version: 66.04
glider: 5
mission: 5
dive: 77
start: 11 17 108 10 11 1
data:
$ID,5
$MISSION,5
$DIVE,77
$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,-88760.664
$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,27
$R_STBD_OVSHOOT,21
$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
$GPS1,100438,6213.595,-311.073,43,1.2,43,-6.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-58.8
$GPS2,101008,6213.618,-310.984,10,1.7,10,-6.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.217,-0.150
$KALMAN_X,47058.1,1057.9,305.2,93760.5,-5220.7
$KALMAN_Y,-11016.5,-880.9,-704.1,-147845.2,4727.3
$MHEAD_RNG_PITCHd_Wd,130.9,146318,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,99,0.00,0.00,-80.85,0.000,2,0.000,0.000,421,1974,3428
$GC,102,-1.44,-146.6,5.1,-5.6,4,118,10.27,2.62,0.00,0.000,4,0.141,0.064,2377,3411,3429
$GC,309,-1.26,-146.6,49.5,-22.2,12,314,0.25,2.53,0.00,0.000,6,0.099,0.051,2425,2002,3430
$GC,627,-1.19,-146.6,99.5,-13.8,27,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2002,3430
$GC,936,-1.11,-146.6,150.0,-14.3,42,941,0.15,2.55,0.00,0.000,4,0.100,0.067,2454,589,3431
$GC,980,-1.11,-146.6,156.5,-13.3,44,984,0.00,2.50,0.00,0.000,6,0.000,0.052,2454,1988,3431
$GC,1301,-1.11,-146.6,194.7,-11.6,60,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1989,3431
$GC,1610,-1.11,-146.6,229.8,-11.1,75,1614,0.00,2.58,0.00,0.000,4,0.000,0.067,2455,3409,3432
$GC,1660,-1.16,-146.6,235.8,-12.2,77,1664,0.00,2.58,0.00,0.000,6,0.000,0.054,2455,1966,3432
$GC,1976,-1.16,-146.6,272.0,-11.7,92,1980,0.00,2.65,0.00,0.000,4,0.000,0.066,2455,3406,3432
$GC,2042,-1.16,-146.6,280.1,-11.9,95,2046,0.00,2.53,0.00,0.000,6,0.000,0.054,2454,1999,3432
$GC,2363,-1.16,-146.6,319.3,-12.5,111,2368,0.00,2.55,0.00,0.000,4,0.000,0.071,2455,593,3432
$GC,2391,-1.16,-146.6,323.1,-13.0,112,2396,0.00,2.55,0.00,0.000,6,0.000,0.057,2455,2016,3432
$GC,2707,-1.16,-146.6,359.8,-11.4,127,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2017,3432
$GC,3016,-1.16,-146.6,393.4,-10.1,142,3020,0.00,2.65,0.00,0.000,4,0.000,0.080,2455,597,3432
$GC,3123,-1.16,-146.6,404.8,-10.4,147,3127,0.00,2.58,0.00,0.000,6,0.000,0.064,2455,2012,3432
$GC,3450,-1.20,-146.6,437.7,-10.1,163,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2011,3431
$GC,3759,-1.20,-146.6,466.7,-9.1,178,3763,0.00,2.62,0.00,0.000,4,0.000,0.086,2454,3411,3431
$GC,3799,-1.25,-146.6,470.6,-10.2,180,3805,0.12,2.62,0.00,0.000,6,0.067,0.071,2425,1994,3431
$GC,4129,-1.20,-146.6,510.2,-13.2,196,4134,0.00,2.60,0.00,0.000,4,0.000,0.084,2426,593,3429
$GC,4192,-1.16,-146.6,519.1,-13.2,199,4197,0.10,2.55,0.00,0.000,6,0.114,0.070,2443,1982,3429
$GC,4519,-1.16,-146.6,556.7,-11.0,215,4523,0.00,2.67,0.00,0.000,4,0.000,0.088,2444,3408,3427
$GC,4546,-1.16,-146.6,560.0,-11.5,216,4551,0.00,2.67,0.00,0.000,6,0.000,0.074,2444,1976,3427
$GC,4862,-1.16,-146.6,595.3,-11.2,231,4867,0.00,2.60,0.00,0.000,4,0.000,0.089,2444,586,3426
$GC,4891,-1.16,-146.6,598.8,-11.9,232,4896,0.00,2.60,0.00,0.000,6,0.000,0.073,2444,1989,3426
$GC,5207,-1.16,-146.6,633.1,-11.0,247,5212,0.00,2.67,0.00,0.000,4,0.000,0.091,2443,3406,3425
$GC,5257,-1.16,-146.6,639.1,-11.1,249,5262,0.00,2.65,0.00,0.000,6,0.000,0.077,2444,1992,3425
$GC,5574,-1.16,-146.6,675.4,-11.8,264,5578,0.00,2.72,0.00,0.000,4,0.000,0.091,2444,3406,3424
$GC,5596,-1.16,-146.6,678.2,-11.7,265,5600,0.00,2.65,0.00,0.000,6,0.000,0.076,2444,1994,3423
$GC,5917,-1.16,-146.6,714.8,-11.3,281,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1994,3422
$GC,6226,-1.16,-146.6,748.6,-10.7,296,6231,0.00,2.72,0.00,0.000,4,0.000,0.091,2444,3411,3422
$GC,6259,-1.16,-146.6,752.5,-11.4,297,6265,0.00,2.65,0.00,0.000,6,0.000,0.077,2444,2001,3421
$GC,6575,-1.16,-146.6,786.8,-11.0,313,6579,0.00,2.67,0.00,0.000,4,0.000,0.093,2444,583,3420
$GC,6602,-1.16,-146.6,790.0,-11.5,314,6606,0.00,2.62,0.00,0.000,6,0.000,0.075,2443,1995,3420
$GC,6918,-1.16,-146.6,825.7,-11.6,329,6923,0.00,2.65,0.00,0.000,4,0.000,0.092,2444,3406,3419
$GC,6940,-1.16,-146.6,828.4,-11.5,330,6944,0.00,2.67,0.00,0.000,6,0.000,0.078,2444,1985,3420
$GC,7261,-1.16,-146.6,862.4,-10.1,346,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1985,3418
$GC,7571,-1.16,-146.6,893.7,-10.3,361,7575,0.00,2.75,0.00,0.000,4,0.000,0.092,2444,3410,3418
$GC,7597,-1.16,-146.6,896.7,-10.4,362,7602,0.00,2.65,0.00,0.000,6,0.000,0.079,2444,2003,3418
$GC,7913,-1.16,-146.6,929.7,-10.6,377,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2003,3417
$GC,8223,-1.20,-146.6,962.6,-10.8,392,8227,0.00,2.72,0.00,0.000,4,0.000,0.093,2444,3412,3416
$GC,8250,-1.24,-146.6,965.6,-10.7,393,8255,0.00,2.65,0.00,0.000,6,0.000,0.079,2444,2006,3417
$STATE,8501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8501,begin apogee
$GC,8509,-0.33,0.0,990.7,9.8,405,8636,0.88,0.00,124.00,1.662,6,0.101,0.000,2622,2253,2832
$STATE,8637,end apogee,CONTROL_FINISHED_OK
$STATE,8637,begin climb
$GC,8640,1.44,146.6,994.8,0.0,411,8774,1.85,2.78,125.10,1.612,4,0.078,0.094,3010,3650,2234
$GC,8815,1.33,146.6,984.1,11.4,419,8820,0.00,2.70,0.00,0.000,6,0.000,0.079,3010,2247,2234
$GC,9132,1.28,146.6,952.1,10.4,434,9137,0.17,2.70,0.00,0.000,4,0.107,0.094,2975,841,2234
$GC,9154,1.30,161.8,949.8,9.3,435,9174,0.00,2.67,14.50,1.460,6,0.000,0.076,2976,2247,2172
$GC,9505,1.43,200.2,921.0,8.2,452,9547,0.15,2.83,34.28,1.542,4,0.070,0.093,3010,843,2015
$GC,9571,1.43,200.2,913.6,11.8,455,9575,0.00,2.70,0.00,0.000,6,0.000,0.078,3010,2246,2015
$GC,9898,1.43,200.2,878.5,10.6,471,9902,0.00,2.75,0.00,0.000,4,0.000,0.094,3010,840,2013
$GC,9919,1.43,200.2,876.0,11.3,472,9924,0.00,2.65,0.00,0.000,6,0.000,0.077,3010,2232,2013
$GC,10240,1.43,200.2,841.6,10.6,488,10241,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2233,2013
$GC,10549,1.43,200.2,807.8,11.0,503,10554,0.00,2.70,0.00,0.000,4,0.000,0.093,3010,842,2012
$GC,10589,1.43,200.2,803.4,11.9,505,10593,0.00,2.62,0.00,0.000,6,0.000,0.077,3010,2232,2012
$GC,10915,1.43,200.2,767.3,11.2,521,10917,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2232,2012
$GC,11225,1.43,200.2,733.7,10.8,536,11229,0.00,2.70,0.00,0.000,4,0.000,0.092,3010,841,2012
$GC,11264,1.43,200.2,729.3,11.4,538,11269,0.00,2.60,0.00,0.000,6,0.000,0.077,3011,2222,2012
$GC,11591,1.43,200.2,694.9,10.4,554,11596,0.00,2.67,0.00,0.000,4,0.000,0.093,3010,844,2012
$GC,11619,1.43,200.2,691.7,11.4,555,11624,0.00,2.58,0.00,0.000,6,0.000,0.077,3010,2205,2012
$GC,11935,1.43,200.2,659.7,10.1,570,11936,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2205,2012
$GC,12244,1.43,200.2,627.8,10.4,585,12245,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2205,2012
$GC,12553,1.43,200.2,596.5,10.0,600,12558,0.00,2.62,0.00,0.000,4,0.000,0.091,3011,841,2012
$GC,12616,1.43,200.2,589.8,10.9,603,12620,0.00,2.55,0.00,0.000,6,0.000,0.076,3010,2198,2012
$GC,12943,1.44,207.6,558.4,9.7,619,12952,0.00,0.00,7.28,1.208,6,0.000,0.000,3011,2199,1985
$GC,13252,1.46,219.5,528.9,9.5,634,13273,0.00,2.72,11.43,1.274,4,0.000,0.088,3011,841,1937
$GC,13289,1.46,219.5,524.9,10.1,635,13296,0.00,2.58,0.00,0.000,6,0.000,0.075,3010,2193,1937
$GC,13606,1.46,219.5,492.9,10.3,651,13607,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2193,1937
$GC,13915,1.52,223.4,462.4,9.8,666,13926,0.00,2.62,5.28,1.051,4,0.000,0.085,3011,841,1920
$GC,13955,1.52,223.4,458.1,11.0,668,13959,0.00,2.53,0.00,0.000,6,0.000,0.074,3010,2181,1920
$GC,14282,1.57,223.4,424.0,10.7,684,14283,0.15,0.00,0.00,0.000,6,0.070,0.000,3046,2181,1920
$GC,14591,1.57,223.4,386.9,12.4,699,14595,0.00,2.80,0.00,0.000,4,0.000,0.087,3045,3663,1920
$GC,14631,1.51,223.4,381.8,13.9,701,14635,0.00,2.80,0.00,0.000,6,0.000,0.071,3045,2160,1920
$GC,14957,1.51,223.4,340.5,12.7,717,14962,0.00,2.85,0.00,0.000,4,0.000,0.084,3045,3656,1920
$GC,15030,1.46,223.4,331.1,12.5,720,15035,0.15,2.70,0.00,0.000,6,0.116,0.068,3019,2198,1920
$GC,15345,1.46,223.4,296.0,11.0,735,15347,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2197,1920
$GC,15655,1.46,223.4,264.3,10.0,750,15656,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2197,1921
$GC,15964,1.48,235.7,234.6,9.4,765,15985,0.00,2.53,11.48,1.042,4,0.000,0.072,3020,837,1870
$GC,16013,1.49,244.6,229.6,9.6,767,16030,0.00,2.53,8.98,0.993,6,0.000,0.061,3020,2203,1833
$GC,16342,1.56,246.1,197.4,9.9,783,16343,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2203,1834
$GC,16649,1.62,246.1,165.8,10.3,798,16651,0.15,0.00,0.00,0.000,6,0.061,0.000,3057,2203,1835
$GC,16960,1.62,246.1,127.2,12.8,813,16961,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2203,1836
$GC,17267,1.62,246.1,84.4,14.6,828,17276,0.00,2.55,3.78,0.640,4,0.000,0.067,3057,845,1827
$GC,17295,1.57,246.1,80.4,13.5,829,17299,0.00,2.47,0.00,0.000,6,0.000,0.056,3057,2211,1828
$GC,17616,1.57,246.1,37.4,12.3,845,17621,0.00,2.62,0.00,0.000,4,0.000,0.066,3057,3659,1828
$GC,17644,1.57,246.1,33.4,12.9,846,17648,0.00,2.62,0.00,0.000,6,0.000,0.053,3057,2196,1829
$STATE,17874,end climb,SURFACE_DEPTH_REACHED
$STATE,17875,begin surface coast
$FINISH,0.5,1.027314
$STATE,17897,end surface coast,CONTROL_FINISHED_OK
$STATE,17897,begin surface
$SM_CCo,17920,2.45,0.347,0,0,1812,250.21
$SM_GC,1.92,0.00,0.00,2.45,0.000,0.000,0.347,422,1962,1812,-10.48,-0.99,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1807
$TCM_TEMP,16.70
$XPDR_PINGS,159
$ALTIM_TOP_PING,17.3,999.0
$ALTIM_BOTTOM_PING,976.5,70.7
$24V_AH,23.6,14.102
$10V_AH,10.0,6.065
$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,26.000,169.850,346.075,2.450,0.000,37.754,31.155,150.390,49.250,0.000,0.000,10.956,1598.867,13842.470,495.235,1799.492,522.314,33.377,1432.609,0.000,1751.238,0.000,66.521,0.000
$DEVICE_MAMPS,141.128,93.574,1662.089,347.451,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,636.570,581.752,424.349,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44316,858
$CAP_FILE_SIZE,135944,0
$CFSIZE,254472192,248459264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,49,0,0
$GPS,171108,151125,6211.707,-306.213,61,1.5,61,-6.3