version: 66.04
glider: 5
mission: 5
dive: 42
start: 11 12 108 5 32 12
data:
$ID,5
$MISSION,5
$DIVE,42
$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,-88064.516
$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,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
$GPS1,051428,6242.867,-456.496,39,1.3,41,-7.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-64.2
$GPS2,053121,6242.907,-456.451,12,1.0,12,-7.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.147,0.219
$KALMAN_X,42087.8,701.6,-78.0,12862.7,-1203.0
$KALMAN_Y,-34469.4,1285.8,616.1,-73703.5,-3955.5
$MHEAD_RNG_PITCHd_Wd,41.2,35919,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.15,0.000,2,0.000,0.000,421,1979,3036
$GC,82,-1.44,-146.6,3.3,-4.7,3,109,10.10,2.53,-11.12,0.000,4,0.137,0.077,2377,599,3430
$GC,190,-1.20,-146.6,24.0,-18.2,8,195,0.30,2.53,0.00,0.000,6,0.096,0.052,2434,2009,3430
$GC,519,-1.14,-146.6,68.5,-13.1,24,524,0.00,2.60,0.00,0.000,4,0.000,0.067,2434,594,3431
$GC,584,-1.09,-146.6,77.6,-14.1,27,589,0.12,2.50,0.00,0.000,6,0.106,0.053,2459,1991,3431
$GC,913,-1.09,-146.6,115.7,-11.2,43,917,0.00,2.58,0.00,0.000,4,0.000,0.068,2459,593,3431
$GC,962,-1.09,-146.6,121.9,-11.9,45,966,0.00,2.47,0.00,0.000,6,0.000,0.053,2459,1977,3431
$GC,1278,-1.09,-146.6,158.6,-11.0,60,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1977,3431
$GC,1587,-1.09,-146.6,196.6,-12.6,75,1591,0.00,2.53,0.00,0.000,4,0.000,0.068,2459,595,3432
$GC,1636,-1.09,-146.6,203.1,-12.7,77,1641,0.00,2.47,0.00,0.000,6,0.000,0.054,2459,1978,3432
$GC,1952,-1.09,-146.6,243.1,-13.1,92,1956,0.00,2.53,0.00,0.000,4,0.000,0.069,2459,599,3432
$GC,1980,-1.09,-146.6,246.8,-13.6,93,1984,0.00,2.45,0.00,0.000,6,0.000,0.054,2459,1967,3432
$GC,2296,-1.09,-146.6,287.6,-12.6,108,2300,0.00,2.62,0.00,0.000,4,0.000,0.071,2459,3409,3432
$GC,2351,-1.13,-146.6,294.8,-12.8,110,2358,0.00,2.58,0.00,0.000,6,0.000,0.054,2459,1976,3431
$GC,2667,-1.13,-146.6,333.7,-12.2,126,2672,0.00,2.50,0.00,0.000,4,0.000,0.070,2460,593,3432
$GC,2768,-1.13,-146.6,345.7,-11.1,130,2774,0.00,2.47,0.00,0.000,6,0.000,0.054,2459,1980,3432
$GC,3084,-1.13,-146.6,381.9,-11.7,146,3089,0.00,2.55,0.00,0.000,4,0.000,0.071,2459,594,3432
$GC,3134,-1.13,-146.6,387.9,-11.5,148,3139,0.00,2.42,0.00,0.000,6,0.000,0.056,2459,1946,3432
$GC,3450,-1.13,-146.6,420.9,-10.5,163,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1945,3432
$GC,3761,-1.18,-146.6,451.3,-9.3,178,3765,0.00,2.53,0.00,0.000,4,0.000,0.076,2459,587,3432
$GC,3811,-1.23,-146.6,456.6,-10.2,180,3816,0.12,2.42,0.00,0.000,6,0.061,0.059,2428,1929,3432
$GC,4127,-1.19,-146.6,491.6,-11.3,195,4132,0.00,2.72,0.00,0.000,4,0.000,0.079,2428,3404,3432
$GC,4202,-1.19,-146.6,500.5,-12.1,198,4207,0.00,2.72,0.00,0.000,6,0.000,0.064,2428,1913,3431
$GC,4518,-1.19,-146.6,537.6,-11.8,213,4522,0.00,2.42,0.00,0.000,4,0.000,0.081,2428,597,3431
$GC,4581,-1.15,-146.6,545.2,-12.3,216,4586,0.12,2.40,0.00,0.000,6,0.110,0.065,2450,1910,3431
$GC,4907,-1.15,-146.6,580.7,-10.7,232,4912,0.00,2.80,0.00,0.000,4,0.000,0.087,2451,3402,3429
$GC,4941,-1.15,-146.6,584.6,-11.0,233,4947,0.00,2.78,0.00,0.000,6,0.000,0.071,2450,1903,3430
$GC,5257,-1.15,-146.6,617.4,-10.2,249,5261,0.00,2.88,0.00,0.000,4,0.000,0.090,2451,3405,3428
$GC,5307,-1.21,-146.6,622.9,-11.6,251,5311,0.00,2.75,0.00,0.000,6,0.000,0.072,2450,1918,3428
$GC,5623,-1.25,-146.6,655.8,-10.6,266,5628,0.00,2.85,0.00,0.000,4,0.000,0.091,2450,3405,3427
$GC,5656,-1.30,-146.6,659.7,-11.4,267,5663,0.15,2.75,0.00,0.000,6,0.074,0.074,2416,1928,3426
$GC,5973,-1.24,-146.6,699.5,-13.0,283,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1927,3425
$GC,6282,-1.18,-146.6,738.1,-12.1,298,6284,0.12,0.00,0.00,0.000,6,0.121,0.000,2439,1927,3424
$GC,6591,-1.18,-146.6,771.9,-11.1,313,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1927,3423
$GC,6900,-1.18,-146.6,805.4,-10.1,328,6904,0.00,2.53,0.00,0.000,4,0.000,0.096,2438,595,3422
$STATE,6914,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6914,begin apogee
$GC,6924,-0.33,0.0,807.1,9.6,328,7051,0.88,0.00,122.68,1.503,6,0.110,0.000,2621,2248,2832
$STATE,7052,end apogee,CONTROL_FINISHED_OK
$STATE,7052,begin climb
$GC,7055,1.44,146.6,812.0,0.0,335,7188,1.85,2.85,122.65,1.457,4,0.080,0.101,3010,3652,2234
$GC,7238,1.37,174.1,802.5,8.8,343,7269,0.00,2.67,24.40,1.374,6,0.000,0.079,3010,2256,2121
$GC,7599,1.38,182.8,768.8,9.6,361,7613,0.00,2.75,8.98,1.240,4,0.000,0.092,3010,842,2086
$GC,7659,1.32,182.8,762.2,10.3,363,7666,0.12,2.70,0.00,0.000,6,0.113,0.078,2990,2251,2086
$GC,7975,1.40,204.6,734.7,9.0,379,8000,0.00,2.80,19.70,1.376,4,0.000,0.089,2989,844,1997
$GC,8023,1.42,213.4,730.2,9.6,381,8038,0.00,2.67,8.90,1.236,6,0.000,0.078,2989,2235,1962
$GC,8369,1.51,229.6,698.4,9.3,398,8391,0.17,2.78,15.02,1.341,4,0.067,0.092,3028,840,1895
$GC,8415,1.44,229.6,693.1,11.5,400,8420,0.00,2.67,0.00,0.000,6,0.000,0.078,3028,2232,1894
$GC,8742,1.44,229.6,656.9,11.0,416,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2233,1894
$GC,9051,1.44,229.6,624.2,10.5,431,9052,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2233,1893
$GC,9360,1.44,229.6,593.1,10.2,446,9365,0.00,2.75,0.00,0.000,4,0.000,0.098,3028,3657,1892
$GC,9388,1.44,229.6,589.7,11.5,447,9393,0.00,2.72,0.00,0.000,6,0.000,0.078,3028,2216,1892
$GC,9704,1.44,229.6,553.9,11.4,462,9708,0.00,2.60,0.00,0.000,4,0.000,0.091,3028,841,1892
$GC,9744,1.40,229.6,548.9,13.0,464,9749,0.12,2.60,0.00,0.000,6,0.118,0.077,3008,2219,1892
$GC,10071,1.45,229.6,514.0,10.4,480,10076,0.00,2.65,0.00,0.000,4,0.000,0.087,3008,838,1891
$GC,10127,1.45,229.6,507.8,10.8,482,10133,0.00,2.55,0.00,0.000,6,0.000,0.076,3008,2191,1891
$GC,10443,1.49,229.6,475.6,10.1,498,10447,0.00,2.78,0.00,0.000,4,0.000,0.094,3008,3656,1891
$GC,10487,1.50,231.5,471.0,9.9,500,10492,0.00,2.75,0.00,0.000,6,0.000,0.073,3007,2182,1891
$GC,10809,1.56,232.8,441.0,9.9,516,10811,0.15,0.00,0.00,0.000,6,0.071,0.000,3041,2161,1891
$GC,11118,1.51,232.8,403.5,12.7,531,11123,0.00,2.83,0.00,0.000,4,0.000,0.087,3041,3657,1890
$GC,11163,1.46,232.8,397.7,12.6,533,11168,0.12,2.75,0.00,0.000,6,0.116,0.067,3020,2169,1890
$GC,11484,1.46,232.8,364.1,10.5,549,11489,0.00,2.83,0.00,0.000,4,0.000,0.083,3020,3658,1891
$GC,11574,1.46,232.8,353.8,11.4,553,11578,0.00,2.70,0.00,0.000,6,0.000,0.064,3020,2183,1890
$GC,11895,1.46,232.8,320.2,10.2,569,11899,0.00,2.78,0.00,0.000,4,0.000,0.078,3020,3658,1891
$GC,11934,1.46,232.8,315.8,10.8,571,11943,0.00,2.65,3.85,0.758,6,0.000,0.060,3019,2198,1882
$GC,12267,1.46,233.7,282.3,10.0,587,12268,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2198,1883
$GC,12576,1.46,233.7,250.1,10.5,602,12580,0.00,2.72,0.00,0.000,4,0.000,0.074,3020,3659,1884
$GC,12625,1.46,233.7,244.4,11.2,604,12630,0.00,2.60,0.00,0.000,6,0.000,0.055,3020,2214,1884
$GC,12941,1.50,233.7,210.4,10.8,619,12942,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2213,1885
$GC,13250,1.55,233.7,177.1,10.6,634,13251,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2214,1886
$GC,13561,1.61,239.7,144.9,9.7,649,13576,0.15,2.72,8.32,0.848,4,0.059,0.069,3057,3654,1853
$GC,13632,1.55,239.7,135.9,12.2,652,13637,0.00,2.55,0.00,0.000,6,0.000,0.051,3057,2235,1854
$GC,13954,1.50,239.7,93.8,13.4,668,13959,0.17,2.65,0.00,0.000,4,0.097,0.068,3021,3667,1854
$GC,13995,1.54,239.7,88.7,11.9,670,13999,0.00,2.55,0.00,0.000,6,0.000,0.051,3021,2239,1854
$GC,14322,1.60,239.7,49.2,10.9,686,14327,0.12,2.65,0.00,0.000,4,0.060,0.067,3052,3663,1855
$GC,14355,1.60,239.7,43.9,15.5,687,14361,0.00,2.50,0.00,0.000,6,0.000,0.051,3052,2255,1856
$GC,14672,1.54,239.7,7.5,11.7,703,14673,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2244,1856
$STATE,14709,end climb,SURFACE_DEPTH_REACHED
$STATE,14709,begin surface coast
$FINISH,0.6,1.027319
$STATE,14731,end surface coast,CONTROL_FINISHED_OK
$STATE,14731,begin surface
$SM_CCo,14754,5.95,0.699,0,0,1811,250.21
$SM_GC,2.13,0.00,0.00,5.95,0.000,0.000,0.699,425,1983,1811,-10.47,-0.51,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1800
$TCM_TEMP,17.00
$XPDR_PINGS,294
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,725.8,91.2
$24V_AH,23.7,8.977
$10V_AH,10.0,3.958
$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,26.500,159.225,334.500,5.950,0.000,188.805,181.592,276.657,80.250,0.000,0.000,14.609,1343.443,11464.457,469.721,1576.719,925.401,33.361,1297.707,0.000,1537.024,0.000,45.459,0.000
$DEVICE_MAMPS,137.293,101.244,1503.320,698.737,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,522.332,476.841,402.110,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34865,706
$CAP_FILE_SIZE,127304,0
$CFSIZE,254472192,250183680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,47,0,0
$GPS,121108,094002,6246.216,-448.966,70,1.1,70,-7.4