version: 66.04
glider: 5
mission: 5
dive: 18
start: 11 9 108 18 0 42
data:
$ID,5
$MISSION,5
$DIVE,18
$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,-87581.312
$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,28
$R_STBD_OVSHOOT,18
$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
$GPS1,175155,6256.035,-608.601,42,1.1,42,-8.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-57.4
$GPS2,175951,6256.033,-608.562,11,1.7,11,-8.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.057,-0.257
$KALMAN_X,35848.4,142.5,-66.5,-39585.4,1882.1
$KALMAN_Y,-26088.6,334.7,278.8,-56469.8,-2482.9
$MHEAD_RNG_PITCHd_Wd,200.7,29847,-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,16,-1.44,-146.6,0.0,0.0,0,99,0.00,0.00,-81.10,0.000,2,0.000,0.000,423,1977,3367
$GC,102,-1.44,-146.6,4.1,-4.4,4,125,10.32,2.70,-1.50,0.000,4,0.146,0.078,2378,3419,3433
$GC,181,-1.26,-146.6,24.8,-17.2,7,186,0.22,2.58,0.00,0.000,6,0.098,0.054,2420,1998,3433
$GC,498,-1.18,-146.6,68.4,-13.1,22,502,0.10,2.58,0.00,0.000,4,0.109,0.069,2440,586,3434
$GC,553,-1.18,-146.6,76.4,-14.3,24,559,0.00,2.53,0.00,0.000,6,0.000,0.054,2440,1994,3434
$GC,870,-1.18,-146.6,117.0,-13.0,40,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1995,3435
$GC,1178,-1.18,-146.6,156.7,-12.8,55,1182,0.00,2.60,0.00,0.000,4,0.000,0.070,2440,589,3435
$GC,1240,-1.18,-146.6,164.8,-13.1,58,1244,0.00,2.50,0.00,0.000,6,0.000,0.054,2440,1984,3435
$GC,1566,-1.18,-146.6,206.5,-12.4,74,1570,0.00,2.58,0.00,0.000,4,0.000,0.071,2440,592,3435
$GC,1599,-1.18,-146.6,210.8,-12.5,75,1605,0.00,2.47,0.00,0.000,6,0.000,0.055,2440,1972,3436
$GC,1916,-1.18,-146.6,251.5,-12.4,91,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1972,3436
$GC,2224,-1.18,-146.6,289.4,-12.0,106,2228,0.00,2.55,0.00,0.000,4,0.000,0.071,2440,594,3436
$GC,2268,-1.18,-146.6,294.9,-12.9,108,2272,0.00,2.47,0.00,0.000,6,0.000,0.057,2440,1968,3436
$GC,2589,-1.18,-146.6,332.5,-11.6,124,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1967,3436
$GC,2898,-1.18,-146.6,369.5,-12.5,139,2902,0.00,2.65,0.00,0.000,4,0.000,0.074,2440,3411,3436
$GC,2953,-1.18,-146.6,376.9,-14.0,141,2959,0.00,2.67,0.00,0.000,6,0.000,0.061,2439,1943,3436
$GC,3268,-1.18,-146.6,416.6,-11.6,157,3272,0.00,2.47,0.00,0.000,4,0.000,0.077,2439,589,3436
$GC,3314,-1.18,-146.6,422.2,-12.4,159,3318,0.00,2.45,0.00,0.000,6,0.000,0.059,2440,1950,3437
$GC,3646,-1.18,-146.6,460.2,-11.0,175,3650,0.00,2.67,0.00,0.000,4,0.000,0.077,2440,3408,3436
$GC,3685,-1.18,-146.6,464.6,-11.0,177,3690,0.00,2.65,0.00,0.000,6,0.000,0.063,2440,1959,3436
$GC,4012,-1.18,-146.6,498.0,-9.9,193,4017,0.00,2.72,0.00,0.000,4,0.000,0.080,2440,3406,3436
$GC,4068,-1.18,-146.6,504.1,-10.9,195,4075,0.00,2.65,0.00,0.000,6,0.000,0.066,2440,1966,3436
$GC,4384,-1.18,-146.6,539.0,-11.0,211,4389,0.00,2.55,0.00,0.000,4,0.000,0.084,2440,593,3436
$GC,4429,-1.18,-146.6,544.3,-11.7,213,4433,0.00,2.55,0.00,0.000,6,0.000,0.067,2441,1978,3436
$GC,4750,-1.18,-146.6,581.2,-11.8,229,4754,0.00,2.70,0.00,0.000,4,0.000,0.088,2440,3411,3434
$GC,4771,-1.18,-146.6,583.9,-11.7,230,4776,0.00,2.65,0.00,0.000,6,0.000,0.072,2440,1981,3434
$GC,5092,-1.18,-146.6,620.5,-11.3,246,5097,0.00,2.75,0.00,0.000,4,0.000,0.091,2440,3408,3433
$GC,5119,-1.18,-146.6,623.9,-11.7,247,5124,0.00,2.65,0.00,0.000,6,0.000,0.073,2440,1991,3433
$GC,5435,-1.18,-146.6,658.5,-10.8,262,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1991,3432
$GC,5744,-1.18,-146.6,691.1,-10.4,277,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1991,3431
$GC,6054,-1.18,-146.6,723.9,-10.5,292,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1991,3429
$GC,6363,-1.18,-146.6,757.2,-10.8,307,6367,0.00,2.75,0.00,0.000,4,0.000,0.095,2440,3406,3428
$GC,6384,-1.18,-146.6,759.7,-11.9,308,6389,0.00,2.65,0.00,0.000,6,0.000,0.077,2440,1998,3427
$GC,6705,-1.18,-146.6,794.8,-11.0,324,6706,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1997,3426
$GC,7014,-1.18,-146.6,827.9,-10.7,339,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1998,3425
$GC,7324,-1.23,-146.6,860.8,-10.4,354,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1997,3425
$STATE,7486,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7486,begin apogee
$GC,7493,-0.33,0.0,877.5,9.5,362,7620,0.85,0.00,123.50,1.594,6,0.074,0.000,2626,2257,2832
$STATE,7621,end apogee,CONTROL_FINISHED_OK
$STATE,7621,begin climb
$GC,7624,1.44,146.6,877.2,0.0,368,7752,1.80,0.00,123.35,1.542,6,0.071,0.000,3010,2257,2234
$GC,8056,1.49,179.2,847.4,8.5,389,8090,0.00,2.85,28.58,1.463,4,0.000,0.091,3010,847,2101
$GC,8125,1.50,185.2,840.9,9.7,392,8142,0.00,2.70,6.93,1.206,6,0.000,0.079,3010,2246,2076
$GC,8451,1.54,207.2,811.5,9.0,408,8477,0.12,2.83,19.95,1.437,4,0.074,0.093,3039,844,1987
$GC,8513,1.46,207.2,804.8,12.1,411,8518,0.12,2.70,0.00,0.000,6,0.120,0.081,3019,2242,1986
$GC,8840,1.46,207.2,770.2,10.5,427,8841,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2242,1986
$GC,9149,1.46,207.2,737.1,10.8,442,9154,0.00,2.75,0.00,0.000,4,0.000,0.094,3019,839,1985
$GC,9182,1.46,207.2,733.4,10.9,443,9188,0.00,2.67,0.00,0.000,6,0.000,0.081,3019,2235,1985
$GC,9498,1.46,208.3,700.8,9.9,459,9502,0.00,2.72,0.00,0.000,4,0.000,0.093,3019,841,1984
$GC,9525,1.46,208.3,697.9,10.7,460,9529,0.00,2.65,0.00,0.000,6,0.000,0.080,3019,2230,1984
$GC,9841,1.47,212.4,666.8,9.8,475,9851,0.00,2.72,5.62,1.158,4,0.000,0.092,3019,843,1966
$GC,9891,1.47,212.4,661.5,10.6,477,9895,0.00,2.62,0.00,0.000,6,0.000,0.081,3019,2219,1966
$GC,10206,1.47,212.4,629.8,10.1,492,10208,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2219,1965
$GC,10516,1.48,218.3,599.4,9.7,507,10529,0.00,2.78,6.47,1.189,4,0.000,0.092,3019,838,1941
$GC,10570,1.48,218.3,593.7,10.6,509,10574,0.00,2.62,0.00,0.000,6,0.000,0.079,3019,2212,1941
$GC,10886,1.49,225.5,563.9,9.7,524,10895,0.00,0.00,7.68,1.216,6,0.000,0.000,3019,2212,1912
$GC,11195,1.53,225.5,532.7,10.0,539,11199,0.00,2.65,0.00,0.000,4,0.000,0.090,3019,840,1912
$GC,11228,1.53,227.2,529.0,9.9,540,11235,0.00,2.60,0.00,0.000,6,0.000,0.079,3019,2213,1912
$GC,11545,1.58,227.3,497.5,10.0,556,11547,0.12,0.00,0.00,0.000,6,0.077,0.000,3046,2213,1912
$GC,11853,1.58,227.3,461.9,12.1,571,11858,0.00,2.78,0.00,0.000,4,0.000,0.097,3046,3656,1912
$GC,11921,1.51,227.3,453.3,11.9,574,11925,0.00,2.70,0.00,0.000,6,0.000,0.075,3046,2221,1912
$GC,12241,1.51,227.3,416.5,11.3,590,12242,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2222,1912
$GC,12551,1.51,227.3,381.5,10.9,605,12555,0.00,2.80,0.00,0.000,4,0.000,0.095,3046,3657,1912
$GC,12607,1.51,227.3,374.9,11.9,607,12613,0.00,2.65,0.00,0.000,6,0.000,0.073,3046,2241,1912
$GC,12923,1.51,227.3,340.8,10.3,623,12927,0.00,2.62,0.00,0.000,4,0.000,0.086,3046,843,1912
$GC,12973,1.47,227.3,335.4,11.8,625,12978,0.15,2.62,0.00,0.000,6,0.114,0.074,3020,2242,1912
$GC,13289,1.56,239.0,305.8,9.5,640,13311,0.00,2.78,12.82,1.089,4,0.000,0.094,3020,3652,1857
$GC,13362,1.61,239.0,298.4,10.4,643,13367,0.15,2.60,0.00,0.000,6,0.073,0.068,3052,2253,1857
$GC,13683,1.61,239.0,260.9,11.5,659,13684,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2254,1857
$GC,13992,1.61,239.0,223.2,12.1,674,13993,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2254,1858
$GC,14302,1.61,239.0,185.9,11.8,689,14306,0.00,2.62,0.00,0.000,4,0.000,0.077,3052,836,1858
$GC,14341,1.61,239.0,181.2,12.7,691,14346,0.00,2.62,0.00,0.000,6,0.000,0.066,3053,2256,1858
$GC,14668,1.61,239.0,143.0,11.7,707,14669,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2257,1859
$GC,14977,1.61,239.0,105.3,12.3,722,14982,0.00,2.65,0.00,0.000,4,0.000,0.074,3052,840,1860
$GC,15028,1.61,239.0,98.7,12.5,724,15032,0.00,2.58,0.00,0.000,6,0.000,0.064,3053,2240,1860
$GC,15344,1.61,239.0,59.0,12.9,739,15345,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2240,1861
$GC,15653,1.61,239.0,20.2,12.1,754,15654,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2240,1862
$STATE,15794,end climb,SURFACE_DEPTH_REACHED
$STATE,15795,begin surface coast
$FINISH,0.3,1.027359
$STATE,15816,end surface coast,CONTROL_FINISHED_OK
$STATE,15817,begin surface
$SM_CCo,15839,6.62,0.745,0,0,1812,250.21
$SM_GC,2.08,0.00,0.00,6.62,0.000,0.000,0.745,424,1962,1812,-10.47,-1.07,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1823
$TCM_TEMP,15.70
$XPDR_PINGS,219
$ALTIM_TOP_PING,17.5,999.0
$ALTIM_BOTTOM_PING,825.7,61.7
$24V_AH,23.6,6.110
$10V_AH,10.0,2.856
$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,25.550,138.650,334.900,6.625,0.000,75.512,56.257,166.921,62.750,0.000,0.000,11.266,1401.690,12292.452,495.233,1572.517,560.823,33.364,1305.097,0.000,1533.443,0.000,54.735,0.000
$DEVICE_MAMPS,145.730,97.409,1593.826,744.757,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,557.698,515.268,412.932,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37976,762
$CAP_FILE_SIZE,117924,0
$CFSIZE,254472192,251088896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,44,0,0
$GPS,091108,222627,6252.671,-605.964,39,3.1,58,-8.1