version: 66.04
glider: 5
mission: 5
dive: 78
start: 11 17 108 15 18 6
data:
$ID,5
$MISSION,5
$DIVE,78
$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,-88778.219
$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,43
$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
$GPS1,151125,6211.707,-306.213,61,1.5,61,-6.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-60.9
$GPS2,151714,6211.660,-306.052,16,1.5,16,-6.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.256,-0.063
$KALMAN_X,47063.6,1152.0,528.9,97484.9,-4666.7
$KALMAN_Y,-13448.8,-379.4,-70.3,-150186.0,455.2
$MHEAD_RNG_PITCHd_Wd,110.1,140994,-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,-80.68,0.000,6,0.000,0.000,422,1962,3430
$GC,102,-1.44,-146.6,5.0,-5.6,4,118,10.25,2.65,0.00,0.000,4,0.143,0.064,2378,3410,3431
$GC,332,-1.23,-146.6,53.6,-20.6,13,337,0.28,2.50,0.00,0.000,6,0.097,0.051,2432,2018,3432
$GC,649,-1.17,-146.6,99.0,-14.0,28,653,0.00,2.58,0.00,0.000,4,0.000,0.067,2432,592,3433
$GC,760,-1.12,-146.6,115.5,-14.9,33,765,0.10,2.47,0.00,0.000,6,0.106,0.051,2451,1981,3434
$GC,1081,-1.12,-146.6,159.4,-13.1,49,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1982,3434
$GC,1391,-1.12,-146.6,199.8,-13.1,64,1396,0.00,2.55,0.00,0.000,4,0.000,0.068,2451,592,3434
$GC,1429,-1.12,-146.6,205.3,-13.7,65,1436,0.00,2.47,0.00,0.000,6,0.000,0.053,2451,1980,3434
$GC,1746,-1.12,-146.6,244.5,-12.5,81,1750,0.00,2.58,0.00,0.000,4,0.000,0.066,2451,3406,3435
$GC,1763,-1.12,-146.6,246.8,-12.6,82,1767,0.00,2.60,0.00,0.000,6,0.000,0.054,2451,1958,3434
$GC,2089,-1.12,-146.6,285.7,-11.9,98,2093,0.00,2.47,0.00,0.000,4,0.000,0.070,2450,592,3435
$GC,2219,-1.12,-146.6,301.8,-12.2,104,2223,0.00,2.42,0.00,0.000,6,0.000,0.053,2451,1949,3435
$GC,2545,-1.12,-146.6,340.3,-12.8,120,2550,0.00,2.50,0.00,0.000,4,0.000,0.071,2451,596,3435
$GC,2618,-1.12,-146.6,349.9,-14.1,123,2623,0.00,2.40,0.00,0.000,6,0.000,0.056,2451,1931,3436
$GC,2939,-1.12,-146.6,390.3,-12.2,139,2944,0.00,2.67,0.00,0.000,4,0.000,0.073,2451,3406,3436
$GC,3047,-1.12,-146.6,403.8,-12.4,144,3051,0.00,2.65,0.00,0.000,6,0.000,0.061,2451,1947,3436
$GC,3373,-1.12,-146.6,442.4,-11.7,160,3378,0.00,2.72,0.00,0.000,4,0.000,0.076,2451,3405,3435
$GC,3401,-1.12,-146.6,446.1,-12.4,161,3406,0.00,2.65,0.00,0.000,6,0.000,0.064,2451,1958,3435
$GC,3717,-1.12,-146.6,483.0,-11.7,176,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1957,3434
$GC,4027,-1.12,-146.6,518.2,-11.2,191,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1957,3434
$GC,4336,-1.12,-146.6,551.4,-10.2,206,4341,0.00,2.72,0.00,0.000,4,0.000,0.081,2451,3403,3432
$GC,4386,-1.18,-146.6,556.7,-10.9,208,4391,0.00,2.67,0.00,0.000,6,0.000,0.071,2451,1960,3433
$GC,4703,-1.22,-146.6,589.2,-10.8,223,4707,0.00,2.75,0.00,0.000,4,0.000,0.084,2451,3409,3431
$GC,4752,-1.29,-146.6,594.9,-10.4,225,4758,0.15,2.65,0.00,0.000,6,0.069,0.071,2416,1978,3431
$GC,5069,-1.23,-146.6,633.6,-12.2,240,5074,0.00,2.58,0.00,0.000,4,0.000,0.087,2416,593,3430
$GC,5120,-1.16,-146.6,640.3,-12.9,242,5125,0.15,2.55,0.00,0.000,6,0.111,0.071,2444,1972,3430
$GC,5436,-1.16,-146.6,674.3,-10.6,257,5440,0.00,2.70,0.00,0.000,4,0.000,0.089,2445,3405,3429
$GC,5474,-1.16,-146.6,678.8,-10.6,258,5480,0.00,2.67,0.00,0.000,6,0.000,0.074,2444,1972,3428
$GC,5790,-1.16,-146.6,712.5,-10.5,274,5794,0.00,2.78,0.00,0.000,4,0.000,0.091,2445,3413,3427
$GC,5817,-1.16,-146.6,715.5,-11.2,275,5822,0.00,2.67,0.00,0.000,6,0.000,0.075,2445,1983,3427
$GC,6133,-1.16,-146.6,749.1,-10.2,290,6137,0.00,2.62,0.00,0.000,4,0.000,0.091,2445,589,3426
$GC,6165,-1.16,-146.6,752.8,-11.0,291,6172,0.00,2.60,0.00,0.000,6,0.000,0.074,2445,1990,3426
$GC,6481,-1.16,-146.6,785.7,-10.6,307,6486,0.00,2.70,0.00,0.000,4,0.000,0.094,2444,3411,3425
$GC,6515,-1.16,-146.6,789.5,-11.2,308,6521,0.00,2.67,0.00,0.000,6,0.000,0.077,2445,1988,3425
$GC,6830,-1.16,-146.6,822.2,-10.5,324,6832,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1988,3424
$GC,7140,-1.16,-146.6,854.0,-9.9,339,7144,0.00,2.72,0.00,0.000,4,0.000,0.091,2445,3406,3423
$GC,7167,-1.16,-146.6,857.0,-11.0,340,7172,0.00,2.65,0.00,0.000,6,0.000,0.077,2445,1994,3422
$GC,7483,-1.16,-146.6,888.3,-9.7,355,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1994,3422
$GC,7793,-1.20,-146.6,919.3,-9.7,370,7794,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1994,3422
$GC,8103,-1.20,-146.6,950.1,-9.9,385,8107,0.00,2.75,0.00,0.000,4,0.000,0.094,2444,3412,3421
$GC,8130,-1.20,-146.6,953.1,-10.6,386,8134,0.00,2.67,0.00,0.000,6,0.000,0.080,2445,1997,3420
$GC,8446,-1.24,-146.6,985.2,-10.3,401,8448,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1997,3420
$STATE,8504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8504,begin apogee
$GC,8511,-0.33,0.0,991.3,10.1,404,8640,0.88,0.00,125.10,1.667,6,0.101,0.000,2623,2256,2832
$STATE,8641,end apogee,CONTROL_FINISHED_OK
$STATE,8641,begin climb
$GC,8644,1.44,146.6,996.1,0.0,410,8778,1.85,2.78,125.30,1.612,4,0.080,0.094,3010,3653,2234
$GC,8820,1.33,146.6,985.5,10.8,418,8824,0.00,2.70,0.00,0.000,6,0.000,0.078,3010,2247,2234
$GC,9136,1.28,146.6,953.5,10.4,433,9141,0.17,2.70,0.00,0.000,4,0.106,0.095,2978,845,2233
$GC,9177,1.29,149.1,949.5,9.9,435,9187,0.00,2.67,3.75,0.937,6,0.000,0.077,2978,2249,2224
$GC,9511,1.35,164.7,918.5,9.3,451,9529,0.00,0.00,15.10,1.467,6,0.000,0.000,2978,2249,2160
$GC,9839,1.43,175.3,886.7,9.5,467,9856,0.15,2.80,10.60,1.407,4,0.070,0.091,3013,840,2117
$GC,9880,1.38,175.3,882.3,11.9,468,9885,0.00,2.67,0.00,0.000,6,0.000,0.076,3013,2239,2116
$GC,10206,1.38,175.3,846.5,10.8,484,10211,0.00,2.72,0.00,0.000,4,0.000,0.092,3013,841,2116
$GC,10234,1.33,175.3,843.3,11.9,485,10239,0.12,2.65,0.00,0.000,6,0.114,0.077,2990,2235,2115
$GC,10550,1.35,186.0,812.3,9.5,500,10563,0.00,0.00,10.55,1.398,6,0.000,0.000,2990,2235,2074
$GC,10860,1.41,193.7,782.5,9.6,515,10874,0.00,2.78,8.40,1.336,4,0.000,0.090,2990,845,2042
$GC,10897,1.41,193.7,778.5,10.4,516,10903,0.00,2.62,0.00,0.000,6,0.000,0.077,2990,2220,2041
$GC,11213,1.47,193.7,746.3,10.2,532,11215,0.15,0.00,0.00,0.000,6,0.071,0.000,3023,2220,2041
$GC,11522,1.47,193.7,710.2,11.7,547,11527,0.00,2.65,0.00,0.000,4,0.000,0.091,3023,844,2041
$GC,11568,1.41,193.7,704.7,13.0,549,11572,0.00,2.58,0.00,0.000,6,0.000,0.077,3023,2205,2041
$GC,11889,1.41,193.7,667.6,11.6,565,11893,0.00,2.65,0.00,0.000,4,0.000,0.091,3023,840,2041
$GC,11922,1.34,193.7,663.5,12.2,566,11928,0.17,2.55,0.00,0.000,6,0.113,0.076,2993,2190,2041
$GC,12238,1.41,193.7,631.4,10.3,582,12242,0.00,2.60,0.00,0.000,4,0.000,0.091,2992,841,2041
$GC,12255,1.46,193.7,629.6,10.4,583,12260,0.12,2.53,0.00,0.000,6,0.074,0.075,3020,2182,2041
$GC,12582,1.46,193.7,591.6,11.6,599,12587,0.00,2.60,0.00,0.000,4,0.000,0.091,3020,838,2041
$GC,12610,1.46,193.7,587.9,13.3,600,12614,0.00,2.53,0.00,0.000,6,0.000,0.075,3020,2177,2041
$GC,12926,1.46,193.7,551.5,11.4,615,12927,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2177,2041
$GC,13235,1.46,193.7,515.9,11.3,630,13236,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2177,2041
$GC,13544,1.46,193.7,480.9,11.3,645,13549,0.00,2.58,0.00,0.000,4,0.000,0.088,3020,837,2041
$GC,13577,1.46,193.7,476.9,11.4,646,13584,0.00,2.50,0.00,0.000,6,0.000,0.074,3020,2167,2041
$GC,13893,1.46,195.9,444.8,9.9,662,13898,0.00,2.80,0.00,0.000,4,0.000,0.088,3020,3659,2041
$GC,13960,1.46,195.9,437.4,10.4,665,13964,0.00,2.80,0.00,0.000,6,0.000,0.072,3020,2159,2041
$GC,14281,1.46,195.9,404.7,10.8,681,14285,0.00,2.47,0.00,0.000,4,0.000,0.084,3020,835,2040
$GC,14302,1.46,195.9,402.1,11.5,682,14307,0.00,2.47,0.00,0.000,6,0.000,0.071,3020,2172,2041
$GC,14624,1.47,204.1,369.9,9.6,698,14636,0.00,0.00,9.77,1.154,6,0.000,0.000,3020,2172,2000
$GC,14933,1.50,219.5,341.1,9.3,713,14952,0.00,0.00,14.52,1.163,6,0.000,0.000,3020,2172,1936
$GC,15263,1.50,220.1,309.5,10.0,729,15267,0.00,2.50,0.00,0.000,4,0.000,0.079,3020,843,1936
$GC,15296,1.50,220.1,305.9,10.4,730,15300,0.00,2.40,0.00,0.000,6,0.000,0.066,3020,2141,1936
$GC,15612,1.52,230.3,274.0,9.5,745,15627,0.00,2.88,10.35,1.062,4,0.000,0.079,3020,3659,1892
$GC,15661,1.52,230.3,268.7,10.5,746,15666,0.00,2.80,0.00,0.000,6,0.000,0.062,3020,2146,1891
$GC,15977,1.52,230.3,235.9,10.4,761,15982,0.00,2.83,0.00,0.000,4,0.000,0.074,3020,3659,1892
$GC,16027,1.52,230.3,229.8,11.3,763,16032,0.00,2.72,0.00,0.000,6,0.000,0.058,3020,2160,1892
$GC,16343,1.56,230.3,193.3,12.1,778,16345,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2161,1893
$GC,16653,1.62,230.3,156.8,11.6,793,16654,0.15,0.00,0.00,0.000,6,0.061,0.000,3058,2161,1894
$GC,16962,1.57,230.3,116.5,13.2,808,16967,0.00,2.78,0.00,0.000,4,0.000,0.067,3058,3664,1895
$GC,17013,1.52,230.3,109.4,12.6,810,17018,0.15,2.70,0.00,0.000,6,0.103,0.053,3030,2159,1895
$GC,17329,1.54,239.9,75.0,9.6,825,17341,0.00,0.00,10.02,0.852,6,0.000,0.000,3030,2159,1853
$GC,17641,1.62,265.6,43.1,8.8,840,17665,0.10,0.00,21.67,0.881,6,0.064,0.000,3056,2159,1749
$STATE,17944,end climb,SURFACE_DEPTH_REACHED
$STATE,17944,begin surface coast
$FINISH,1.7,1.027328
$STATE,17968,end surface coast,CONTROL_FINISHED_OK
$STATE,17968,begin surface
$SM_CCo,18051,0.00,0.000,0,0,1748,265.66
$SM_GC,1.40,11.65,0.00,0.00,0.044,0.000,0.000,426,1975,1748,-10.39,-0.68,265.66
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,1793
$TCM_TEMP,15.80
$XPDR_PINGS,175
$ALTIM_TOP_PING,17.4,999.0
$24V_AH,23.6,14.275
$10V_AH,10.0,6.145
$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,26.600,174.850,365.150,0.000,0.000,37.755,33.458,152.236,52.750,0.000,0.000,16.933,1608.183,13896.843,530.127,1835.201,527.647,33.363,1473.943,0.000,1787.407,0.000,58.491,0.000
$DEVICE_MAMPS,142.662,95.108,1666.691,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,635.942,579.957,439.494,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44247,856
$CAP_FILE_SIZE,139267,0
$CFSIZE,254472192,248389632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,54,0,0
$GPS,171108,202007,6209.498,-302.547,33,0.9,33,-6.2