2,135,2813,0.00,2.60,0.00,0.000,4,0.000,0.085,2448,784,3434
$GC,2853,-1.19,-146.6,376.1,-11.5,137,2857,0.00,2.53,0.00,0.000,6,0.000,0.074,2448,2125,3434
$GC,3173,-1.19,-146.6,412.5,-12.0,153,3178,0.00,2.58,0.00,0.000,4,0.000,0.087,2448,787,3433
$GC,3224,-1.24,-146.6,418.6,-12.1,155,3228,0.00,2.53,0.00,0.000,6,0.000,0.077,2448,2122,3433
$GC,3540,-1.24,-146.6,453.6,-10.5,170,3544,0.00,2.58,0.00,0.000,4,0.000,0.088,2448,785,3433
$GC,3595,-1.29,-146.6,459.4,-10.3,172,3602,0.12,2.50,0.00,0.000,6,0.074,0.077,2419,2112,3433
$GC,3911,-1.24,-146.6,493.5,-10.5,188,3916,0.00,2.55,0.00,0.000,4,0.000,0.089,2419,788,3432
$GC,3967,-1.24,-146.6,499.7,-11.1,190,3977,0.00,2.50,0.00,0.000,6,0.000,0.078,2419,2106,3432
$GC,4284,-1.19,-146.6,531.3,-9.6,206,4288,0.00,2.55,0.00,0.000,4,0.000,0.092,2419,788,3431
$GC,4317,-1.13,-146.6,534.8,-9.9,207,4324,0.17,2.47,0.00,0.000,6,0.117,0.080,2452,2091,3431
$GC,4634,-1.19,-146.6,558.8,-7.3,223,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2092,3430
$GC,4943,-1.24,-146.6,581.2,-7.7,238,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2092,3430
$GC,5252,-1.30,-146.6,605.0,-7.8,253,5257,0.17,2.53,0.00,0.000,4,0.076,0.091,2410,788,3429
$GC,5286,-1.22,-146.6,608.3,-10.3,254,5292,0.12,2.50,0.00,0.000,6,0.126,0.081,2431,2102,3429
$GC,5602,-1.22,-146.6,637.7,-9.4,270,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2102,3428
$GC,5911,-1.22,-146.6,666.7,-9.4,285,5915,0.00,2.55,0.00,0.000,4,0.000,0.093,2431,788,3428
$GC,5938,-1.22,-146.6,669.6,-9.7,286,5943,0.00,2.50,0.00,0.000,6,0.000,0.082,2431,2100,3428
$GC,6256,-1.22,-146.6,700.5,-9.8,301,6260,0.00,2.55,0.00,0.000,4,0.000,0.094,2431,783,3427
$GC,6295,-1.22,-146.6,704.7,-10.2,303,6300,0.00,2.50,0.00,0.000,6,0.000,0.083,2432,2092,3427
$GC,6623,-1.22,-146.6,735.7,-9.2,319,6627,0.00,2.55,0.00,0.000,4,0.000,0.095,2431,785,3426
$GC,6656,-1.22,-146.6,739.0,-9.7,320,6662,0.00,2.47,0.00,0.000,6,0.000,0.084,2431,2078,3427
$GC,6972,-1.22,-146.6,768.4,-9.5,336,6974,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2078,3426
$GC,7281,-1.22,-146.6,798.9,-9.9,351,7286,0.00,2.53,0.00,0.000,4,0.000,0.095,2431,784,3426
$GC,7326,-1.22,-146.6,803.7,-11.0,353,7330,0.00,2.47,0.00,0.000,6,0.000,0.084,2431,2076,3426
$GC,7647,-1.22,-146.6,837.0,-10.4,369,7648,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2076,3425
$GC,7956,-1.22,-146.6,869.7,-10.8,384,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2076,3425
$GC,8265,-1.22,-146.6,903.5,-10.8,399,8269,0.00,2.50,0.00,0.000,4,0.000,0.097,2431,789,3424
$GC,8303,-1.22,-146.6,908.0,-10.9,400,8310,0.00,2.47,0.00,0.000,6,0.000,0.087,2431,2076,3424
$GC,8619,-1.22,-146.6,941.0,-10.8,416,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2076,3424
$GC,8930,-1.22,-146.6,975.7,-11.1,431,8931,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2076,3424
$STATE,9070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9070,begin apogee
$GC,9077,-0.33,0.0,991.7,11.2,438,9207,0.95,0.00,127.05,1.651,6,0.110,0.000,2622,2195,2832
$STATE,9208,end apogee,CONTROL_FINISHED_OK
$STATE,9208,begin climb
$GC,9211,1.44,146.6,996.9,0.0,444,9348,1.88,2.83,126.43,1.613,4,0.087,0.100,3009,3596,2233
$GC,9407,1.33,148.4,985.9,9.9,453,9412,0.00,2.72,0.00,0.000,6,0.000,0.085,3008,2198,2234
$GC,9728,1.28,155.4,955.3,9.7,469,9743,0.17,2.85,9.23,1.365,4,0.114,0.101,2975,3599,2198
$GC,9777,1.31,173.7,950.7,9.2,470,9802,0.00,2.72,17.38,1.473,6,0.000,0.084,2975,2195,2123
$GC,10121,1.40,191.9,920.1,9.2,487,10144,0.12,2.90,17.10,1.484,4,0.079,0.099,3002,3594,2049
$GC,10172,1.40,191.9,914.4,11.3,489,10177,0.00,2.72,0.00,0.000,6,0.000,0.084,3002,2197,2049
$GC,10493,1.40,191.9,880.3,10.7,505,10494,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2197,2049
$GC,10802,1.40,191.9,846.1,11.0,520,10807,0.00,2.78,0.00,0.000,4,0.000,0.100,3002,3594,2048
$GC,10842,1.40,191.9,841.5,11.2,522,10847,0.00,2.67,0.00,0.000,6,0.000,0.083,3002,2202,2048
$GC,11169,1.40,191.9,806.3,10.7,538,11170,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2202,2048
$GC,11478,1.40,191.9,774.2,10.3,553,11482,0.00,2.78,0.00,0.000,4,0.000,0.100,3002,3601,2048
$GC,11527,1.40,191.9,768.8,10.3,555,11532,0.00,2.67,0.00,0.000,6,0.000,0.083,3002,2207,2048
$GC,11843,1.41,200.0,738.2,9.6,570,11853,0.00,0.00,8.43,1.313,6,0.000,0.000,3002,2206,2016
$GC,12152,1.42,207.4,708.1,9.7,585,12162,0.00,0.00,8.35,1.302,6,0.000,0.000,3002,2207,1986
$GC,12461,1.42,207.4,677.2,10.1,600,12466,0.00,2.75,0.00,0.000,4,0.000,0.097,3002,784,1986
$GC,12483,1.42,207.4,674.8,10.4,601,12488,0.00,2.72,0.00,0.000,6,0.000,0.084,3002,2213,1986
$GC,12804,1.42,207.4,642.6,10.0,617,12805,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2212,1986
$GC,13113,1.44,217.0,612.5,9.6,632,13127,0.00,0.00,9.40,1.279,6,0.000,0.000,3002,2213,1947
$GC,13445,1.48,217.0,579.2,10.2,648,13447,0.10,0.00,0.00,0.000,6,0.084,0.000,3023,2213,1947
$GC,13754,1.48,217.0,546.0,10.4,663,13758,0.00,2.70,0.00,0.000,4,0.000,0.099,3023,3605,1948
$GC,13798,1.43,217.0,540.9,11.3,665,13803,0.00,2.65,0.00,0.000,6,0.000,0.080,3023,2214,1947
$GC,14119,1.43,217.0,506.6,10.7,681,14120,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2214,1947
$GC,14428,1.43,217.0,473.5,10.5,696,14430,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2214,1947
$GC,14738,1.43,217.0,440.8,10.4,711,14742,0.00,2.72,0.00,0.000,4,0.000,0.097,3023,3601,1947
$GC,14770,1.43,217.0,437.0,10.9,712,14777,0.00,2.62,0.00,0.000,6,0.000,0.079,3023,2217,1947
$GC,15086,1.44,218.7,405.0,9.9,728,15087,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2217,1947
$GC,15395,1.44,218.7,373.9,10.2,743,15400,0.00,2.70,0.00,0.000,4,0.000,0.095,3023,3605,1947
$GC,15423,1.44,218.7,370.9,10.7,744,15427,0.00,2.60,0.00,0.000,6,0.000,0.078,3023,2226,1947
$GC,15739,1.47,237.3,340.4,9.2,759,15759,0.00,0.00,18.40,1.197,6,0.000,0.000,3023,2226,1864
$GC,16068,1.47,237.3,308.7,10.2,775,16069,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2226,1863
$GC,16377,1.47,237.3,272.9,12.2,790,16378,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2226,1864
$GC,16686,1.47,237.3,236.5,11.5,805,16691,0.00,2.67,0.00,0.000,4,0.000,0.092,3023,3602,1864
$GC,16731,1.47,237.3,231.1,11.8,807,16735,0.00,2.58,0.00,0.000,6,0.000,0.074,3023,2230,1864
$GC,17052,1.47,239.2,197.5,9.9,823,17056,0.00,2.67,0.00,0.000,4,0.000,0.092,3023,3606,1864
$GC,17124,1.49,250.0,189.7,9.5,826,17143,0.00,2.58,11.70,1.050,6,0.000,0.073,3023,2233,1812
$GC,17468,1.53,250.0,155.1,10.2,843,17472,0.00,2.65,0.00,0.000,4,0.000,0.088,3023,3602,1812
$GC,17552,1.53,250.0,145.1,11.9,847,17557,0.00,2.53,0.00,0.000,6,0.000,0.070,3023,2248,1812
$GC,17880,1.53,250.0,110.7,10.6,863,17881,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2247,1813
$GC,18189,1.58,250.0,77.0,11.5,878,18193,0.00,2.58,0.00,0.000,4,0.000,0.082,3023,3600,1813
$GC,18255,1.58,250.0,68.9,12.3,881,18260,0.00,2.47,0.00,0.000,6,0.000,0.065,3023,2257,1814
$GC,18579,1.63,250.0,32.9,10.9,897,18581,0.15,0.00,0.00,0.000,6,0.068,0.000,3059,2256,1815
$STATE,18802,end climb,SURFACE_DEPTH_REACHED
$STATE,18802,begin surface coast
$FINISH,0.5,1.027409
$STATE,18823,end surface coast,CONTROL_FINISHED_OK
$STATE,18823,begin surface
$SM_CCo,18846,0.40,0.145,0,0,1812,250.21
$SM_GC,1.61,0.00,0.00,0.40,0.000,0.000,0.145,426,2180,1812,-10.46,-0.28,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1845
$TCM_TEMP,15.30
$XPDR_PINGS,180
$ALTIM_TOP_PING,17.4,999.0
$24V_AH,23.5,3.807
$10V_AH,10.0,1.824
$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,26.650,162.200,353.450,0.400,0.000,0.000,0.000,0.000,54.000,0.000,0.000,13.768,1669.153,14587.137,520.206,1887.775,252.377,33.373,1488.908,0.000,1842.588,0.000,58.644,0.000
$DEVICE_MAMPS,152.633,107.380,1650.584,144.963,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,680.260,614.920,468.986,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47410,909
$CAP_FILE_SIZE,155608,0
$CFSIZE,254472192,251871232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,59,0,0
$GPS,071108,031425,6333.229,-558.780,69,1.0,69,-8.3