version: 66.04
glider: 5
mission: 5
dive: 6
start: 11 7 108 3 28 13
data:
$ID,5
$MISSION,5
$DIVE,6
$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,-87361.414
$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,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
$GPS1,031425,6333.229,-558.780,69,1.0,69,-8.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-61.9
$GPS2,032720,6333.199,-558.662,11,1.0,15,-8.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.180,-0.193
$KALMAN_X,9785.6,57.2,16.7,-5387.9,3209.6
$KALMAN_Y,-4648.0,25.4,-29.5,-8445.1,-2753.2
$MHEAD_RNG_PITCHd_Wd,231.3,98672,-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,13,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,99,0.00,0.00,-81.12,0.000,2,0.000,0.000,426,2157,3400
$GC,102,-1.44,-146.6,4.6,-5.9,4,119,10.48,2.60,-0.70,0.000,4,0.151,0.084,2378,785,3430
$GC,252,-1.27,-146.6,38.7,-18.3,9,259,0.22,2.60,0.00,0.000,6,0.102,0.063,2420,2195,3431
$GC,569,-1.20,-146.6,84.2,-13.9,25,573,0.00,2.65,0.00,0.000,4,0.000,0.071,2420,780,3432
$GC,686,-1.15,-146.6,100.5,-13.1,30,691,0.15,2.55,0.00,0.000,6,0.102,0.062,2449,2163,3432
$GC,1002,-1.15,-146.6,138.6,-11.4,45,1007,0.00,2.60,0.00,0.000,4,0.000,0.072,2449,778,3432
$GC,1091,-1.15,-146.6,149.1,-11.3,49,1096,0.00,2.53,0.00,0.000,6,0.000,0.063,2450,2145,3432
$GC,1413,-1.15,-146.6,182.1,-11.0,65,1417,0.00,2.72,0.00,0.000,4,0.000,0.081,2450,3599,3433
$GC,1452,-1.15,-146.6,186.4,-11.3,67,1456,0.00,2.67,0.00,0.000,6,0.000,0.065,2450,2150,3433
$GC,1778,-1.15,-146.6,221.5,-10.5,83,1783,0.00,2.55,0.00,0.000,4,0.000,0.078,2450,781,3433
$GC,1813,-1.15,-146.6,225.1,-10.7,84,1819,0.00,2.53,0.00,0.000,6,0.000,0.067,2450,2144,3434
$GC,2129,-1.15,-146.6,255.5,-9.9,100,2133,0.00,2.58,0.00,0.000,4,0.000,0.080,2450,783,3434
$GC,2201,-1.15,-146.6,263.0,-10.0,103,2205,0.00,2.53,0.00,0.000,6,0.000,0.070,2449,2136,3433
$GC,2517,-1.15,-146.6,295.2,-10.4,118,2521,0.00,2.58,0.00,0.000,4,0.000,0.081,2450,783,3433
$GC,2572,-1.15,-146.6,301.3,-10.7,120,2578,0.00,2.53,0.00,0.000,6,0.000,0.071,2450,2130,3433
$GC,2888,-1.15,-146.6,336.9,-11.7,136,2893,0.00,2.58,0.00,0.000,4,0.000,0.085,2450,783,3433
$GC,2978,-1.20,-146.6,348.2,-12.3,140,2982,0.00,2.50,0.00,0.000,6,0.000,0.073,2450,2113,3433
$GC,3299,-1.20,-146.6,385.0,-11.5,156,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2114,3432
$GC,3608,-1.25,-146.6,419.3,-10.7,171,3613,0.00,2.55,0.00,0.000,4,0.000,0.086,2450,783,3431
$GC,3687,-1.29,-146.6,428.3,-11.3,174,3694,0.15,2.53,0.00,0.000,6,0.067,0.076,2415,2119,3431
$GC,4003,-1.24,-146.6,467.5,-12.5,190,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2119,3430
$GC,4312,-1.18,-146.6,507.5,-13.2,205,4317,0.12,2.58,0.00,0.000,4,0.123,0.087,2438,781,3430
$GC,4374,-1.18,-146.6,515.3,-12.1,208,4379,0.00,2.53,0.00,0.000,6,0.000,0.079,2438,2116,3429
$GC,4701,-1.18,-146.6,553.1,-11.3,224,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2115,3429
$GC,5011,-1.18,-146.6,587.3,-10.8,239,5015,0.00,2.58,0.00,0.000,4,0.000,0.091,2439,781,3428
$GC,5060,-1.18,-146.6,593.1,-11.4,241,5064,0.00,2.53,0.00,0.000,6,0.000,0.080,2438,2108,3428
$GC,5377,-1.18,-146.6,626.2,-10.3,256,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2107,3427
$GC,5685,-1.18,-146.6,658.5,-10.6,271,5690,0.00,2.58,0.00,0.000,4,0.000,0.094,2438,784,3427
$GC,5753,-1.18,-146.6,665.9,-10.5,274,5757,0.00,2.50,0.00,0.000,6,0.000,0.083,2438,2095,3427
$GC,6073,-1.18,-146.6,699.5,-10.3,290,6081,0.00,2.55,0.00,0.000,4,0.000,0.094,2439,783,3426
$GC,6099,-1.18,-146.6,702.2,-10.4,291,6103,0.00,2.47,0.00,0.000,6,0.000,0.082,2438,2089,3426
$GC,6432,-1.18,-146.6,736.7,-10.3,307,6436,0.00,2.55,0.00,0.000,4,0.000,0.094,2439,780,3425
$GC,6465,-1.18,-146.6,740.5,-11.3,308,6471,0.00,2.50,0.00,0.000,6,0.000,0.083,2439,2085,3424
$GC,6780,-1.18,-146.6,773.7,-10.9,324,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2085,3424
$GC,7090,-1.18,-146.6,808.4,-11.2,339,7094,0.00,2.53,0.00,0.000,4,0.000,0.094,2439,789,3424
$GC,7122,-1.18,-146.6,812.3,-11.7,340,7129,0.00,2.47,0.00,0.000,6,0.000,0.084,2439,2080,3423
$GC,7439,-1.18,-146.6,846.9,-10.7,356,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2081,3423
$GC,7747,-1.18,-146.6,879.3,-10.3,371,7752,0.00,2.55,0.00,0.000,4,0.000,0.100,2439,787,3422
$GC,7792,-1.18,-146.6,884.1,-10.7,373,7796,0.00,2.47,0.00,0.000,6,0.000,0.085,2439,2072,3422
$GC,8113,-1.18,-146.6,916.7,-10.3,389,8114,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2072,3422
$GC,8422,-1.18,-146.6,948.2,-10.0,404,8423,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2072,3422
$GC,8731,-1.18,-146.6,979.2,-10.0,419,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2072,3421
$STATE,8852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8852,begin apogee
$GC,8859,-0.33,0.0,991.5,9.9,425,8989,0.90,0.00,126.15,1.657,6,0.104,0.000,2622,2192,2832
$STATE,8989,end apogee,CONTROL_FINISHED_OK
$STATE,8989,begin climb
$GC,8992,1.44,146.6,995.8,0.0,431,9128,1.85,2.85,127.03,1.620,4,0.082,0.100,3013,3593,2234
$GC,9153,1.32,148.2,987.2,9.9,439,9159,0.15,2.72,0.00,0.000,6,0.115,0.084,2988,2199,2234
$GC,9469,1.35,167.6,958.5,9.1,454,9494,0.00,2.85,19.58,1.485,4,0.000,0.100,2988,3594,2148
$GC,9523,1.35,167.6,953.2,10.0,456,9529,0.00,2.75,0.00,0.000,6,0.000,0.084,2988,2185,2148
$GC,9839,1.36,170.8,922.0,9.9,472,9845,0.00,0.00,4.50,1.063,6,0.000,0.000,2987,2184,2135
$GC,10148,1.37,180.8,891.9,9.5,487,10164,0.00,2.88,10.65,1.404,4,0.000,0.101,2988,3597,2094
$GC,10192,1.37,180.8,887.4,10.1,488,10196,0.00,2.72,0.00,0.000,6,0.000,0.084,2988,2197,2094
$GC,10513,1.40,194.9,856.8,9.4,504,10532,0.00,0.00,13.30,1.437,6,0.000,0.000,2988,2197,2037
$GC,10842,1.48,213.7,826.3,9.1,520,10863,0.15,0.00,18.12,1.467,6,0.077,0.000,3020,2197,1960
$GC,11171,1.48,213.7,790.6,10.9,536,11172,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2197,1959
$GC,11481,1.48,213.7,756.2,11.4,551,11485,0.00,2.78,0.00,0.000,4,0.000,0.098,3020,3603,1959
$GC,11525,1.48,213.7,750.8,11.9,553,11529,0.00,2.70,0.00,0.000,6,0.000,0.081,3020,2195,1959
$GC,11845,1.48,213.7,714.6,11.4,569,11847,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2195,1959
$GC,12155,1.48,213.7,679.2,11.5,584,12156,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2195,1958
$GC,12464,1.48,213.7,643.9,11.2,599,12468,0.00,2.72,0.00,0.000,4,0.000,0.097,3019,784,1958
$GC,12497,1.44,213.7,639.9,11.4,600,12504,0.00,2.72,0.00,0.000,6,0.000,0.083,3019,2204,1958
$GC,12813,1.44,213.7,604.7,11.0,616,12814,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2204,1958
$GC,13122,1.44,213.7,571.3,10.9,631,13127,0.00,2.70,0.00,0.000,4,0.000,0.097,3020,3605,1958
$GC,13149,1.44,213.7,567.9,11.4,632,13154,0.00,2.65,0.00,0.000,6,0.000,0.079,3019,2208,1958
$GC,13465,1.44,213.7,533.5,11.1,647,13470,0.00,2.75,0.00,0.000,4,0.000,0.097,3020,778,1958
$GC,13492,1.44,213.7,530.2,12.3,648,13497,0.00,2.72,0.00,0.000,6,0.000,0.083,3020,2204,1958
$GC,13808,1.44,213.7,494.3,11.4,663,13812,0.00,2.70,0.00,0.000,4,0.000,0.099,3020,3605,1958
$GC,13834,1.44,213.7,490.9,11.9,664,13839,0.00,2.67,0.00,0.000,6,0.000,0.080,3020,2198,1958
$GC,14150,1.44,213.7,453.8,11.8,679,14151,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2198,1958
$GC,14459,1.44,213.7,418.2,11.3,694,14464,0.00,2.75,0.00,0.000,4,0.000,0.095,3020,3604,1958
$GC,14486,1.44,213.7,415.0,12.3,695,14491,0.00,2.65,0.00,0.000,6,0.000,0.077,3019,2199,1958
$GC,14802,1.44,213.7,380.4,11.1,710,14803,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2199,1958
$GC,15111,1.44,213.7,346.7,11.1,725,15112,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2199,1958
$GC,15421,1.44,213.7,312.1,11.7,740,15425,0.00,2.72,0.00,0.000,4,0.000,0.094,3020,3598,1958
$GC,15460,1.44,213.7,307.2,12.3,742,15465,0.00,2.60,0.00,0.000,6,0.000,0.075,3020,2213,1958
$GC,15786,1.44,213.7,271.2,10.5,758,15787,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2212,1958
$GC,16096,1.46,230.3,241.7,9.2,773,16118,0.00,2.75,14.70,1.105,4,0.000,0.091,3020,3598,1892
$GC,16174,1.46,230.3,233.8,10.0,776,16178,0.00,2.58,0.00,0.000,6,0.000,0.071,3020,2232,1892
$GC,16491,1.48,240.8,203.7,9.5,791,16506,0.00,2.78,10.12,1.042,4,0.000,0.087,3020,784,1849
$GC,16540,1.49,245.2,198.4,9.8,792,16552,0.00,2.75,5.30,0.886,6,0.000,0.075,3020,2230,1832
$GC,16861,1.54,249.1,165.9,9.8,808,16871,0.00,2.60,5.00,0.858,4,0.000,0.086,3020,3602,1816
$GC,16927,1.54,249.1,158.8,10.4,811,16932,0.00,2.55,0.00,0.000,6,0.000,0.068,3020,2236,1816
$GC,17250,1.60,249.1,123.3,11.8,827,17251,0.12,0.00,0.00,0.000,6,0.074,0.000,3048,2236,1816
$GC,17558,1.60,249.1,85.9,11.8,842,17559,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2236,1817
$GC,17867,1.60,249.1,49.3,11.6,857,17872,0.00,2.58,0.00,0.000,4,0.000,0.077,3048,3600,1818
$GC,17912,1.60,249.1,43.8,11.4,859,17916,0.00,2.50,0.00,0.000,6,0.000,0.061,3049,2235,1819
$STATE,18232,end climb,SURFACE_DEPTH_REACHED
$STATE,18232,begin surface coast
$FINISH,0.1,1.027387
$STATE,18255,end surface coast,CONTROL_FINISHED_OK
$STATE,18255,begin surface
$SM_CCo,18278,0.90,0.139,0,0,1811,250.21
$SM_GC,1.63,0.00,0.00,0.90,0.000,0.000,0.139,422,2178,1811,-10.48,-0.34,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1826
$TCM_TEMP,15.60
$XPDR_PINGS,186
$ALTIM_TOP_PING,19.0,18.0
$24V_AH,23.5,3.995
$10V_AH,10.0,1.908
$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,25.950,157.700,354.450,0.900,0.000,113.271,139.727,251.006,55.500,0.000,0.000,15.900,1613.741,14263.035,527.061,1827.095,824.268,33.374,1452.431,0.000,1779.959,0.000,58.595,0.000
$DEVICE_MAMPS,151.099,119.652,1656.720,138.827,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,649.445,593.246,453.677,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44371,876
$CAP_FILE_SIZE,138000,0
$CFSIZE,254472192,251834368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,51,0,0
$GPS,071108,083408,6330.438,-559.518,37,1.0,37,-8.2