version: 66.03
glider: 5
mission: 3
dive: 10
start: 6 7 108 21 47 48
data:
$ID,5
$MISSION,3
$DIVE,10
$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,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,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,-76887.344
$T_RSLEEP,12
$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,24
$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,5
$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
$GPS1,213901,6131.846,-850.847,42,1.3,42,-9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-54.3
$GPS2,214657,6131.914,-850.766,13,1.5,13,-9.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.125,0.232
$KALMAN_X,693.6,2077.3,429.5,-33635.5,3921.7
$KALMAN_Y,-466.9,-1220.3,170.2,14530.6,-5964.2
$MHEAD_RNG_PITCHd_Wd,340.9,24477,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.44,-146.6,0.0,0.0,0,108,0.00,0.00,-76.45,0.000,6,0.000,0.000,426,2130,3429
$GC,112,-1.44,-146.6,5.9,-8.1,4,127,10.15,2.62,0.00,0.000,4,0.138,0.064,2377,3561,3431
$GC,133,0.14,-146.6,16.7,-44.1,4,142,1.70,2.55,0.00,0.000,6,0.097,0.049,2725,2147,3432
$GC,460,-0.77,-146.6,48.8,-11.5,20,465,0.85,2.53,0.00,0.000,4,0.052,0.061,2529,749,3432
$GC,691,-0.98,-146.6,71.5,-8.3,30,696,0.20,2.55,0.00,0.000,6,0.045,0.054,2471,2160,3432
$GC,1008,-1.04,-146.6,104.5,-9.9,45,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2160,3433
$GC,1317,-1.10,-146.6,135.1,-10.0,60,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2157,3433
$GC,1626,-1.17,-146.6,164.2,-10.5,75,1627,0.12,0.00,0.00,0.000,6,0.055,0.000,2435,2158,3433
$GC,1935,-1.17,-146.6,201.4,-12.5,90,1940,0.00,2.60,0.00,0.000,4,0.000,0.065,2435,746,3433
$GC,2053,-1.17,-146.6,216.9,-12.8,95,2057,0.00,2.55,0.00,0.000,6,0.000,0.055,2435,2154,3433
$GC,2369,-1.12,-146.6,257.5,-13.3,110,2373,0.00,2.58,0.00,0.000,4,0.000,0.071,2435,3566,3433
$GC,2502,-1.12,-146.6,276.4,-14.6,116,2507,0.00,2.55,0.00,0.000,6,0.000,0.053,2435,2145,3433
$GC,2824,-1.12,-146.6,319.6,-13.2,132,2828,0.00,2.55,0.00,0.000,4,0.000,0.070,2435,744,3433
$GC,2885,-1.12,-146.6,328.1,-13.8,135,2890,0.00,2.55,0.00,0.000,6,0.000,0.058,2435,2151,3433
$GC,3213,-1.12,-146.6,373.4,-14.1,151,3217,0.00,2.58,0.00,0.000,4,0.000,0.074,2435,3559,3432
$GC,3301,-1.12,-146.6,386.5,-14.2,155,3306,0.00,2.55,0.00,0.000,6,0.000,0.054,2435,2142,3432
$GC,3623,-1.12,-146.6,430.4,-13.6,171,3627,0.00,2.53,0.00,0.000,4,0.000,0.067,2435,745,3432
$GC,3695,-1.12,-146.6,440.6,-14.1,174,3699,0.00,2.55,0.00,0.000,6,0.000,0.058,2435,2151,3431
$GC,4011,-1.12,-146.6,481.2,-12.4,189,4015,0.00,2.58,0.00,0.000,4,0.000,0.074,2435,3558,3431
$GC,4105,-1.12,-146.6,493.2,-12.4,193,4110,0.00,2.55,0.00,0.000,6,0.000,0.055,2435,2145,3431
$GC,4421,-1.12,-146.6,531.1,-13.1,208,4425,0.00,2.55,0.00,0.000,4,0.000,0.069,2435,739,3431
$GC,4493,-1.12,-146.6,540.4,-12.2,211,4498,0.00,2.58,0.00,0.000,6,0.000,0.058,2435,2160,3431
$GC,4809,-1.12,-146.6,579.2,-11.5,226,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2159,3431
$GC,5119,-1.12,-146.6,608.9,-10.7,241,5123,0.00,2.62,0.00,0.000,4,0.000,0.071,2435,744,3431
$GC,5236,-1.12,-146.6,623.4,-12.1,246,5240,0.00,2.58,0.00,0.000,6,0.000,0.061,2435,2156,3431
$GC,5552,-1.12,-146.6,663.6,-13.9,261,5556,0.00,2.60,0.00,0.000,4,0.000,0.077,2435,3562,3431
$GC,5764,-1.07,-146.6,698.1,-12.9,270,5771,0.15,2.55,0.00,0.000,6,0.107,0.060,2464,2150,3431
$STATE,6015,end dive,NO_VERTICAL_VELOCITY
$STATE,6015,begin apogee
$GC,6022,-0.33,0.0,703.7,0.0,283,6150,0.73,0.00,124.75,1.279,6,0.060,0.000,2627,2123,2832
$STATE,6150,end apogee,CONTROL_FINISHED_OK
$STATE,6150,begin climb
$GC,6153,1.44,146.6,703.6,0.0,289,6285,1.75,2.75,122.93,1.262,4,0.062,0.079,3009,3556,2234
$GC,6386,1.31,146.6,682.9,11.6,300,6392,0.12,2.60,0.00,0.000,6,0.101,0.061,2987,2151,2234
$GC,6708,1.26,146.6,649.3,11.1,316,6713,0.00,2.70,0.00,0.000,4,0.000,0.081,2987,3557,2233
$GC,6781,1.17,146.6,639.5,12.0,319,6787,0.17,2.60,0.00,0.000,6,0.097,0.061,2954,2146,2233
$GC,7098,1.42,265.9,617.9,4.6,334,7199,0.25,0.00,98.93,1.209,6,0.049,0.000,3014,2128,1748
$GC,7506,1.42,265.9,575.7,10.0,354,7511,0.00,2.70,0.00,0.000,4,0.000,0.080,3015,3563,1747
$GC,7517,1.43,269.7,574.5,9.8,354,7527,0.00,2.58,4.88,0.853,6,0.000,0.062,3015,2161,1732
$GC,7850,1.43,269.7,533.6,14.3,371,7854,0.00,2.65,0.00,0.000,4,0.000,0.077,3015,738,1731
$GC,7912,1.43,269.7,524.2,15.2,374,7916,0.00,2.60,0.00,0.000,6,0.000,0.062,3015,2149,1731
$GC,8238,1.43,269.7,484.0,11.6,390,8242,0.00,2.65,0.00,0.000,4,0.000,0.072,3014,739,1731
$GC,8248,1.43,269.7,482.6,12.0,390,8254,0.00,2.58,0.00,0.000,6,0.000,0.060,3015,2149,1731
$GC,8564,1.43,273.7,447.5,9.8,406,8574,0.00,2.65,4.88,0.811,4,0.000,0.072,3015,741,1716
$GC,8581,1.46,291.9,445.8,9.2,407,8603,0.00,2.60,16.17,1.044,6,0.000,0.059,3015,2159,1642
$GC,8912,1.50,315.9,416.2,8.9,423,8935,0.00,0.00,21.33,1.048,6,0.000,0.000,3015,2159,1544
$GC,9241,1.55,315.9,383.9,10.2,439,9246,0.10,2.65,0.00,0.000,4,0.059,0.070,3044,744,1545
$GC,9259,1.55,315.9,381.9,10.7,440,9263,0.00,2.58,0.00,0.000,6,0.000,0.058,3044,2154,1545
$GC,9585,1.55,315.9,338.6,14.0,456,9590,0.00,2.62,0.00,0.000,4,0.000,0.070,3044,740,1545
$GC,9608,1.49,315.9,335.1,15.3,457,9612,0.00,2.58,0.00,0.000,6,0.000,0.058,3044,2150,1546
$GC,9929,1.49,315.9,293.8,12.2,473,9930,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2150,1546
$GC,10238,1.49,315.9,251.9,13.9,488,10239,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2150,1547
$GC,10547,1.49,315.9,210.3,12.9,503,10548,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2151,1547
$GC,10856,1.49,315.9,171.3,12.9,518,10858,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2150,1547
$GC,11166,1.49,315.9,132.6,12.5,533,11170,0.00,2.60,0.00,0.000,4,0.000,0.067,3044,742,1547
$GC,11222,1.45,315.9,125.0,15.1,535,11229,0.15,2.55,0.00,0.000,6,0.094,0.056,3015,2151,1547
$GC,11540,1.51,315.9,86.7,11.4,551,11544,0.00,2.60,0.00,0.000,4,0.000,0.067,3016,740,1547
$GC,11551,1.57,315.9,85.1,11.1,551,11558,0.12,2.55,0.00,0.000,6,0.054,0.055,3049,2159,1547
$GC,11868,1.57,315.9,47.1,11.8,567,11869,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2157,1548
$GC,12176,1.57,315.9,6.6,13.0,582,12180,0.00,2.60,0.00,0.000,4,0.000,0.063,3049,738,1548
$GC,12203,1.57,315.9,2.4,14.9,583,12207,0.00,2.12,0.00,0.000,3,0.000,0.051,3049,1921,1548
$STATE,12207,end climb,SURFACE_DEPTH_REACHED
$STATE,12207,begin surface coast
$FINISH,0.8,1.027054
$STATE,12213,end surface coast,CONTROL_FINISHED_OK
$STATE,12213,begin surface
$SM_CCo,12296,0.00,0.000,0,0,1547,315.21
$SM_GC,0.77,11.40,0.00,0.00,0.038,0.000,0.000,423,2162,1547,-10.39,0.25,315.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1699
$TCM_TEMP,16.70
$XPDR_PINGS,354
$ALTIM_TOP_PING,17.3,999.0
$24V_AH,23.8,5.365
$10V_AH,10.1,1.816
$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,27.975,113.900,393.850,0.000,0.000,75.525,55.647,185.067,94.500,0.000,0.000,13.586,1116.111,9241.369,514.956,1373.412,532.375,33.353,1214.845,0.000,1342.530,0.000,39.742
$DEVICE_MAMPS,138.060,81.302,1279.356,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.264,430.609,375.777,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28541,584
$CAP_FILE_SIZE,99364,0
$CFSIZE,254472192,251625472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,080608,011401,6133.636,-847.660,41,1.0,41,-9.1