version: 66.03
glider: 5
mission: 3
dive: 3
start: 6 6 108 20 48 22
data:
$ID,5
$MISSION,3
$DIVE,3
$D_SURF,2
$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,120
$USE_BATHY,-3
$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,300
$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,-76745.305
$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,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,3
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-24.477776
$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,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043890956
$SEABIRD_T_H,0.00065287336
$SEABIRD_T_I,2.754709e-05
$SEABIRD_T_J,3.0424237e-06
$SEABIRD_C_G,-10.354986
$SEABIRD_C_H,1.1996267
$SEABIRD_C_I,-0.0023424325
$SEABIRD_C_J,0.0002635108
$GPS1,204350,6125.657,-819.051,10,1.2,16,-8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-64.4
$GPS2,204645,6125.645,-819.089,11,1.2,11,-8.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.226,0.136
$KALMAN_X,-142.5,-575.9,-315.7,-1298.9,-203.5
$KALMAN_Y,-66.7,244.7,50.1,1148.6,182.3
$MHEAD_RNG_PITCHd_Wd,309.9,53743,-18.1,-10.000
$D_GRID,821
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.44,-146.6,0.0,0.0,0,96,0.00,0.00,-70.12,0.000,6,0.000,0.000,420,2125,3430
$GC,99,-1.44,-146.6,3.0,-5.4,3,115,10.12,2.62,0.00,0.000,4,0.135,0.073,2381,3559,3431
$GC,200,-1.22,-146.6,30.2,-19.0,8,205,0.25,2.53,0.00,0.000,6,0.098,0.051,2431,2147,3432
$GC,517,-1.17,-146.6,77.8,-14.0,23,521,0.00,2.65,0.00,0.000,4,0.000,0.074,2431,3561,3433
$GC,594,-1.17,-146.6,89.5,-14.8,26,601,0.00,2.50,0.00,0.000,6,0.000,0.050,2431,2150,3433
$GC,910,-1.13,-146.6,134.9,-14.7,42,915,0.10,2.55,0.00,0.000,4,0.106,0.069,2450,750,3434
$GC,955,-1.13,-146.6,141.8,-14.9,44,959,0.00,2.55,0.00,0.000,6,0.000,0.056,2450,2160,3434
$GC,1276,-1.13,-146.6,189.9,-15.0,60,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2160,3434
$GC,1585,-1.13,-146.6,234.8,-14.7,75,1589,0.00,2.58,0.00,0.000,4,0.000,0.078,2450,3555,3433
$GC,1657,-1.13,-146.6,245.8,-15.1,78,1661,0.00,2.53,0.00,0.000,6,0.000,0.054,2450,2150,3433
$GC,1973,-1.13,-146.6,289.5,-13.7,93,1977,0.00,2.58,0.00,0.000,4,0.000,0.075,2450,747,3433
$GC,2023,-1.18,-146.6,297.4,-16.1,95,2027,0.00,2.55,0.00,0.000,6,0.000,0.059,2450,2151,3433
$GC,2338,-1.18,-146.6,339.4,-13.1,110,2343,0.00,2.60,0.00,0.000,4,0.000,0.081,2450,3557,3433
$GC,2412,-1.18,-146.6,350.1,-14.9,113,2416,0.00,2.53,0.00,0.000,6,0.000,0.055,2450,2152,3433
$GC,2728,-1.18,-146.6,390.5,-12.4,128,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2139,3432
$GC,3037,-1.18,-146.6,427.8,-11.2,143,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2139,3432
$GC,3346,-1.18,-146.6,459.0,-9.8,158,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2139,3432
$GC,3656,-1.22,-146.6,486.1,-8.3,173,3660,0.00,2.67,0.00,0.000,4,0.000,0.083,2450,3564,3431
$GC,3722,-1.22,-146.6,493.1,-10.2,176,3727,0.00,2.55,0.00,0.000,6,0.000,0.058,2450,2149,3431
$GC,4044,-1.22,-146.6,521.9,-8.5,192,4048,0.00,2.65,0.00,0.000,4,0.000,0.081,2450,3562,3431
$GC,4133,-1.22,-146.6,529.9,-10.3,196,4137,0.00,2.55,0.00,0.000,6,0.000,0.056,2450,2145,3431
$GC,4453,-1.22,-146.6,573.5,-15.2,212,4458,0.00,2.67,0.00,0.000,4,0.000,0.082,2450,3557,3431
$GC,4510,-1.22,-146.6,581.9,-14.7,214,4516,0.00,2.53,0.00,0.000,6,0.000,0.056,2450,2149,3431
$GC,4825,-1.22,-146.6,617.7,-10.4,230,4829,0.00,2.58,0.00,0.000,4,0.000,0.077,2450,747,3431
$GC,4920,-1.22,-146.6,629.1,-12.4,234,4925,0.00,2.55,0.00,0.000,6,0.000,0.063,2450,2150,3431
$GC,5236,-1.27,-146.6,674.3,-14.4,249,5242,0.12,2.62,0.00,0.000,4,0.060,0.090,2417,3549,3431
$GC,5309,-1.22,-146.6,685.2,-15.4,252,5314,0.00,2.58,0.00,0.000,6,0.000,0.066,2417,2148,3431
$GC,5633,-1.12,-146.6,726.3,-10.7,268,5638,0.17,2.65,0.00,0.000,4,0.110,0.089,2453,744,3430
$GC,5792,-1.12,-146.6,744.5,-8.1,275,5797,0.00,2.65,0.00,0.000,6,0.000,0.079,2453,2147,3430
$GC,6114,-1.12,-146.6,782.6,-13.7,291,6118,0.00,2.75,0.00,0.000,4,0.000,0.107,2453,3557,3428
$GC,6158,-1.06,-146.6,792.1,-26.1,293,6163,0.00,2.62,0.00,0.000,6,0.000,0.074,2453,2150,3427
$STATE,6312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6312,begin apogee
$GC,6319,-0.33,0.0,822.3,16.5,301,6446,0.77,0.00,124.38,1.397,6,0.058,0.000,2627,2128,2832
$STATE,6447,end apogee,CONTROL_FINISHED_OK
$STATE,6447,begin climb
$GC,6450,1.44,146.6,822.2,0.0,307,6583,1.77,2.78,124.22,1.346,4,0.068,0.099,3010,746,2234
$GC,6805,1.22,146.6,784.9,13.0,323,6810,0.22,2.72,0.00,0.000,6,0.108,0.084,2968,2152,2233
$GC,7121,1.39,249.5,746.9,5.3,338,7216,0.15,2.92,86.57,1.332,4,0.067,0.105,3005,745,1814
$GC,7291,1.30,249.5,721.7,22.0,346,7296,0.12,2.72,0.00,0.000,6,0.113,0.084,2983,2148,1814
$GC,7618,1.45,346.7,700.6,5.6,362,7708,0.15,2.85,81.72,1.314,4,0.068,0.100,3021,747,1418
$GC,7812,1.52,346.7,656.1,18.8,371,7817,0.00,2.72,0.00,0.000,6,0.000,0.085,3021,2150,1418
$GC,8140,1.46,346.7,611.8,13.2,387,8144,0.00,2.78,0.00,0.000,4,0.000,0.099,3020,746,1416
$GC,8217,1.46,346.7,598.4,13.9,390,8224,0.00,2.70,0.00,0.000,6,0.000,0.082,3020,2148,1416
$GC,8533,1.46,346.7,553.9,14.8,406,8538,0.00,2.70,0.00,0.000,4,0.000,0.091,3020,3566,1415
$GC,8578,1.51,346.7,547.8,12.7,408,8582,0.00,2.65,0.00,0.000,6,0.000,0.069,3020,2150,1415
$GC,8899,1.56,346.7,505.9,13.4,424,8903,0.00,2.62,0.00,0.000,4,0.000,0.080,3020,739,1414
$GC,8926,1.56,346.7,502.0,14.3,425,8930,0.00,2.65,0.00,0.000,6,0.000,0.067,3020,2163,1414
$GC,9242,1.61,346.7,457.8,14.2,440,9247,0.15,2.70,0.00,0.000,4,0.064,0.076,3061,737,1416
$GC,9309,1.54,346.7,446.0,18.1,443,9314,0.15,2.62,0.00,0.000,6,0.107,0.063,3034,2161,1415
$GC,9630,1.54,346.7,398.5,15.0,459,9634,0.00,2.65,0.00,0.000,4,0.000,0.074,3034,739,1417
$GC,9692,1.54,346.7,389.0,14.7,462,9696,0.00,2.58,0.00,0.000,6,0.000,0.061,3034,2151,1417
$GC,10018,1.54,346.7,340.1,15.6,478,10022,0.00,2.65,0.00,0.000,4,0.000,0.076,3034,737,1418
$GC,10062,1.54,346.7,332.9,16.6,480,10066,0.00,2.60,0.00,0.000,6,0.000,0.061,3034,2152,1418
$GC,10383,1.58,346.7,284.9,14.6,496,10388,0.00,2.65,0.00,0.000,4,0.000,0.074,3034,739,1418
$GC,10433,1.58,346.7,277.2,15.1,498,10437,0.00,2.60,0.00,0.000,6,0.000,0.061,3034,2155,1418
$GC,10749,1.58,346.7,232.3,13.8,513,10753,0.00,2.62,0.00,0.000,4,0.000,0.074,3034,739,1419
$GC,10794,1.58,346.7,226.0,14.3,515,10798,0.00,2.58,0.00,0.000,6,0.000,0.061,3034,2150,1420
$GC,11115,1.62,346.7,180.7,14.0,531,11120,0.00,2.65,0.00,0.000,4,0.000,0.074,3034,737,1420
$GC,11155,1.62,346.7,175.0,14.0,533,11160,0.00,2.58,0.00,0.000,6,0.000,0.060,3034,2149,1421
$GC,11484,1.67,346.7,134.3,12.5,549,11489,0.15,2.65,0.00,0.000,4,0.057,0.074,3077,739,1421
$GC,11528,1.59,346.7,127.0,16.8,551,11533,0.17,2.58,0.00,0.000,6,0.094,0.060,3045,2150,1421
$GC,11850,1.59,346.7,84.5,12.9,567,11854,0.00,2.62,0.00,0.000,4,0.000,0.071,3045,739,1421
$GC,11916,1.59,346.7,75.3,13.3,570,11920,0.00,2.58,0.00,0.000,6,0.000,0.060,3045,2150,1422
$GC,12238,1.59,346.7,31.5,13.7,586,12243,0.00,2.62,0.00,0.000,4,0.000,0.071,3044,739,1422
$GC,12249,1.59,346.7,29.6,13.5,586,12256,0.00,2.55,0.00,0.000,6,0.000,0.058,3044,2150,1422
$STATE,12459,end climb,SURFACE_DEPTH_REACHED
$STATE,12459,begin surface coast
$FINISH,-0.2,1.012913
$STATE,12481,end surface coast,CONTROL_FINISHED_OK
$STATE,12481,begin surface
$SM_CCo,12564,0.00,0.000,0,0,1422,345.87
$SM_GC,0.88,11.43,0.00,0.00,0.041,0.000,0.000,425,2151,1422,-10.38,0.00,345.87
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1722
$TCM_TEMP,17.30
$XPDR_PINGS,400
$ALTIM_TOP_PING,17.8,999.0
$24V_AH,23.7,4.213
$10V_AH,10.0,1.394
$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
$DEVICE_SECS,26.025,147.275,416.900,0.000,0.000,0.000,0.000,0.000,107.000,0.000,0.000,11.263,1183.045,9256.369,506.403,1508.844,221.241,31.421,1303.916,0.000,1464.141,0.000,46.222
$DEVICE_MAMPS,134.992,106.613,1397.474,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.335,434.855,347.629,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31701,598
$CAP_FILE_SIZE,116988,0
$CFSIZE,254472192,251936768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,070608,001902,6130.256,-825.970,40,1.4,40,-8.9