version: 66.04
glider: 5
mission: 5
dive: 47
start: 11 13 108 5 11 25
data:
$ID,5
$MISSION,5
$DIVE,47
$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,-88158.844
$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,31
$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
$GPS1,050456,6244.002,-418.688,39,1.5,39,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-66.9
$GPS2,051032,6243.981,-418.693,15,1.4,15,-7.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FC1K
$TGT_LATLONG,6247.000,-415.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.073,0.253
$KALMAN_X,52708.7,-632.5,-728.2,35251.2,4108.5
$KALMAN_Y,-37602.6,-644.2,-779.6,-65192.6,-112.6
$MHEAD_RNG_PITCHd_Wd,351.0,6406,-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,13,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,98,0.00,0.00,-79.47,0.000,6,0.000,0.000,422,1979,3431
$GC,102,-1.44,-146.6,5.4,-6.1,4,117,10.10,2.50,0.00,0.000,4,0.137,0.058,2376,596,3433
$GC,370,-1.22,-146.6,63.5,-18.9,15,375,0.30,2.53,0.00,0.000,6,0.094,0.053,2434,2001,3434
$GC,692,-1.15,-146.6,110.5,-13.7,31,696,0.00,2.55,0.00,0.000,4,0.000,0.064,2434,602,3434
$GC,882,-1.09,-146.6,137.1,-13.8,39,889,0.12,2.47,0.00,0.000,6,0.100,0.053,2459,1987,3435
$GC,1199,-1.09,-146.6,176.4,-12.4,55,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1987,3435
$GC,1507,-1.09,-146.6,214.3,-12.2,70,1511,0.00,2.55,0.00,0.000,4,0.000,0.070,2459,603,3435
$GC,1556,-1.09,-146.6,220.6,-12.3,72,1561,0.00,2.47,0.00,0.000,6,0.000,0.054,2459,1982,3435
$GC,1877,-1.09,-146.6,258.9,-11.8,88,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1984,3435
$GC,2186,-1.09,-146.6,296.0,-11.9,103,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1984,3436
$GC,2496,-1.09,-146.6,331.8,-11.5,118,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1984,3436
$GC,2805,-1.09,-146.6,366.6,-11.3,133,2809,0.00,2.55,0.00,0.000,4,0.000,0.071,2459,603,3436
$GC,2844,-1.09,-146.6,371.3,-11.7,135,2849,0.00,2.50,0.00,0.000,6,0.000,0.056,2459,1995,3436
$GC,3172,-1.09,-146.6,407.4,-10.9,151,3176,0.00,2.58,0.00,0.000,4,0.000,0.073,2459,603,3436
$GC,3205,-1.09,-146.6,411.5,-12.0,152,3211,0.00,2.50,0.00,0.000,6,0.000,0.058,2459,1988,3436
$GC,3520,-1.09,-146.6,444.3,-10.0,168,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1988,3436
$GC,3830,-1.14,-146.6,474.8,-9.6,183,3835,0.00,2.60,0.00,0.000,4,0.000,0.080,2459,602,3436
$GC,3909,-1.19,-146.6,483.0,-10.2,186,3913,0.00,2.50,0.00,0.000,6,0.000,0.064,2459,1972,3435
$GC,4226,-1.24,-146.6,513.5,-9.9,201,4227,0.15,0.00,0.00,0.000,6,0.061,0.000,2423,1973,3435
$GC,4535,-1.18,-146.6,549.1,-11.5,216,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1973,3433
$GC,4844,-1.13,-146.6,586.0,-11.6,231,4849,0.15,2.70,0.00,0.000,4,0.109,0.088,2450,3405,3433
$GC,4871,-1.13,-146.6,589.3,-11.1,232,4876,0.00,2.65,0.00,0.000,6,0.000,0.074,2451,1986,3433
$GC,5187,-1.13,-146.6,621.8,-10.4,247,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1985,3432
$GC,5496,-1.13,-146.6,654.9,-10.7,262,5500,0.00,2.75,0.00,0.000,4,0.000,0.092,2451,3412,3429
$GC,5529,-1.13,-146.6,658.5,-11.1,263,5535,0.00,2.67,0.00,0.000,6,0.000,0.078,2451,1984,3429
$GC,5844,-1.13,-146.6,692.1,-10.8,279,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1983,3428
$GC,6154,-1.17,-146.6,724.1,-11.0,294,6158,0.00,2.75,0.00,0.000,4,0.000,0.094,2451,3409,3427
$GC,6194,-1.22,-146.6,728.6,-11.4,296,6199,0.00,2.67,0.00,0.000,6,0.000,0.078,2451,1988,3427
$GC,6521,-1.27,-146.6,762.8,-10.4,312,6526,0.12,2.75,0.00,0.000,4,0.077,0.094,2422,3405,3425
$GC,6549,-1.27,-146.6,766.3,-11.8,313,6553,0.00,2.67,0.00,0.000,6,0.000,0.078,2422,1984,3425
$GC,6865,-1.23,-146.6,803.3,-11.6,328,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1985,3424
$GC,7174,-1.19,-146.6,840.1,-12.0,343,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1985,3422
$GC,7483,-1.19,-146.6,877.5,-11.7,358,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1985,3422
$GC,7792,-1.19,-146.6,914.5,-12.0,373,7797,0.00,2.75,0.00,0.000,4,0.000,0.097,2422,3403,3421
$GC,7836,-1.19,-146.6,920.0,-12.3,375,7841,0.00,2.65,0.00,0.000,6,0.000,0.079,2422,1997,3421
$GC,8157,-1.19,-146.6,957.1,-11.3,391,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1997,3420
$STATE,8381,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8381,begin apogee
$GC,8388,-0.33,0.0,983.1,11.6,402,8516,1.00,0.00,124.50,1.661,6,0.104,0.000,2625,2257,2832
$STATE,8517,end apogee,CONTROL_FINISHED_OK
$STATE,8517,begin climb
$GC,8520,1.44,146.6,988.3,0.0,408,8653,1.83,2.80,125.07,1.611,4,0.080,0.097,3008,3653,2234
$GC,8695,1.34,146.6,978.1,10.1,416,8700,0.00,2.70,0.00,0.000,6,0.000,0.080,3008,2245,2234
$GC,9012,1.31,161.5,948.8,9.3,431,9034,0.12,2.78,14.05,1.457,4,0.113,0.093,2987,843,2174
$GC,9058,1.31,161.5,944.4,10.2,433,9062,0.00,2.70,0.00,0.000,6,0.000,0.079,2987,2246,2173
$GC,9384,1.35,184.0,915.6,9.0,449,9407,0.00,0.00,20.55,1.510,6,0.000,0.000,2987,2245,2082
$GC,9714,1.44,211.7,885.6,8.7,465,9746,0.12,2.80,25.15,1.528,4,0.073,0.092,3016,844,1968
$GC,9780,1.38,211.7,878.7,11.5,468,9784,0.00,2.70,0.00,0.000,6,0.000,0.081,3016,2243,1968
$GC,10100,1.38,211.7,844.7,10.5,484,10101,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2243,1967
$GC,10410,1.38,211.7,811.6,11.0,499,10414,0.00,2.75,0.00,0.000,4,0.000,0.094,3016,838,1967
$GC,10437,1.38,211.7,808.4,12.0,500,10441,0.00,2.67,0.00,0.000,6,0.000,0.081,3016,2238,1967
$GC,10753,1.38,211.7,773.5,11.4,515,10754,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2238,1966
$GC,11062,1.38,211.7,738.0,11.3,530,11066,0.00,2.72,0.00,0.000,4,0.000,0.093,3016,837,1966
$GC,11112,1.34,211.7,731.8,12.6,532,11117,0.12,2.65,0.00,0.000,6,0.114,0.080,2995,2232,1966
$GC,11428,1.40,211.7,700.1,10.2,547,11429,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2232,1966
$GC,11737,1.49,225.6,669.7,9.4,562,11759,0.15,2.78,12.48,1.388,4,0.072,0.090,3028,848,1912
$GC,11806,1.42,225.6,661.9,11.7,565,11810,0.00,2.62,0.00,0.000,6,0.000,0.079,3028,2224,1912
$GC,12133,1.42,225.6,624.3,11.9,581,12134,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2224,1912
$GC,12442,1.42,225.6,587.0,11.9,596,12443,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2224,1911
$GC,12751,1.42,225.6,550.1,11.9,611,12756,0.00,2.67,0.00,0.000,4,0.000,0.091,3027,839,1911
$GC,12791,1.42,225.6,545.0,12.7,613,12796,0.00,2.62,0.00,0.000,6,0.000,0.079,3028,2224,1911
$GC,13118,1.42,225.6,506.6,11.7,629,13119,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2224,1911
$GC,13427,1.42,225.6,470.8,11.6,644,13432,0.00,2.67,0.00,0.000,4,0.000,0.088,3028,835,1911
$GC,13484,1.37,225.6,463.7,12.2,646,13491,0.17,2.60,0.00,0.000,6,0.115,0.078,2997,2213,1911
$GC,13800,1.46,231.9,432.4,9.7,662,13814,0.00,2.70,6.70,1.132,4,0.000,0.086,2997,835,1886
$GC,13845,1.53,241.7,427.9,9.6,664,13861,0.17,2.60,10.05,1.200,6,0.069,0.076,3035,2205,1846
$GC,14171,1.53,241.7,389.5,12.5,679,14172,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2205,1846
$GC,14480,1.53,241.7,351.4,11.8,694,14484,0.00,2.72,0.00,0.000,4,0.000,0.086,3035,3660,1846
$GC,14529,1.53,241.7,345.0,12.7,696,14534,0.00,2.67,0.00,0.000,6,0.000,0.067,3034,2208,1846
$GC,14845,1.53,241.7,308.5,11.5,711,14846,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2208,1846
$GC,15155,1.53,241.7,272.9,11.6,726,15156,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2208,1847
$GC,15464,1.53,241.7,236.1,12.1,741,15465,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2208,1848
$GC,15773,1.53,241.7,199.7,11.5,756,15778,0.00,2.70,0.00,0.000,4,0.000,0.072,3035,3664,1849
$GC,15818,1.53,241.7,194.3,12.0,758,15823,0.00,2.62,0.00,0.000,6,0.000,0.055,3035,2207,1849
$GC,16139,1.53,241.7,157.7,11.7,774,16140,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2207,1850
$GC,16449,1.53,241.7,121.5,11.8,789,16453,0.00,2.47,0.00,0.000,4,0.000,0.067,3034,839,1852
$GC,16490,1.53,241.7,116.6,13.6,791,16494,0.00,2.50,0.00,0.000,6,0.000,0.056,3035,2224,1852
$GC,16816,1.53,241.7,78.6,11.4,807,16817,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2224,1852
$GC,17126,1.53,241.7,42.4,11.9,822,17127,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2224,1854
$GC,17435,1.53,241.7,5.9,11.8,837,17436,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2224,1855
$STATE,17452,end climb,SURFACE_DEPTH_REACHED
$STATE,17453,begin surface coast
$FINISH,0.7,1.027323
$STATE,17474,end surface coast,CONTROL_FINISHED_OK
$STATE,17475,begin surface
$SM_CCo,17498,5.60,0.699,0,0,1813,250.21
$SM_GC,2.57,0.00,0.00,5.60,0.000,0.000,0.699,425,1962,1813,-10.47,-1.10,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1787
$TCM_TEMP,16.80
$XPDR_PINGS,231
$ALTIM_TOP_PING,17.7,999.0
$ALTIM_BOTTOM_PING,926.2,65.9
$24V_AH,23.5,9.818
$10V_AH,10.0,4.338
$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,26.050,122.525,338.550,5.600,0.000,37.754,25.149,151.295,66.500,0.000,0.000,15.210,1531.625,13614.830,471.315,1731.871,493.230,33.364,1345.483,0.000,1690.302,0.000,58.274,0.000
$DEVICE_MAMPS,136.526,97.409,1660.555,698.737,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,620.828,568.864,434.810,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41218,839
$CAP_FILE_SIZE,124563,0
$CFSIZE,254472192,249868288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,0,0
$GPS,131108,100437,6247.499,-416.833,38,0.9,49,-7.1