version: 66.04
glider: 5
mission: 5
dive: 16
start: 11 9 108 7 40 2
data:
$ID,5
$MISSION,5
$DIVE,16
$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,-87556.109
$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,26
$R_STBD_OVSHOOT,22
$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
$GPS1,073337,6302.708,-607.904,28,1.3,28,-8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-59.5
$GPS2,073909,6302.719,-607.957,14,1.3,14,-8.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.126,-0.231
$KALMAN_X,33633.1,-447.5,-246.6,-36086.4,2951.5
$KALMAN_Y,-23403.1,184.6,359.7,-46697.7,-3327.4
$MHEAD_RNG_PITCHd_Wd,216.8,42151,-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,13,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,-80.93,0.000,2,0.000,0.000,423,1964,3418
$GC,102,-1.44,-146.6,5.4,-7.0,4,119,10.20,2.53,-0.22,0.000,4,0.140,0.077,2375,590,3431
$GC,282,-1.23,-146.6,45.0,-17.1,11,287,0.30,2.53,0.00,0.000,6,0.099,0.054,2432,2000,3431
$GC,604,-1.19,-146.6,89.5,-13.0,27,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2000,3432
$GC,914,-1.15,-146.6,130.2,-13.6,42,918,0.00,2.60,0.00,0.000,4,0.000,0.068,2432,590,3432
$GC,947,-1.09,-146.6,135.1,-13.9,43,954,0.15,2.53,0.00,0.000,6,0.098,0.055,2461,1997,3432
$GC,1263,-1.13,-146.6,172.0,-11.5,59,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1997,3433
$GC,1572,-1.17,-146.6,206.5,-11.1,74,1577,0.00,2.60,0.00,0.000,4,0.000,0.070,2462,591,3433
$GC,1622,-1.22,-146.6,212.6,-11.6,76,1627,0.15,2.53,0.00,0.000,6,0.055,0.056,2425,1991,3433
$GC,1939,-1.16,-146.6,255.1,-13.5,91,1944,0.12,2.62,0.00,0.000,4,0.105,0.073,2448,589,3433
$GC,1978,-1.16,-146.6,260.4,-12.3,93,1983,0.00,2.50,0.00,0.000,6,0.000,0.058,2448,1978,3433
$GC,2306,-1.16,-146.6,300.1,-12.1,109,2310,0.00,2.55,0.00,0.000,4,0.000,0.073,2448,599,3434
$GC,2369,-1.16,-146.6,308.1,-12.8,112,2373,0.00,2.45,0.00,0.000,6,0.000,0.058,2448,1960,3433
$GC,2695,-1.16,-146.6,345.3,-10.8,128,2699,0.00,2.55,0.00,0.000,4,0.000,0.075,2448,592,3433
$GC,2716,-1.16,-146.6,348.0,-11.3,129,2721,0.00,2.45,0.00,0.000,6,0.000,0.058,2448,1946,3433
$GC,3038,-1.16,-146.6,381.7,-10.9,145,3042,0.00,2.70,0.00,0.000,4,0.000,0.077,2448,3409,3433
$GC,3150,-1.21,-146.6,394.0,-11.3,150,3154,0.00,2.62,0.00,0.000,6,0.000,0.062,2448,1974,3434
$GC,3471,-1.21,-146.6,427.7,-10.5,166,3475,0.00,2.70,0.00,0.000,4,0.000,0.077,2448,3412,3433
$GC,3510,-1.21,-146.6,432.0,-11.1,168,3515,0.00,2.62,0.00,0.000,6,0.000,0.064,2448,1979,3433
$GC,3837,-1.21,-146.6,467.6,-11.0,184,3841,0.00,2.58,0.00,0.000,4,0.000,0.081,2448,589,3433
$GC,3864,-1.21,-146.6,470.8,-11.2,185,3868,0.00,2.55,0.00,0.000,6,0.000,0.064,2448,1983,3433
$GC,4179,-1.21,-146.6,505.8,-11.2,200,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1984,3433
$GC,4488,-1.21,-146.6,539.7,-11.1,215,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1984,3432
$GC,4798,-1.21,-146.6,571.2,-10.1,230,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1985,3431
$GC,5107,-1.21,-146.6,602.2,-10.0,245,5111,0.00,2.70,0.00,0.000,4,0.000,0.093,2448,3405,3431
$GC,5134,-1.21,-146.6,605.0,-10.4,246,5138,0.00,2.67,0.00,0.000,6,0.000,0.076,2448,1971,3430
$GC,5450,-1.21,-146.6,637.6,-11.0,261,5455,0.00,2.78,0.00,0.000,4,0.000,0.094,2448,3405,3429
$GC,5506,-1.26,-146.6,643.9,-11.3,263,5512,0.10,2.67,0.00,0.000,6,0.078,0.077,2425,1981,3429
$GC,5821,-1.26,-146.6,681.2,-11.9,279,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1981,3428
$GC,6130,-1.26,-146.6,718.7,-11.9,294,6135,0.00,2.75,0.00,0.000,4,0.000,0.094,2425,3405,3427
$GC,6163,-1.26,-146.6,723.0,-12.6,295,6170,0.00,2.67,0.00,0.000,6,0.000,0.078,2425,1984,3426
$GC,6479,-1.26,-146.6,761.1,-12.3,311,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1984,3425
$GC,6788,-1.26,-146.6,798.9,-12.3,326,6793,0.00,2.78,0.00,0.000,4,0.000,0.097,2425,3409,3424
$GC,6810,-1.26,-146.6,801.7,-12.7,327,6814,0.00,2.67,0.00,0.000,6,0.000,0.079,2425,1993,3424
$GC,7130,-1.26,-146.6,841.0,-12.1,343,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1993,3423
$GC,7440,-1.26,-146.6,878.4,-12.0,358,7444,0.00,2.75,0.00,0.000,4,0.000,0.097,2425,3405,3423
$GC,7472,-1.26,-146.6,882.6,-12.1,359,7479,0.00,2.67,0.00,0.000,6,0.000,0.082,2425,1990,3422
$GC,7788,-1.26,-146.6,920.8,-11.8,375,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1990,3422
$GC,8097,-1.26,-146.6,957.0,-11.5,390,8102,0.00,2.78,0.00,0.000,4,0.000,0.097,2425,3412,3421
$GC,8137,-1.26,-146.6,961.7,-11.4,392,8141,0.00,2.67,0.00,0.000,6,0.000,0.080,2425,1998,3421
$STATE,8378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8378,begin apogee
$GC,8385,-0.33,0.0,991.1,12.2,404,8513,0.98,0.00,124.30,1.679,6,0.104,0.000,2622,2255,2832
$STATE,8513,end apogee,CONTROL_FINISHED_OK
$STATE,8513,begin climb
$GC,8516,1.44,146.6,997.0,0.0,410,8650,1.85,2.80,124.72,1.630,4,0.080,0.100,3009,3654,2234
$GC,8675,1.35,160.4,989.1,9.4,417,8695,0.00,2.72,13.57,1.457,6,0.000,0.080,3010,2246,2176
$GC,9018,1.31,171.2,957.3,9.5,434,9031,0.12,0.00,10.50,1.404,6,0.114,0.000,2988,2246,2134
$GC,9327,1.32,176.8,928.3,9.7,449,9340,0.00,2.80,6.50,1.270,4,0.000,0.095,2988,838,2111
$GC,9370,1.32,176.8,923.8,10.7,451,9375,0.00,2.70,0.00,0.000,6,0.000,0.079,2988,2242,2111
$GC,9697,1.32,177.3,891.3,10.0,467,9702,0.00,2.75,0.00,0.000,4,0.000,0.094,2988,840,2110
$GC,9724,1.32,177.3,888.2,11.4,468,9729,0.00,2.67,0.00,0.000,6,0.000,0.081,2988,2235,2110
$GC,10040,1.33,179.2,856.7,9.9,483,10046,0.00,0.00,3.83,0.984,6,0.000,0.000,2988,2235,2101
$GC,10349,1.35,192.5,827.2,9.4,498,10371,0.00,2.83,12.80,1.447,4,0.000,0.093,2988,842,2047
$GC,10405,1.35,193.8,821.6,9.9,500,10410,0.00,2.67,0.00,0.000,6,0.000,0.080,2988,2233,2047
$GC,10722,1.42,206.2,791.7,9.4,515,10741,0.00,0.00,13.45,1.441,6,0.000,0.000,2988,2234,1991
$GC,11051,1.48,213.1,760.2,9.7,531,11066,0.17,2.80,7.40,1.299,4,0.071,0.093,3030,843,1963
$GC,11140,1.39,213.1,749.4,13.0,535,11146,0.15,2.65,0.00,0.000,6,0.120,0.080,3004,2227,1963
$GC,11468,1.39,213.1,715.2,10.4,551,11473,0.00,2.70,0.00,0.000,4,0.000,0.093,3004,843,1962
$GC,11497,1.39,213.1,712.1,10.6,552,11501,0.00,2.62,0.00,0.000,6,0.000,0.079,3004,2221,1962
$GC,11812,1.39,213.1,679.5,10.4,567,11813,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2222,1962
$GC,12121,1.39,213.1,647.9,10.0,582,12126,0.00,2.70,0.00,0.000,4,0.000,0.094,3004,836,1962
$GC,12171,1.39,213.1,642.7,10.5,584,12175,0.00,2.62,0.00,0.000,6,0.000,0.080,3004,2216,1961
$GC,12487,1.43,213.1,610.0,10.7,599,12488,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2217,1962
$GC,12796,1.43,213.1,577.3,10.2,614,12797,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2217,1962
$GC,13105,1.44,217.0,546.1,9.8,629,13115,0.00,2.70,4.68,1.045,4,0.000,0.091,3004,837,1947
$GC,13149,1.44,217.0,541.5,10.5,631,13153,0.00,2.62,0.00,0.000,6,0.000,0.078,3004,2214,1947
$GC,13470,1.49,219.2,510.2,9.9,647,13476,0.00,0.00,3.67,0.881,6,0.000,0.000,3004,2214,1938
$GC,13779,1.54,219.2,478.3,10.4,662,13784,0.15,2.65,0.00,0.000,4,0.074,0.087,3037,841,1938
$GC,13857,1.45,219.2,468.0,13.5,665,13864,0.00,2.55,0.00,0.000,6,0.000,0.076,3036,2197,1938
$GC,14174,1.41,219.2,430.9,12.0,681,14176,0.15,0.00,0.00,0.000,6,0.115,0.000,3011,2198,1938
$GC,14483,1.41,219.2,397.9,10.3,696,14484,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2198,1938
$GC,14792,1.42,222.7,367.2,9.8,711,14799,0.00,0.00,4.65,0.940,6,0.000,0.000,3011,2199,1925
$GC,15102,1.43,230.2,337.6,9.7,726,15116,0.00,2.83,8.02,1.084,4,0.000,0.085,3011,3654,1893
$GC,15207,1.43,230.2,325.8,10.8,730,15213,0.00,2.72,0.00,0.000,6,0.000,0.066,3011,2182,1892
$GC,15523,1.48,230.2,294.1,10.2,746,15527,0.00,2.47,0.00,0.000,4,0.000,0.077,3011,840,1893
$GC,15585,1.48,230.2,287.1,10.6,748,15591,0.00,2.47,0.00,0.000,6,0.000,0.064,3010,2181,1893
$GC,15901,1.55,240.2,255.4,9.5,764,15914,0.12,0.00,10.27,1.034,6,0.067,0.000,3040,2182,1852
$GC,16209,1.55,240.2,219.7,12.0,779,16210,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2181,1852
$GC,16518,1.55,240.2,181.2,13.1,794,16523,0.00,2.72,0.00,0.000,4,0.000,0.074,3040,3665,1854
$GC,16546,1.55,240.2,177.0,15.5,795,16551,0.00,2.72,0.00,0.000,6,0.000,0.058,3040,2167,1854
$GC,16862,1.55,240.2,138.1,11.7,810,16863,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2167,1855
$GC,17171,1.55,240.2,100.7,12.0,825,17176,0.00,2.78,0.00,0.000,4,0.000,0.071,3041,3659,1855
$GC,17222,1.55,240.2,94.5,10.8,827,17226,0.00,2.67,0.00,0.000,6,0.000,0.054,3040,2174,1856
$GC,17538,1.55,240.2,59.5,11.8,842,17542,0.00,2.78,0.00,0.000,4,0.000,0.070,3041,3667,1856
$GC,17577,1.55,240.2,54.5,13.8,844,17582,0.00,2.65,0.00,0.000,6,0.000,0.054,3040,2189,1857
$GC,17904,1.55,240.2,13.9,11.3,860,17905,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2189,1857
$STATE,17984,end climb,SURFACE_DEPTH_REACHED
$STATE,17984,begin surface coast
$FINISH,-0.0,1.027350
$STATE,18006,end surface coast,CONTROL_FINISHED_OK
$STATE,18006,begin surface
$SM_CCo,18029,5.95,0.729,0,0,1811,250.21
$SM_GC,2.02,0.00,0.00,5.95,0.000,0.000,0.729,424,1962,1811,-10.47,-1.07,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1780
$TCM_TEMP,16.70
$XPDR_PINGS,269
$ALTIM_TOP_PING,18.1,999.0
$24V_AH,23.5,5.765
$10V_AH,10.0,2.704
$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,26.200,155.025,348.375,5.950,0.000,37.756,29.347,143.181,76.250,0.000,0.000,14.499,1600.196,13953.300,510.394,1803.551,502.479,33.365,1433.798,0.000,1758.049,0.000,58.450,0.000
$DEVICE_MAMPS,140.361,99.710,1678.963,728.650,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,642.619,586.015,448.558,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44160,865
$CAP_FILE_SIZE,134683,0
$CFSIZE,254472192,251191296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,50,0,0
$GPS,091108,124155,6259.251,-609.628,38,0.9,38,-8.2