version: 66.03
glider: 5
mission: 3
dive: 4
start: 6 7 108 0 26 48
data:
$ID,5
$MISSION,3
$DIVE,4
$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,-76762.133
$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,17
$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
$GPS1,001902,6130.256,-825.970,40,1.4,40,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-65.1
$GPS2,002509,6130.314,-826.057,16,1.2,16,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.261,0.040
$KALMAN_X,-1825.5,-1324.1,-293.5,-5073.3,-469.4
$KALMAN_Y,3645.9,1641.7,1163.3,3569.7,1696.2
$MHEAD_RNG_PITCHd_Wd,287.6,44163,-18.1,-10.000
$D_GRID,817
$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,-146.6,0.0,0.0,0,105,0.00,0.00,-78.53,0.000,6,0.000,0.000,425,2153,3431
$GC,109,-1.44,-146.6,5.1,-7.1,4,124,10.12,2.62,0.00,0.000,4,0.137,0.064,2376,730,3432
$GC,267,-1.24,-146.6,44.6,-18.2,10,272,0.28,2.58,0.00,0.000,6,0.096,0.055,2430,2149,3433
$GC,590,-1.18,-146.6,90.7,-13.3,26,594,0.00,2.62,0.00,0.000,4,0.000,0.067,2430,736,3434
$GC,630,-1.14,-146.6,96.2,-12.9,28,635,0.10,2.58,0.00,0.000,6,0.105,0.056,2449,2153,3434
$GC,957,-1.14,-146.6,138.0,-13.8,44,961,0.00,2.60,0.00,0.000,4,0.000,0.077,2449,3557,3434
$GC,1043,-1.14,-146.6,150.4,-14.2,48,1047,0.00,2.53,0.00,0.000,6,0.000,0.054,2450,2143,3434
$GC,1369,-1.14,-146.6,196.3,-13.9,64,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2129,3434
$GC,1678,-1.14,-146.6,237.2,-13.2,79,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2129,3434
$GC,1987,-1.14,-146.6,279.6,-13.4,94,1992,0.00,2.67,0.00,0.000,4,0.000,0.079,2450,3558,3434
$GC,2056,-1.14,-146.6,289.1,-13.5,97,2060,0.00,2.55,0.00,0.000,6,0.000,0.054,2449,2143,3434
$GC,2376,-1.14,-146.6,332.7,-13.3,113,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2128,3434
$GC,2686,-1.14,-146.6,375.1,-13.5,128,2691,0.00,2.67,0.00,0.000,4,0.000,0.079,2449,3559,3434
$GC,2736,-1.14,-146.6,382.3,-13.2,130,2741,0.00,2.55,0.00,0.000,6,0.000,0.054,2449,2146,3434
$GC,3052,-1.14,-146.6,424.8,-13.6,145,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2131,3434
$GC,3361,-1.14,-146.6,465.3,-13.2,160,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2131,3434
$GC,3670,-1.14,-146.6,505.0,-12.4,175,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2130,3434
$GC,3980,-1.14,-146.6,544.8,-12.7,190,3984,0.00,2.67,0.00,0.000,4,0.000,0.081,2449,3558,3434
$GC,4080,-1.14,-146.6,557.8,-13.1,194,4086,0.00,2.55,0.00,0.000,6,0.000,0.056,2450,2145,3434
$GC,4395,-1.14,-146.6,597.1,-12.3,210,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2127,3433
$GC,4705,-1.14,-146.6,635.8,-11.6,225,4709,0.00,2.65,0.00,0.000,4,0.000,0.081,2450,3558,3433
$GC,4911,-1.14,-146.6,659.2,-7.9,234,4916,0.00,2.55,0.00,0.000,6,0.000,0.056,2450,2142,3433
$GC,5228,-1.18,-146.6,689.4,-7.6,249,5232,0.00,2.70,0.00,0.000,4,0.000,0.086,2450,3555,3433
$GC,5312,-1.18,-146.6,697.1,-9.7,253,5317,0.00,2.55,0.00,0.000,6,0.000,0.061,2450,2149,3433
$GC,5639,-1.26,-146.6,732.8,-10.0,269,5641,0.12,0.00,0.00,0.000,6,0.063,0.000,2417,2124,3433
$GC,5949,-1.12,-146.6,766.9,-8.2,284,5954,0.15,2.65,0.00,0.000,4,0.115,0.093,2450,748,3433
$GC,6038,-1.12,-146.6,782.4,-22.5,288,6043,0.00,2.65,0.00,0.000,6,0.000,0.081,2450,2145,3432
$STATE,6253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6253,begin apogee
$GC,6259,-0.33,0.0,820.5,16.0,299,6389,0.82,0.00,126.53,1.397,6,0.087,0.000,2623,2148,2833
$STATE,6390,end apogee,CONTROL_FINISHED_OK
$STATE,6390,begin climb
$GC,6393,1.44,146.6,828.8,0.0,305,6529,1.85,2.80,125.20,1.355,4,0.082,0.091,3010,750,2234
$GC,6771,1.25,173.8,807.9,8.8,323,6801,0.20,2.75,24.30,1.291,6,0.113,0.089,2975,2156,2123
$GC,7120,1.24,212.5,777.0,8.2,340,7162,0.00,2.85,33.83,1.325,4,0.000,0.097,2975,759,1965
$GC,7226,1.41,322.9,768.1,5.0,344,7327,0.15,2.72,93.10,1.335,6,0.064,0.084,3010,2160,1515
$GC,7643,1.41,322.9,722.6,10.2,365,7647,0.00,2.80,0.00,0.000,4,0.000,0.100,3010,752,1513
$GC,7737,1.41,322.9,708.7,15.5,369,7742,0.00,2.70,0.00,0.000,6,0.000,0.083,3010,2149,1513
$GC,8053,1.54,405.2,680.9,6.3,384,8129,0.12,2.85,69.45,1.322,4,0.070,0.103,3038,752,1180
$GC,8224,1.54,405.2,654.1,19.1,391,8229,0.00,2.70,0.00,0.000,6,0.000,0.084,3038,2151,1181
$GC,8545,1.54,405.2,599.0,16.7,407,8550,0.00,2.75,0.00,0.000,4,0.000,0.100,3038,3561,1181
$GC,8613,1.60,405.2,587.4,17.7,410,8617,0.00,2.67,0.00,0.000,6,0.000,0.076,3038,2155,1181
$GC,8934,1.60,405.2,541.6,13.2,426,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2132,1181
$GC,9243,1.60,405.2,503.1,13.8,441,9247,0.00,2.67,0.00,0.000,4,0.000,0.087,3039,740,1181
$GC,9293,1.60,405.2,496.7,12.9,443,9297,0.00,2.67,0.00,0.000,6,0.000,0.072,3039,2158,1181
$GC,9608,1.64,426.4,465.9,9.0,458,9633,0.00,2.75,19.30,1.145,4,0.000,0.081,3038,739,1093
$GC,9726,1.69,427.8,455.4,9.9,463,9731,0.12,2.65,0.00,0.000,6,0.064,0.067,3070,2155,1093
$GC,10041,1.69,427.8,412.1,15.8,478,10046,0.00,2.67,0.00,0.000,4,0.000,0.077,3070,737,1094
$GC,10075,1.64,427.8,406.1,18.2,479,10081,0.00,2.62,0.00,0.000,6,0.000,0.064,3070,2153,1095
$GC,10390,1.64,427.8,349.3,19.1,495,10395,0.00,2.67,0.00,0.000,4,0.000,0.077,3070,737,1095
$GC,10434,1.64,427.8,340.1,21.0,497,10439,0.00,2.62,0.00,0.000,6,0.000,0.061,3070,2161,1095
$GC,10756,1.64,427.8,281.6,17.8,513,10760,0.00,2.65,0.00,0.000,4,0.000,0.074,3070,739,1096
$GC,10799,1.64,427.8,273.2,19.3,515,10804,0.00,2.60,0.00,0.000,6,0.000,0.061,3070,2152,1097
$GC,11121,1.64,427.8,218.4,16.8,531,11130,0.00,2.65,3.83,0.630,4,0.000,0.074,3069,739,1088
$GC,11181,1.64,427.8,208.1,16.4,533,11187,0.00,2.60,0.00,0.000,6,0.000,0.059,3070,2154,1088
$GC,11497,1.64,427.8,164.7,12.7,549,11501,0.00,2.65,0.00,0.000,4,0.000,0.074,3070,737,1089
$GC,11537,1.64,427.8,159.3,14.5,551,11541,0.00,2.60,0.00,0.000,6,0.000,0.059,3069,2161,1089
$GC,11863,1.64,427.8,114.7,13.6,567,11868,0.00,2.65,0.00,0.000,4,0.000,0.073,3070,737,1090
$GC,11936,1.64,427.8,103.4,15.1,570,11940,0.00,2.58,0.00,0.000,6,0.000,0.057,3070,2150,1090
$GC,12254,1.64,427.8,48.1,17.8,585,12255,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2149,1091
$STATE,12538,end climb,SURFACE_DEPTH_REACHED
$STATE,12538,begin surface coast
$FINISH,-0.1,1.026442
$STATE,12560,end surface coast,CONTROL_FINISHED_OK
$STATE,12560,begin surface
$SM_CCo,12642,0.00,0.000,0,0,1089,427.56
$SM_GC,0.67,11.55,0.00,0.00,0.040,0.000,0.000,423,2151,1089,-10.38,0.03,427.56
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1731
$TCM_TEMP,17.40
$XPDR_PINGS,388
$ALTIM_TOP_PING,17.8,999.0
$ALTIM_BOTTOM_PING,801.5,30.3
$24V_AH,23.7,4.425
$10V_AH,10.0,1.457
$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,25.600,116.875,495.525,0.000,0.000,37.763,27.788,164.774,104.250,0.000,0.000,16.204,1160.286,9325.998,553.130,1502.857,517.745,32.344,1346.087,0.000,1455.036,0.000,49.087
$DEVICE_MAMPS,137.293,102.778,1397.474,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.582,439.619,334.163,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31668,600
$CAP_FILE_SIZE,101863,0
$CFSIZE,254472192,251908096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,070608,035838,6133.945,-834.206,32,1.2,32,-9.0