version: 66.04
glider: 5
mission: 5
dive: 13
start: 11 8 108 16 15 57
data:
$ID,5
$MISSION,5
$DIVE,13
$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,-87490.625
$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,2000
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,23
$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
$GPS1,160925,6311.978,-600.783,37,2.0,37,-8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-63.5
$GPS2,161503,6311.959,-600.766,11,2.0,11,-8.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.224,-0.139
$KALMAN_X,28978.0,6.2,-569.9,-25656.7,4153.7
$KALMAN_Y,-16613.8,111.2,-386.7,-35530.0,-1923.9
$MHEAD_RNG_PITCHd_Wd,246.3,59297,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.44,-146.6,0.0,0.0,0,98,0.00,0.00,-81.07,0.000,2,0.000,0.000,423,1974,3423
$GC,101,-1.44,-146.6,4.9,-6.2,4,117,10.27,2.55,0.00,0.000,4,0.143,0.066,2376,587,3423
$GC,371,-1.24,-146.6,61.2,-18.2,15,376,0.28,2.58,0.00,0.000,6,0.099,0.054,2428,2007,3424
$GC,693,-1.18,-146.6,107.7,-14.2,31,697,0.00,2.62,0.00,0.000,4,0.000,0.068,2428,588,3425
$GC,818,-1.13,-146.6,125.9,-14.0,36,825,0.12,2.53,0.00,0.000,6,0.100,0.054,2453,1992,3426
$GC,1134,-1.13,-146.6,165.8,-12.4,52,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1992,3426
$GC,1443,-1.13,-146.6,204.3,-12.3,67,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1992,3426
$GC,1752,-1.13,-146.6,243.6,-13.0,82,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1992,3427
$GC,2061,-1.13,-146.6,281.4,-11.7,97,2066,0.00,2.60,0.00,0.000,4,0.000,0.074,2453,3405,3427
$GC,2101,-1.13,-146.6,285.9,-11.7,99,2106,0.00,2.60,0.00,0.000,6,0.000,0.059,2453,1974,3427
$GC,2428,-1.13,-146.6,322.2,-11.8,115,2432,0.00,2.53,0.00,0.000,4,0.000,0.076,2453,597,3427
$GC,2551,-1.13,-146.6,337.3,-12.3,120,2558,0.00,2.47,0.00,0.000,6,0.000,0.058,2453,1966,3427
$GC,2868,-1.17,-146.6,371.8,-10.2,136,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1967,3427
$GC,3177,-1.17,-146.6,402.5,-10.4,151,3181,0.00,2.67,0.00,0.000,4,0.000,0.082,2453,3404,3427
$GC,3221,-1.22,-146.6,407.6,-10.9,153,3226,0.00,2.62,0.00,0.000,6,0.000,0.067,2453,1981,3427
$GC,3543,-1.22,-146.6,443.8,-11.2,169,3547,0.00,2.70,0.00,0.000,4,0.000,0.083,2453,3404,3427
$GC,3583,-1.26,-146.6,448.7,-12.6,171,3588,0.12,2.62,0.00,0.000,6,0.069,0.069,2424,1987,3427
$GC,3912,-1.22,-146.6,491.3,-13.4,187,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,1987,3426
$GC,4220,-1.18,-146.6,530.2,-12.8,202,4224,0.00,2.62,0.00,0.000,4,0.000,0.088,2424,590,3425
$GC,4253,-1.11,-146.6,534.5,-12.9,203,4260,0.17,2.58,0.00,0.000,6,0.107,0.071,2457,1976,3425
$GC,4569,-1.17,-146.6,566.5,-9.6,219,4574,0.00,2.72,0.00,0.000,4,0.000,0.090,2457,3415,3424
$GC,4591,-1.22,-146.6,568.7,-9.5,220,4596,0.12,2.70,0.00,0.000,6,0.071,0.075,2429,1975,3424
$GC,4913,-1.22,-146.6,603.8,-11.3,236,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1975,3422
$GC,5222,-1.22,-146.6,639.8,-11.6,251,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1975,3422
$GC,5532,-1.22,-146.6,675.8,-11.6,266,5537,0.00,2.78,0.00,0.000,4,0.000,0.094,2428,3406,3421
$GC,5554,-1.22,-146.6,678.8,-12.2,267,5559,0.00,2.70,0.00,0.000,6,0.000,0.079,2428,1975,3420
$GC,5875,-1.22,-146.6,717.5,-12.7,283,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1975,3420
$GC,6185,-1.22,-146.6,755.6,-12.1,298,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1975,3418
$GC,6494,-1.22,-146.6,793.0,-12.1,313,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1975,3417
$GC,6803,-1.22,-146.6,828.6,-11.3,328,6808,0.00,2.80,0.00,0.000,4,0.000,0.097,2428,3412,3416
$GC,6843,-1.22,-146.6,833.1,-12.0,330,6847,0.00,2.70,0.00,0.000,6,0.000,0.080,2428,1983,3416
$GC,7169,-1.22,-146.6,870.1,-11.4,346,7170,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1983,3415
$GC,7479,-1.22,-146.6,903.8,-10.7,361,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1983,3415
$GC,7788,-1.22,-146.6,937.3,-11.1,376,7793,0.00,2.78,0.00,0.000,4,0.000,0.097,2428,3408,3413
$GC,7821,-1.22,-146.6,941.2,-11.4,377,7827,0.00,2.70,0.00,0.000,6,0.000,0.081,2428,1982,3413
$GC,8137,-1.22,-146.6,975.5,-10.7,393,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1982,3413
$STATE,8278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8278,begin apogee
$GC,8285,-0.33,0.0,990.3,10.2,400,8412,0.98,0.00,123.50,1.672,6,0.106,0.000,2625,2254,2832
$STATE,8413,end apogee,CONTROL_FINISHED_OK
$STATE,8413,begin climb
$GC,8416,1.44,146.6,994.3,0.0,406,8547,1.83,0.00,125.72,1.622,6,0.085,0.000,3012,2257,2234
$GC,8855,1.37,147.5,957.2,10.0,428,8856,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2257,2233
$GC,9164,1.31,148.2,926.3,10.0,443,9166,0.15,0.00,0.00,0.000,6,0.110,0.000,2986,2257,2232
$GC,9473,1.35,176.6,898.8,8.7,458,9507,0.00,2.83,26.52,1.547,4,0.000,0.092,2985,845,2111
$GC,9547,1.35,176.6,891.5,10.6,461,9552,0.00,2.70,0.00,0.000,6,0.000,0.081,2985,2238,2111
$GC,9863,1.39,198.5,862.0,9.0,476,9885,0.00,0.00,19.95,1.514,6,0.000,0.000,2985,2238,2022
$GC,10193,1.47,218.8,831.9,9.1,492,10218,0.17,2.83,18.92,1.497,4,0.071,0.094,3028,840,1939
$GC,10275,1.40,218.8,822.3,12.1,495,10282,0.12,2.70,0.00,0.000,6,0.123,0.081,3007,2239,1938
$GC,10591,1.40,218.8,788.5,11.2,511,10595,0.00,2.75,0.00,0.000,4,0.000,0.095,3007,839,1938
$GC,10618,1.40,218.8,785.2,11.5,512,10623,0.00,2.67,0.00,0.000,6,0.000,0.081,3007,2232,1938
$GC,10934,1.40,218.8,749.7,11.6,527,10935,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2232,1937
$GC,11243,1.40,218.8,713.1,11.9,542,11247,0.00,2.70,0.00,0.000,4,0.000,0.093,3007,844,1937
$GC,11292,1.40,218.8,706.7,13.7,544,11297,0.00,2.65,0.00,0.000,6,0.000,0.080,3007,2233,1937
$GC,11608,1.40,218.8,669.6,11.7,559,11612,0.00,2.72,0.00,0.000,4,0.000,0.094,3007,840,1937
$GC,11652,1.40,218.8,664.2,12.1,561,11657,0.00,2.62,0.00,0.000,6,0.000,0.079,3007,2221,1937
$GC,11973,1.40,218.8,629.0,10.8,577,11974,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2222,1937
$GC,12282,1.40,218.8,596.0,10.3,592,12286,0.00,2.67,0.00,0.000,4,0.000,0.093,3007,844,1936
$GC,12309,1.40,218.8,593.0,10.1,593,12313,0.00,2.60,0.00,0.000,6,0.000,0.080,3007,2211,1936
$GC,12625,1.40,218.8,560.2,10.3,608,12629,0.00,2.67,0.00,0.000,4,0.000,0.092,3007,837,1937
$GC,12652,1.40,218.8,557.1,11.2,609,12656,0.00,2.60,0.00,0.000,6,0.000,0.078,3007,2208,1937
$GC,12968,1.40,219.0,525.5,10.0,624,12969,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2209,1936
$GC,13277,1.44,219.8,494.0,10.0,639,13282,0.00,2.65,0.00,0.000,4,0.000,0.091,3006,837,1936
$GC,13310,1.44,219.8,490.3,10.3,640,13317,0.00,2.60,0.00,0.000,6,0.000,0.078,3007,2211,1936
$GC,13627,1.53,246.3,461.3,8.8,656,13657,0.12,2.75,23.30,1.308,4,0.078,0.088,3033,843,1828
$GC,13715,1.48,246.3,451.6,11.2,660,13720,0.00,2.55,0.00,0.000,6,0.000,0.077,3034,2189,1828
$GC,14042,1.48,246.3,416.8,10.7,676,14046,0.00,2.80,0.00,0.000,4,0.000,0.091,3034,3655,1828
$GC,14075,1.48,246.3,412.9,11.4,677,14081,0.00,2.78,0.00,0.000,6,0.000,0.074,3034,2183,1828
$GC,14390,1.48,246.3,377.6,11.9,693,14395,0.00,2.85,0.00,0.000,4,0.000,0.091,3034,3661,1829
$GC,14502,1.48,246.3,363.1,12.8,698,14506,0.00,2.70,0.00,0.000,6,0.000,0.071,3034,2219,1829
$GC,14822,1.48,246.3,321.5,13.1,714,14827,0.00,2.58,0.00,0.000,4,0.000,0.084,3034,842,1829
$GC,14889,1.48,246.3,312.3,13.2,717,14894,0.00,2.58,0.00,0.000,6,0.000,0.071,3034,2219,1829
$GC,15211,1.48,246.3,271.2,12.8,733,15212,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2219,1829
$GC,15520,1.48,246.3,230.7,12.8,748,15521,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2219,1829
$GC,15829,1.48,246.3,194.3,11.6,763,15830,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2219,1830
$GC,16138,1.48,246.3,157.6,12.0,778,16140,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2218,1831
$GC,16449,1.48,246.3,120.2,12.0,793,16454,0.00,2.58,0.00,0.000,4,0.000,0.071,3034,836,1832
$GC,16477,1.48,246.3,116.3,13.6,794,16482,0.00,2.53,0.00,0.000,6,0.000,0.060,3034,2225,1832
$GC,16793,1.48,246.3,78.8,11.5,809,16798,0.00,2.58,0.00,0.000,4,0.000,0.070,3034,838,1833
$GC,16834,1.48,246.3,74.0,11.6,811,16838,0.00,2.47,0.00,0.000,6,0.000,0.058,3034,2205,1833
$GC,17167,1.48,246.3,36.4,12.1,827,17171,0.00,2.65,0.00,0.000,4,0.000,0.071,3033,3654,1835
$GC,17188,1.48,246.3,33.2,13.1,828,17193,0.00,2.62,0.00,0.000,6,0.000,0.055,3034,2202,1834
$STATE,17425,end climb,SURFACE_DEPTH_REACHED
$STATE,17425,begin surface coast
$FINISH,0.2,1.015533
$STATE,17446,end surface coast,CONTROL_FINISHED_OK
$STATE,17446,begin surface
$SM_CCo,17469,3.17,0.513,0,0,1811,250.21
$SM_GC,1.81,0.00,0.00,3.17,0.000,0.000,0.513,425,1976,1811,-10.47,-0.68,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1790
$TCM_TEMP,16.70
$XPDR_PINGS,222
$ALTIM_TOP_PING,18.3,999.0
$24V_AH,23.5,5.246
$10V_AH,10.0,2.468
$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,25.950,139.050,337.925,3.175,0.000,37.762,26.362,156.699,64.500,0.000,0.000,11.197,1541.355,13537.813,480.713,1754.252,499.692,33.352,1372.766,0.000,1714.384,0.000,58.492,0.000
$DEVICE_MAMPS,143.429,96.642,1672.060,513.123,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,622.678,569.419,432.947,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41064,841
$CAP_FILE_SIZE,126474,0
$CFSIZE,254472192,251400192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,44,0,0
$GPS,081108,210832,6309.528,-603.249,43,0.9,43,-8.2