version: 66.04
glider: 5
mission: 5
dive: 48
start: 11 13 108 10 11 9
data:
$ID,5
$MISSION,5
$DIVE,48
$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,-88171.516
$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,54
$R_STBD_OVSHOOT,23
$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
$GPS1,100437,6247.499,-416.833,38,0.9,49,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.8
$GPS2,101015,6247.551,-416.723,12,1.2,12,-7.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCN_NW
$TGT_LATLONG,6215.000,-330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.172,-0.200
$KALMAN_X,53923.9,94.6,350.8,33841.6,1673.8
$KALMAN_Y,-39028.6,542.0,1067.4,-60231.0,-4030.1
$MHEAD_RNG_PITCHd_Wd,146.3,72509,-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,15,-1.44,-146.6,0.0,0.0,0,98,0.00,0.00,-80.18,0.000,6,0.000,0.000,425,1965,3431
$GC,102,-1.44,-146.6,5.2,-5.7,4,117,10.15,2.65,0.00,0.000,4,0.140,0.064,2378,3413,3432
$GC,196,-1.24,-146.6,30.6,-20.5,7,201,0.25,2.47,0.00,0.000,6,0.096,0.051,2427,2023,3433
$GC,512,-1.15,-146.6,78.3,-14.3,22,517,0.12,2.58,0.00,0.000,4,0.102,0.065,2450,593,3433
$GC,557,-1.15,-146.6,85.0,-13.5,24,561,0.00,2.53,0.00,0.000,6,0.000,0.053,2451,2003,3434
$GC,878,-1.15,-146.6,127.7,-13.4,40,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2003,3434
$GC,1187,-1.15,-146.6,168.1,-13.2,55,1191,0.00,2.58,0.00,0.000,4,0.000,0.067,2451,594,3435
$GC,1236,-1.15,-146.6,174.8,-13.3,57,1241,0.00,2.50,0.00,0.000,6,0.000,0.054,2451,1989,3435
$GC,1557,-1.15,-146.6,216.2,-12.8,73,1561,0.00,2.58,0.00,0.000,4,0.000,0.069,2451,590,3435
$GC,1601,-1.15,-146.6,222.0,-12.9,75,1605,0.00,2.47,0.00,0.000,6,0.000,0.054,2451,1969,3435
$GC,1922,-1.15,-146.6,261.4,-12.3,91,1927,0.00,2.62,0.00,0.000,4,0.000,0.070,2451,3412,3435
$GC,1962,-1.15,-146.6,266.5,-12.5,93,1967,0.00,2.60,0.00,0.000,6,0.000,0.054,2451,1965,3435
$GC,2288,-1.15,-146.6,307.0,-12.2,109,2293,0.00,2.47,0.00,0.000,4,0.000,0.069,2451,595,3435
$GC,2311,-1.15,-146.6,309.8,-11.9,110,2315,0.00,2.50,0.00,0.000,6,0.000,0.054,2451,1989,3435
$GC,2632,-1.15,-146.6,348.1,-11.6,126,2636,0.00,2.55,0.00,0.000,4,0.000,0.071,2451,3405,3435
$GC,2698,-1.15,-146.6,356.2,-11.9,129,2703,0.00,2.55,0.00,0.000,6,0.000,0.055,2451,1987,3436
$GC,3020,-1.15,-146.6,393.5,-11.0,145,3024,0.00,2.53,0.00,0.000,4,0.000,0.071,2451,593,3436
$GC,3064,-1.15,-146.6,398.5,-11.2,147,3068,0.00,2.53,0.00,0.000,6,0.000,0.056,2451,2002,3436
$GC,3385,-1.15,-146.6,432.9,-10.3,163,3389,0.00,2.58,0.00,0.000,4,0.000,0.075,2451,3405,3436
$GC,3406,-1.15,-146.6,435.3,-10.7,164,3410,0.00,2.58,0.00,0.000,6,0.000,0.061,2451,1992,3436
$GC,3727,-1.15,-146.6,469.8,-11.3,180,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1991,3436
$GC,4036,-1.15,-146.6,506.2,-11.9,195,4041,0.00,2.67,0.00,0.000,4,0.000,0.081,2451,3405,3435
$GC,4063,-1.15,-146.6,509.7,-12.7,196,4068,0.00,2.60,0.00,0.000,6,0.000,0.066,2451,1993,3435
$GC,4379,-1.15,-146.6,548.7,-12.4,211,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1993,3434
$GC,4688,-1.15,-146.6,584.8,-11.3,226,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1993,3433
$GC,4998,-1.19,-146.6,621.6,-11.5,241,5003,0.00,2.70,0.00,0.000,4,0.000,0.089,2451,3402,3432
$GC,5026,-1.19,-146.6,625.0,-12.0,242,5030,0.00,2.60,0.00,0.000,6,0.000,0.074,2451,2009,3432
$GC,5342,-1.19,-146.6,661.7,-11.5,257,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2009,3430
$GC,5651,-1.23,-146.6,696.8,-11.3,272,5656,0.00,2.70,0.00,0.000,4,0.000,0.092,2452,3403,3428
$GC,5673,-1.23,-146.6,699.6,-12.3,273,5678,0.00,2.60,0.00,0.000,6,0.000,0.075,2451,2015,3429
$GC,6000,-1.28,-146.6,734.7,-10.1,289,6002,0.15,0.00,0.00,0.000,6,0.074,0.000,2417,2014,3427
$GC,6309,-1.22,-146.6,770.5,-11.4,304,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2015,3426
$GC,6619,-1.17,-146.6,805.6,-11.4,319,6620,0.12,0.00,0.00,0.000,6,0.122,0.000,2441,2014,3425
$GC,6927,-1.17,-146.6,837.8,-10.6,334,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2015,3424
$GC,7237,-1.17,-146.6,869.9,-10.5,349,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2015,3423
$GC,7546,-1.17,-146.6,902.6,-10.7,364,7551,0.00,2.70,0.00,0.000,4,0.000,0.096,2441,3404,3422
$GC,7573,-1.17,-146.6,905.8,-11.5,365,7577,0.00,2.62,0.00,0.000,6,0.000,0.077,2441,2010,3421
$GC,7889,-1.17,-146.6,939.6,-10.5,380,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2010,3421
$GC,8198,-1.17,-146.6,972.6,-10.4,395,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2010,3420
$STATE,8380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8381,begin apogee
$GC,8388,-0.33,0.0,991.5,10.1,404,8516,0.90,0.00,124.60,1.669,6,0.103,0.000,2624,2246,2832
$STATE,8517,end apogee,CONTROL_FINISHED_OK
$STATE,8517,begin climb
$GC,8520,1.44,146.6,996.1,0.0,410,8653,1.83,2.83,124.97,1.617,4,0.080,0.099,3008,3653,2234
$GC,8685,1.34,151.0,986.5,9.8,418,8696,0.00,2.70,5.45,1.156,6,0.000,0.080,3008,2252,2216
$GC,9012,1.29,151.0,952.7,10.9,434,9017,0.15,2.72,0.00,0.000,4,0.107,0.094,2981,843,2216
$GC,9036,1.29,151.0,950.4,10.2,435,9040,0.00,2.70,0.00,0.000,6,0.000,0.079,2981,2251,2215
$GC,9357,1.33,177.7,921.2,8.8,451,9387,0.00,2.83,24.00,1.528,4,0.000,0.092,2981,844,2107
$GC,9416,1.35,191.6,915.3,9.4,453,9436,0.00,2.70,13.65,1.449,6,0.000,0.080,2981,2241,2050
$GC,9753,1.43,201.7,883.8,9.5,470,9770,0.12,2.80,10.32,1.394,4,0.074,0.093,3011,839,2008
$GC,9798,1.38,201.7,878.7,11.8,471,9803,0.00,2.67,0.00,0.000,6,0.000,0.080,3011,2227,2008
$GC,10119,1.38,201.7,843.8,10.8,487,10120,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2227,2008
$GC,10428,1.38,201.7,809.7,10.9,502,10433,0.00,2.70,0.00,0.000,4,0.000,0.093,3011,844,2007
$GC,10461,1.38,201.7,805.8,10.3,503,10467,0.00,2.62,0.00,0.000,6,0.000,0.080,3011,2224,2007
$GC,10777,1.38,201.7,772.9,10.2,519,10781,0.00,2.70,0.00,0.000,4,0.000,0.093,3011,840,2007
$GC,10798,1.38,201.7,770.3,11.4,520,10802,0.00,2.62,0.00,0.000,6,0.000,0.080,3010,2216,2007
$GC,11119,1.38,201.7,737.8,10.1,536,11120,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2216,2007
$GC,11429,1.38,201.7,705.8,10.5,551,11433,0.00,2.65,0.00,0.000,4,0.000,0.093,3011,844,2006
$GC,11468,1.38,201.7,701.4,11.2,553,11473,0.00,2.58,0.00,0.000,6,0.000,0.080,3011,2199,2006
$GC,11795,1.40,210.9,669.5,9.6,569,11806,0.00,0.00,9.02,1.316,6,0.000,0.000,3011,2199,1972
$GC,12105,1.40,213.2,639.2,9.9,584,12114,0.00,2.70,3.62,0.902,4,0.000,0.093,3011,840,1962
$GC,12142,1.40,213.2,635.0,10.3,585,12149,0.00,2.58,0.00,0.000,6,0.000,0.079,3011,2189,1962
$GC,12459,1.40,213.2,602.9,10.1,601,12463,0.00,2.60,0.00,0.000,4,0.000,0.091,3011,842,1962
$GC,12480,1.41,217.3,600.6,9.8,602,12490,0.00,2.53,5.07,1.091,6,0.000,0.077,3011,2178,1946
$GC,12801,1.41,217.3,569.3,10.2,617,12802,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2178,1946
$GC,13110,1.41,217.3,537.7,10.1,632,13115,0.00,2.58,0.00,0.000,4,0.000,0.090,3011,837,1946
$GC,13150,1.41,217.3,533.3,11.0,634,13155,0.00,2.53,0.00,0.000,6,0.000,0.078,3011,2176,1946
$GC,13477,1.41,217.3,499.6,10.4,650,13482,0.00,2.83,0.00,0.000,4,0.000,0.094,3011,3656,1946
$GC,13511,1.41,217.3,495.7,11.2,651,13517,0.00,2.78,0.00,0.000,6,0.000,0.075,3011,2177,1946
$GC,13827,1.41,217.3,462.4,10.5,667,13830,0.00,2.50,0.00,0.000,4,0.000,0.085,3010,837,1946
$GC,13882,1.41,217.3,456.0,11.1,669,13887,0.00,2.50,0.00,0.000,6,0.000,0.073,3011,2169,1946
$GC,14198,1.42,225.5,423.7,9.6,684,14213,0.00,2.90,8.57,1.156,4,0.000,0.088,3011,3656,1912
$GC,14258,1.42,225.5,417.2,10.5,686,14265,0.00,2.75,0.00,0.000,6,0.000,0.073,3011,2189,1912
$GC,14575,1.47,232.7,387.3,9.7,702,14589,0.00,2.90,7.45,1.098,4,0.000,0.085,3011,3660,1883
$GC,14648,1.48,233.5,380.0,10.0,705,14652,0.00,2.65,0.00,0.000,6,0.000,0.066,3010,2233,1883
$GC,14969,1.49,245.3,349.7,9.5,721,14990,0.00,2.67,11.90,1.129,4,0.000,0.074,3011,841,1832
$GC,15018,1.49,245.3,344.6,10.7,723,15023,0.00,2.60,0.00,0.000,6,0.000,0.065,3011,2236,1832
$GC,15339,1.55,245.3,312.0,10.3,739,15341,0.12,0.00,0.00,0.000,6,0.065,0.000,3042,2237,1832
$GC,15648,1.55,245.3,274.8,12.1,754,15649,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2237,1833
$GC,15957,1.55,245.3,236.7,12.5,769,15959,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2237,1834
$GC,16266,1.55,245.3,197.5,12.9,784,16270,0.00,2.58,0.00,0.000,4,0.000,0.067,3042,840,1835
$GC,16294,1.55,245.3,193.5,13.8,785,16298,0.00,2.53,0.00,0.000,6,0.000,0.058,3042,2230,1835
$GC,16615,1.55,245.3,152.5,12.4,801,16616,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2230,1836
$GC,16924,1.55,245.3,113.3,13.0,816,16926,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2230,1838
$GC,17233,1.55,245.3,75.0,12.6,831,17235,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2230,1838
$GC,17543,1.55,245.3,36.6,12.4,846,17547,0.00,2.55,0.00,0.000,4,0.000,0.065,3042,839,1839
$GC,17575,1.55,245.3,32.1,13.9,847,17582,0.00,2.47,0.00,0.000,6,0.000,0.054,3042,2216,1840
$STATE,17806,end climb,SURFACE_DEPTH_REACHED
$STATE,17806,begin surface coast
$FINISH,0.8,1.027337
$STATE,17829,end surface coast,CONTROL_FINISHED_OK
$STATE,17829,begin surface
$SM_CCo,17852,3.72,0.568,0,0,1811,250.21
$SM_GC,2.58,0.00,0.00,3.72,0.000,0.000,0.568,422,1951,1811,-10.48,-1.39,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1781
$TCM_TEMP,15.80
$XPDR_PINGS,232
$ALTIM_TOP_PING,18.8,999.0
$24V_AH,23.6,9.992
$10V_AH,10.0,4.416
$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,25.400,158.475,348.650,3.725,0.000,37.755,33.294,149.938,67.000,0.000,0.000,12.047,1572.412,13882.207,491.489,1737.615,515.224,33.360,1397.329,0.000,1697.377,0.000,58.484,0.000
$DEVICE_MAMPS,139.594,98.943,1668.992,568.347,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,640.697,583.200,441.782,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44330,860
$CAP_FILE_SIZE,131365,0
$CFSIZE,254472192,249790464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,49,0,0
$GPS,131108,151007,6246.083,-409.726,37,1.3,42,-7.0