version: 66.04
glider: 5
mission: 5
dive: 45
start: 11 12 108 19 11 30
data:
$ID,5
$MISSION,5
$DIVE,45
$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,-88111.5
$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,32
$R_STBD_OVSHOOT,20
$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
$GPS1,190509,6245.979,-433.060,28,1.9,29,-7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-65.7
$GPS2,191038,6246.025,-432.979,15,1.8,20,-7.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.262,0.032
$KALMAN_X,50215.1,-143.1,-361.7,25146.5,3098.2
$KALMAN_Y,-31212.5,-924.3,112.2,-68433.0,369.6
$MHEAD_RNG_PITCHd_Wd,90.2,15335,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-78.70,0.000,6,0.000,0.000,422,1971,3431
$GC,101,-1.44,-146.6,5.7,-6.7,4,116,10.15,2.65,0.00,0.000,4,0.139,0.066,2377,3409,3432
$GC,282,-1.24,-146.6,44.8,-18.3,11,287,0.28,2.53,0.00,0.000,6,0.096,0.051,2430,2002,3433
$GC,604,-1.18,-146.6,90.9,-14.0,27,608,0.00,2.55,0.00,0.000,4,0.000,0.067,2431,590,3434
$GC,637,-1.11,-146.6,95.7,-13.6,28,644,0.12,2.53,0.00,0.000,6,0.098,0.053,2455,2001,3434
$GC,953,-1.11,-146.6,135.5,-12.3,44,958,0.00,2.58,0.00,0.000,4,0.000,0.066,2455,594,3435
$GC,1026,-1.11,-146.6,145.1,-13.2,47,1031,0.00,2.50,0.00,0.000,6,0.000,0.053,2455,1992,3435
$GC,1342,-1.11,-146.6,184.3,-12.2,62,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1991,3435
$GC,1651,-1.11,-146.6,220.8,-11.5,77,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1991,3435
$GC,1960,-1.11,-146.6,257.3,-12.0,92,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1991,3435
$GC,2269,-1.11,-146.6,295.0,-12.5,107,2274,0.00,2.58,0.00,0.000,4,0.000,0.071,2455,595,3435
$GC,2325,-1.11,-146.6,302.2,-12.5,109,2331,0.00,2.50,0.00,0.000,6,0.000,0.055,2455,1988,3435
$GC,2641,-1.11,-146.6,340.3,-11.9,125,2645,0.00,2.60,0.00,0.000,4,0.000,0.071,2455,3413,3436
$GC,2690,-1.11,-146.6,346.3,-11.4,127,2695,0.00,2.55,0.00,0.000,6,0.000,0.055,2455,1996,3435
$GC,3006,-1.11,-146.6,382.0,-10.6,142,3010,0.00,2.55,0.00,0.000,4,0.000,0.071,2455,588,3436
$GC,3073,-1.11,-146.6,389.6,-11.6,145,3077,0.00,2.53,0.00,0.000,6,0.000,0.056,2455,1997,3436
$GC,3394,-1.11,-146.6,421.7,-9.7,161,3398,0.00,2.58,0.00,0.000,4,0.000,0.074,2455,3403,3436
$GC,3415,-1.11,-146.6,424.2,-10.4,162,3420,0.00,2.62,0.00,0.000,6,0.000,0.059,2455,1954,3436
$GC,3736,-1.11,-146.6,459.2,-11.5,178,3741,0.00,2.50,0.00,0.000,4,0.000,0.075,2455,587,3436
$GC,3781,-1.16,-146.6,464.7,-12.2,180,3785,0.00,2.47,0.00,0.000,6,0.000,0.060,2455,1957,3436
$GC,4104,-1.20,-146.6,498.4,-9.9,196,4109,0.00,2.70,0.00,0.000,4,0.000,0.081,2455,3409,3436
$GC,4212,-1.27,-146.6,509.7,-10.4,201,4217,0.15,2.62,0.00,0.000,6,0.064,0.066,2418,1975,3435
$GC,4542,-1.21,-146.6,549.0,-12.1,217,4549,0.00,2.72,0.00,0.000,4,0.000,0.084,2418,3405,3434
$GC,4600,-1.21,-146.6,557.0,-12.9,219,4605,0.00,2.62,0.00,0.000,6,0.000,0.068,2418,1983,3434
$GC,4916,-1.15,-146.6,594.4,-11.8,234,4918,0.15,0.00,0.00,0.000,6,0.109,0.000,2447,1983,3433
$GC,5226,-1.15,-146.6,626.6,-10.2,249,5230,0.00,2.72,0.00,0.000,4,0.000,0.090,2447,3402,3431
$GC,5266,-1.15,-146.6,631.2,-11.4,251,5270,0.00,2.60,0.00,0.000,6,0.000,0.074,2447,2007,3432
$GC,5592,-1.15,-146.6,664.2,-9.8,267,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2007,3431
$GC,5901,-1.15,-146.6,695.2,-10.2,282,5906,0.00,2.70,0.00,0.000,4,0.000,0.094,2447,3402,3429
$GC,5929,-1.15,-146.6,698.2,-10.6,283,5934,0.00,2.60,0.00,0.000,6,0.000,0.074,2447,2013,3429
$GC,6245,-1.15,-146.6,729.9,-10.0,298,6249,0.00,2.67,0.00,0.000,4,0.000,0.091,2447,590,3427
$GC,6294,-1.15,-146.6,735.4,-11.3,300,6299,0.00,2.65,0.00,0.000,6,0.000,0.077,2447,2007,3427
$GC,6610,-1.15,-146.6,767.3,-10.1,315,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2007,3426
$GC,6920,-1.20,-146.6,800.5,-11.1,330,6925,0.00,2.70,0.00,0.000,4,0.000,0.099,2447,3413,3425
$GC,6948,-1.20,-146.6,803.8,-11.4,331,6953,0.00,2.65,0.00,0.000,6,0.000,0.078,2447,2006,3425
$GC,7265,-1.24,-146.6,836.8,-10.5,346,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2006,3423
$GC,7574,-1.29,-146.6,869.2,-10.2,361,7576,0.15,0.00,0.00,0.000,6,0.077,0.000,2414,2006,3422
$GC,7883,-1.24,-146.6,903.1,-10.9,376,7888,0.00,2.75,0.00,0.000,4,0.000,0.098,2413,3414,3421
$GC,7905,-1.18,-146.6,905.8,-11.3,377,7910,0.15,2.65,0.00,0.000,6,0.123,0.079,2441,2011,3421
$GC,8229,-1.18,-146.6,936.8,-9.5,393,8230,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2011,3421
$STATE,8450,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8450,begin apogee
$GC,8457,-0.33,0.0,959.0,10.0,404,8585,0.90,0.00,124.55,1.642,6,0.105,0.000,2623,2255,2832
$STATE,8586,end apogee,CONTROL_FINISHED_OK
$STATE,8586,begin climb
$GC,8589,1.44,146.6,960.2,0.0,410,8723,1.85,2.83,125.03,1.593,4,0.080,0.090,3011,845,2234
$GC,8897,1.34,146.6,934.6,12.6,424,8902,0.00,2.70,0.00,0.000,6,0.000,0.079,3011,2251,2233
$GC,9213,1.29,146.6,900.8,10.5,439,9219,0.17,2.75,0.00,0.000,4,0.104,0.100,2976,3663,2232
$GC,9235,1.29,146.6,898.4,10.5,440,9240,0.00,2.70,0.00,0.000,6,0.000,0.077,2976,2244,2232
$GC,9558,1.38,177.1,870.1,8.6,456,9593,0.12,2.83,26.88,1.517,4,0.074,0.091,3004,839,2109
$GC,9623,1.33,177.1,863.4,10.9,459,9627,0.00,2.70,0.00,0.000,6,0.000,0.078,3004,2245,2109
$GC,9949,1.33,177.1,829.7,10.4,475,9950,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2246,2108
$GC,10258,1.33,177.1,797.8,10.2,490,10263,0.00,2.72,0.00,0.000,4,0.000,0.091,3004,841,2107
$GC,10285,1.33,177.1,794.8,11.0,491,10290,0.00,2.67,0.00,0.000,6,0.000,0.079,3004,2241,2108
$GC,10602,1.34,180.4,763.2,9.9,506,10608,0.00,0.00,4.20,1.034,6,0.000,0.000,3004,2243,2096
$GC,10911,1.35,185.9,732.4,9.8,521,10925,0.00,2.83,6.47,1.246,4,0.000,0.091,3004,834,2074
$GC,10977,1.35,185.9,725.5,10.4,524,10982,0.00,2.67,0.00,0.000,6,0.000,0.080,3004,2235,2074
$GC,11304,1.35,185.9,692.4,10.2,540,11308,0.00,2.67,0.00,0.000,4,0.000,0.091,3004,842,2073
$GC,11331,1.35,185.9,689.3,11.3,541,11336,0.00,2.62,0.00,0.000,6,0.000,0.080,3004,2221,2073
$GC,11647,1.35,185.9,657.2,10.3,556,11652,0.00,2.78,0.00,0.000,4,0.000,0.099,3004,3663,2072
$GC,11668,1.35,185.9,654.9,10.1,557,11673,0.00,2.75,0.00,0.000,6,0.000,0.077,3004,2208,2072
$GC,11989,1.35,185.9,621.5,10.4,573,11993,0.00,2.60,0.00,0.000,4,0.000,0.093,3004,841,2072
$GC,12017,1.35,185.9,618.5,10.5,574,12022,0.00,2.60,0.00,0.000,6,0.000,0.077,3004,2213,2072
$GC,12333,1.36,192.7,587.5,9.7,589,12348,0.00,2.85,7.15,1.228,4,0.000,0.097,3004,3653,2046
$GC,12388,1.36,192.7,581.6,10.7,591,12392,0.00,2.72,0.00,0.000,6,0.000,0.077,3004,2209,2046
$GC,12704,1.38,203.8,551.2,9.5,606,12721,0.00,2.65,11.15,1.304,4,0.000,0.089,3004,842,2000
$GC,12749,1.38,203.8,546.3,10.4,607,12753,0.00,2.62,0.00,0.000,6,0.000,0.076,3004,2219,2000
$GC,13069,1.38,203.8,514.1,10.1,623,13074,0.00,2.65,0.00,0.000,4,0.000,0.087,3004,839,2000
$GC,13086,1.38,203.8,512.1,10.8,624,13091,0.00,2.60,0.00,0.000,6,0.000,0.077,3004,2215,2000
$GC,13413,1.38,203.8,479.4,10.1,640,13418,0.00,2.78,0.00,0.000,4,0.000,0.094,3004,3663,2000
$GC,13435,1.38,203.8,477.1,10.3,641,13440,0.00,2.72,0.00,0.000,6,0.000,0.073,3004,2205,2000
$GC,13756,1.40,218.5,446.6,9.3,657,13777,0.00,2.65,13.30,1.251,4,0.000,0.084,3004,846,1941
$GC,13806,1.42,231.2,441.8,9.4,659,13823,0.00,2.55,12.12,1.220,6,0.000,0.073,3004,2196,1889
$GC,14132,1.50,236.3,410.8,9.8,675,14145,0.00,2.80,6.25,1.062,4,0.000,0.087,3004,3657,1867
$GC,14237,1.55,236.3,399.6,11.2,679,14244,0.15,2.72,0.00,0.000,6,0.069,0.070,3038,2193,1867
$GC,14552,1.55,236.3,360.9,12.8,695,14556,0.00,2.50,0.00,0.000,4,0.000,0.077,3038,839,1868
$GC,14592,1.50,236.3,355.4,12.8,696,14598,0.00,2.53,0.00,0.000,6,0.000,0.067,3038,2199,1867
$GC,14908,1.50,236.3,316.7,12.2,712,14909,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2198,1868
$GC,15217,1.50,236.3,278.6,12.4,727,15222,0.00,2.70,0.00,0.000,4,0.000,0.077,3038,3658,1868
$GC,15238,1.50,236.3,275.7,13.0,728,15243,0.00,2.65,0.00,0.000,6,0.000,0.058,3039,2202,1869
$GC,15559,1.50,236.3,235.6,12.5,744,15560,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2201,1870
$GC,15869,1.50,236.3,197.8,12.4,759,15873,0.00,2.70,0.00,0.000,4,0.000,0.072,3039,3659,1871
$GC,15924,1.50,236.3,190.8,12.7,761,15930,0.00,2.60,0.00,0.000,6,0.000,0.055,3039,2213,1871
$GC,16240,1.50,236.3,153.3,11.8,777,16241,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2213,1872
$GC,16549,1.50,236.3,117.3,11.6,792,16553,0.00,2.47,0.00,0.000,4,0.000,0.067,3038,845,1873
$GC,16576,1.50,236.3,113.8,12.1,793,16581,0.00,2.47,0.00,0.000,6,0.000,0.056,3038,2216,1874
$GC,16894,1.50,236.3,77.2,11.9,808,16895,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2216,1874
$GC,17201,1.50,236.3,40.0,12.4,823,17206,0.00,2.53,0.00,0.000,4,0.000,0.064,3039,839,1875
$GC,17229,1.46,236.3,36.1,14.3,824,17235,0.12,2.47,0.00,0.000,6,0.100,0.054,3016,2213,1875
$STATE,17543,end climb,SURFACE_DEPTH_REACHED
$STATE,17543,begin surface coast
$FINISH,1.0,1.027323
$STATE,17567,end surface coast,CONTROL_FINISHED_OK
$STATE,17567,begin surface
$SM_CCo,17590,8.85,0.785,0,0,1812,250.21
$SM_GC,2.68,0.00,0.00,8.85,0.000,0.000,0.785,424,1970,1812,-10.47,-0.85,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1800
$TCM_TEMP,15.70
$XPDR_PINGS,276
$ALTIM_TOP_PING,18.9,999.0
$ALTIM_BOTTOM_PING,926.9,40.0
$24V_AH,23.6,9.480
$10V_AH,10.0,4.184
$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,25.775,180.450,337.100,8.850,0.000,37.757,27.263,139.755,77.750,0.000,0.000,20.311,1577.461,13517.043,506.526,1821.213,508.774,33.354,1449.588,0.000,1767.483,0.000,58.200,0.000
$DEVICE_MAMPS,138.827,99.710,1642.147,785.408,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,627.689,569.402,440.188,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44174,840
$CAP_FILE_SIZE,136861,0
$CFSIZE,254472192,249978880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,49,0,0
$GPS,131108,000608,6245.015,-424.660,39,1.6,39,-7.1