version: 66.04
glider: 5
mission: 5
dive: 43
start: 11 12 108 9 46 0
data:
$ID,5
$MISSION,5
$DIVE,43
$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,-88076.266
$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,24
$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
$GPS1,094002,6246.216,-448.966,70,1.1,70,-7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-60.4
$GPS2,094509,6246.246,-448.892,11,1.6,11,-7.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.245,0.096
$KALMAN_X,45141.3,602.3,766.2,15249.1,-423.8
$KALMAN_Y,-31513.8,913.2,553.6,-70039.5,-1676.9
$MHEAD_RNG_PITCHd_Wd,76.0,28741,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.44,-146.6,0.0,0.0,0,81,0.00,0.00,-60.97,0.000,2,0.000,0.000,425,1969,3017
$GC,84,-1.44,-146.6,3.2,-4.8,3,114,10.07,2.53,-11.90,0.000,4,0.137,0.075,2377,594,3430
$GC,150,-1.19,-146.6,17.1,-22.9,6,155,0.32,2.53,0.00,0.000,6,0.094,0.054,2441,2008,3430
$GC,478,-1.15,-146.6,62.2,-12.3,22,482,0.00,2.60,0.00,0.000,4,0.000,0.067,2441,589,3431
$GC,527,-1.15,-146.6,69.5,-14.2,24,532,0.00,2.53,0.00,0.000,6,0.000,0.054,2441,1996,3431
$GC,844,-1.15,-146.6,111.7,-13.8,39,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1997,3431
$GC,1152,-1.15,-146.6,157.4,-15.7,54,1156,0.00,2.58,0.00,0.000,4,0.000,0.067,2441,590,3431
$GC,1192,-1.10,-146.6,163.6,-16.2,56,1197,0.00,2.50,0.00,0.000,6,0.000,0.054,2441,1989,3431
$GC,1519,-1.10,-146.6,211.1,-14.2,72,1524,0.00,2.58,0.00,0.000,4,0.000,0.069,2441,589,3432
$GC,1553,-1.05,-146.6,215.9,-14.0,73,1560,0.15,2.50,0.00,0.000,6,0.099,0.054,2470,1984,3432
$GC,1870,-1.09,-146.6,251.8,-11.3,89,1874,0.00,2.58,0.00,0.000,4,0.000,0.071,2470,587,3432
$GC,1910,-1.14,-146.6,256.7,-11.9,91,1915,0.00,2.45,0.00,0.000,6,0.000,0.054,2470,1958,3432
$GC,2237,-1.14,-146.6,292.7,-11.2,107,2242,0.00,2.65,0.00,0.000,4,0.000,0.071,2470,3414,3433
$GC,2271,-1.21,-146.6,296.6,-11.5,108,2278,0.15,2.60,0.00,0.000,6,0.057,0.055,2432,1965,3433
$GC,2587,-1.16,-146.6,338.5,-13.7,124,2591,0.00,2.47,0.00,0.000,4,0.000,0.071,2432,589,3433
$GC,2633,-1.16,-146.6,344.9,-13.8,126,2638,0.00,2.45,0.00,0.000,6,0.000,0.055,2432,1959,3433
$GC,2961,-1.11,-146.6,389.2,-13.4,142,2966,0.12,2.65,0.00,0.000,4,0.100,0.072,2456,3409,3433
$GC,3024,-1.15,-146.6,397.1,-11.8,145,3028,0.00,2.60,0.00,0.000,6,0.000,0.057,2457,1966,3433
$GC,3350,-1.15,-146.6,434.4,-10.7,161,3355,0.00,2.50,0.00,0.000,4,0.000,0.071,2456,587,3433
$GC,3390,-1.15,-146.6,439.0,-11.5,163,3395,0.00,2.50,0.00,0.000,6,0.000,0.058,2456,1981,3433
$GC,3717,-1.15,-146.6,474.4,-10.6,179,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1982,3433
$GC,4027,-1.19,-146.6,508.0,-11.0,194,4031,0.00,2.60,0.00,0.000,4,0.000,0.080,2456,595,3433
$GC,4084,-1.19,-146.6,514.2,-11.3,196,4090,0.00,2.50,0.00,0.000,6,0.000,0.064,2457,1964,3433
$GC,4400,-1.23,-146.6,546.1,-10.3,212,4405,0.12,2.70,0.00,0.000,4,0.066,0.085,2425,3406,3432
$GC,4462,-1.23,-146.6,553.8,-12.5,215,4467,0.00,2.62,0.00,0.000,6,0.000,0.069,2426,1984,3432
$GC,4790,-1.19,-146.6,592.5,-11.4,231,4794,0.00,2.58,0.00,0.000,4,0.000,0.085,2425,593,3431
$GC,4845,-1.15,-146.6,599.2,-12.2,233,4852,0.12,2.60,0.00,0.000,6,0.111,0.069,2448,2004,3430
$GC,5161,-1.15,-146.6,630.6,-9.8,249,5166,0.00,2.65,0.00,0.000,4,0.000,0.091,2448,3411,3429
$GC,5206,-1.20,-146.6,635.3,-10.7,251,5210,0.00,2.62,0.00,0.000,6,0.000,0.073,2448,2001,3429
$GC,5527,-1.20,-146.6,667.4,-10.3,267,5531,0.00,2.65,0.00,0.000,4,0.000,0.090,2448,589,3427
$GC,5566,-1.20,-146.6,671.6,-10.7,269,5571,0.00,2.65,0.00,0.000,6,0.000,0.074,2448,2016,3427
$GC,5892,-1.20,-146.6,706.6,-10.5,285,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2016,3426
$GC,6202,-1.24,-146.6,738.8,-10.4,300,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2017,3424
$GC,6511,-1.28,-146.6,771.4,-10.5,315,6516,0.12,2.72,0.00,0.000,4,0.078,0.096,2419,595,3424
$GC,6533,-1.28,-146.6,774.1,-12.0,316,6538,0.00,2.65,0.00,0.000,6,0.000,0.079,2419,2005,3424
$GC,6854,-1.24,-146.6,812.9,-11.9,332,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2005,3422
$GC,7163,-1.24,-146.6,849.7,-11.8,347,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2005,3421
$GC,7473,-1.24,-146.6,885.6,-11.8,362,7477,0.00,2.75,0.00,0.000,4,0.000,0.098,2419,587,3420
$GC,7545,-1.24,-146.6,894.5,-12.1,365,7549,0.00,2.65,0.00,0.000,6,0.000,0.081,2419,1996,3420
$STATE,7734,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7734,begin apogee
$GC,7741,-0.33,0.0,917.4,12.2,374,7868,1.00,0.00,123.78,1.604,6,0.105,0.000,2622,2261,2832
$STATE,7869,end apogee,CONTROL_FINISHED_OK
$STATE,7869,begin climb
$GC,7872,1.44,146.6,922.6,0.0,380,8005,1.83,2.80,124.40,1.552,4,0.075,0.102,3010,3657,2234
$GC,8034,1.35,159.2,914.2,9.4,387,8054,0.00,2.70,12.50,1.370,6,0.000,0.080,3010,2253,2181
$GC,8371,1.36,168.4,882.1,9.6,404,8385,0.00,2.80,9.18,1.316,4,0.000,0.096,3010,838,2145
$GC,8439,1.29,168.4,875.0,10.8,407,8444,0.15,2.70,0.00,0.000,6,0.109,0.081,2984,2243,2145
$GC,8766,1.33,197.1,846.5,8.7,423,8797,0.00,2.80,25.58,1.479,4,0.000,0.092,2983,844,2028
$GC,8836,1.33,197.1,839.8,10.6,426,8841,0.00,2.65,0.00,0.000,6,0.000,0.081,2983,2227,2028
$GC,9153,1.41,209.3,810.4,9.4,441,9175,0.10,2.83,11.98,1.383,4,0.077,0.092,3007,839,1977
$GC,9199,1.41,209.3,805.3,11.7,443,9203,0.00,2.65,0.00,0.000,6,0.000,0.081,3008,2218,1977
$GC,9525,1.41,209.3,770.0,10.6,459,9526,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2218,1977
$GC,9834,1.41,209.3,736.9,10.7,474,9839,0.00,2.67,0.00,0.000,4,0.000,0.094,3008,837,1976
$GC,9874,1.41,209.3,732.5,11.3,476,9879,0.00,2.62,0.00,0.000,6,0.000,0.080,3008,2215,1976
$GC,10200,1.41,209.3,695.9,11.4,492,10202,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2215,1975
$GC,10510,1.41,209.3,660.6,11.5,507,10514,0.00,2.67,0.00,0.000,4,0.000,0.093,3008,837,1975
$GC,10542,1.41,209.3,656.5,12.0,508,10548,0.00,2.62,0.00,0.000,6,0.000,0.080,3008,2216,1975
$GC,10858,1.41,209.3,620.8,11.3,524,10862,0.00,2.67,0.00,0.000,4,0.000,0.093,3008,835,1975
$GC,10891,1.41,209.3,616.7,12.0,525,10897,0.00,2.58,0.00,0.000,6,0.000,0.080,3007,2189,1974
$GC,11207,1.41,209.3,581.8,11.0,541,11211,0.00,2.60,0.00,0.000,4,0.000,0.091,3008,842,1974
$GC,11234,1.41,209.3,578.6,11.2,542,11238,0.00,2.55,0.00,0.000,6,0.000,0.079,3007,2185,1974
$GC,11550,1.41,209.3,543.4,10.8,557,11551,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2186,1974
$GC,11859,1.43,221.2,512.7,9.5,572,11875,0.00,2.62,10.52,1.253,4,0.000,0.086,3008,843,1930
$GC,11903,1.44,224.8,508.3,9.8,573,11913,0.00,2.53,4.80,1.006,6,0.000,0.077,3008,2165,1915
$GC,12224,1.44,225.1,477.1,10.0,588,12229,0.00,2.85,0.00,0.000,4,0.000,0.094,3008,3659,1915
$GC,12273,1.44,225.1,471.9,10.2,590,12278,0.00,2.83,0.00,0.000,6,0.000,0.074,3008,2152,1915
$GC,12589,1.47,243.2,443.1,9.2,605,12609,0.00,0.00,16.92,1.260,6,0.000,0.000,3008,2152,1840
$GC,12919,1.52,243.2,407.1,10.5,621,12924,0.00,2.90,0.00,0.000,4,0.000,0.088,3008,3656,1839
$GC,12969,1.56,243.2,401.7,10.6,623,12975,0.15,2.78,0.00,0.000,6,0.068,0.068,3042,2163,1839
$GC,13286,1.51,243.2,362.0,13.2,638,13287,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2163,1839
$GC,13594,1.51,243.2,319.5,13.8,653,13599,0.00,2.83,0.00,0.000,4,0.000,0.080,3042,3658,1839
$GC,13672,1.46,243.2,308.7,13.2,656,13679,0.12,2.70,0.00,0.000,6,0.110,0.060,3019,2176,1840
$GC,13988,1.46,243.2,272.0,11.3,672,13989,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2177,1841
$GC,14297,1.50,243.2,236.5,11.3,687,14302,0.00,2.78,0.00,0.000,4,0.000,0.074,3019,3664,1842
$GC,14337,1.50,243.2,231.8,11.3,689,14341,0.00,2.62,0.00,0.000,6,0.000,0.056,3019,2199,1842
$GC,14664,1.54,243.2,196.0,10.4,705,14668,0.00,2.47,0.00,0.000,4,0.000,0.069,3020,836,1843
$GC,14703,1.54,243.2,191.5,11.1,707,14708,0.00,2.50,0.00,0.000,6,0.000,0.058,3020,2214,1843
$GC,15031,1.60,243.2,151.7,11.9,723,15036,0.12,2.65,0.00,0.000,4,0.061,0.072,3052,3661,1844
$GC,15060,1.60,243.2,148.0,13.2,724,15064,0.00,2.62,0.00,0.000,6,0.000,0.054,3051,2201,1844
$GC,15376,1.55,243.2,103.2,14.4,739,15381,0.00,2.70,0.00,0.000,4,0.000,0.070,3052,3658,1846
$GC,15417,1.51,243.2,97.4,14.0,741,15422,0.12,2.55,0.00,0.000,6,0.107,0.053,3029,2227,1845
$GC,15744,1.51,243.2,56.8,11.9,757,15745,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2227,1847
$GC,16053,1.51,243.2,17.5,11.8,772,16054,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2226,1848
$STATE,16153,end climb,SURFACE_DEPTH_REACHED
$STATE,16153,begin surface coast
$FINISH,0.7,1.027323
$STATE,16177,end surface coast,CONTROL_FINISHED_OK
$STATE,16177,begin surface
$SM_CCo,16200,4.85,0.658,0,0,1811,250.21
$SM_GC,2.37,0.00,0.00,4.85,0.000,0.000,0.658,424,1976,1811,-10.47,-0.71,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1797
$TCM_TEMP,16.90
$XPDR_PINGS,279
$ALTIM_TOP_PING,19.4,19.3
$ALTIM_BOTTOM_PING,852.0,73.4
$24V_AH,23.6,9.144
$10V_AH,10.0,4.031
$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,26.175,169.450,339.650,4.850,0.000,37.756,27.417,131.271,77.750,0.000,0.000,11.127,1466.274,12416.469,484.978,1672.855,474.298,33.354,1364.780,0.000,1629.679,0.000,53.415,0.000
$DEVICE_MAMPS,137.293,102.011,1603.797,658.086,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,574.572,526.507,412.560,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41148,778
$CAP_FILE_SIZE,129080,0
$CFSIZE,254472192,250114048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,52,0,0
$GPS,121108,141752,6246.644,-440.642,59,1.6,67,-7.3