version: 66.03
glider: 5
mission: 3
dive: 12
start: 6 8 108 5 29 14
data:
$ID,5
$MISSION,3
$DIVE,12
$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,-76920.578
$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,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,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
$GPS1,051807,6135.914,-848.480,40,1.0,40,-9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-54.9
$GPS2,052821,6135.861,-848.659,14,1.8,14,-9.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.094,0.246
$KALMAN_X,13052.9,-2613.4,-1404.8,-37549.2,12938.2
$KALMAN_Y,-6478.2,3453.5,681.4,22614.9,-10217.6
$MHEAD_RNG_PITCHd_Wd,348.3,21813,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.44,-146.6,0.0,0.0,0,106,0.00,0.00,-80.50,0.000,2,0.000,0.000,424,2159,3287
$GC,110,-1.44,-146.6,3.6,-4.7,4,132,10.18,2.62,-3.35,0.000,4,0.139,0.071,2376,738,3431
$GC,386,-1.25,-146.6,60.0,-17.7,16,391,0.25,2.58,0.00,0.000,6,0.097,0.054,2424,2160,3431
$GC,708,-1.18,-146.6,108.8,-15.4,32,712,0.00,2.55,0.00,0.000,4,0.000,0.070,2424,3563,3432
$GC,808,-1.11,-146.6,125.4,-16.5,36,815,0.15,2.55,0.00,0.000,6,0.103,0.050,2455,2136,3432
$GC,1124,-1.11,-146.6,164.2,-10.7,52,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2119,3433
$GC,1433,-1.11,-146.6,198.6,-11.2,67,1437,0.00,2.53,0.00,0.000,4,0.000,0.064,2455,740,3433
$GC,1505,-1.11,-146.6,206.2,-9.6,70,1510,0.00,2.55,0.00,0.000,6,0.000,0.055,2455,2150,3433
$GC,1821,-1.11,-146.6,237.4,-10.4,85,1825,0.00,2.58,0.00,0.000,4,0.000,0.072,2455,3556,3433
$GC,1899,-1.11,-146.6,245.9,-11.0,88,1905,0.00,2.53,0.00,0.000,6,0.000,0.052,2455,2147,3433
$GC,2214,-1.11,-146.6,285.9,-14.0,104,2218,0.00,2.55,0.00,0.000,4,0.000,0.067,2455,740,3433
$GC,2327,-1.16,-146.6,302.9,-15.1,109,2331,0.00,2.55,0.00,0.000,6,0.000,0.058,2455,2148,3433
$GC,2647,-1.16,-146.6,347.2,-13.6,125,2651,0.00,2.60,0.00,0.000,4,0.000,0.074,2455,3564,3433
$GC,2725,-1.16,-146.6,357.9,-13.3,128,2731,0.00,2.55,0.00,0.000,6,0.000,0.054,2455,2145,3433
$GC,3041,-1.16,-146.6,399.6,-13.3,144,3049,0.00,2.55,0.00,0.000,4,0.000,0.068,2455,740,3433
$GC,3122,-1.21,-146.6,410.3,-13.0,147,3126,0.00,2.58,0.00,0.000,6,0.000,0.058,2455,2160,3433
$GC,3437,-1.21,-146.6,447.5,-11.2,162,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2160,3433
$GC,3747,-1.25,-146.6,482.3,-11.8,177,3752,0.12,2.58,0.00,0.000,4,0.055,0.074,2421,3560,3433
$GC,3810,-1.19,-146.6,491.6,-14.9,180,3814,0.00,2.53,0.00,0.000,6,0.000,0.056,2421,2151,3433
$GC,4137,-1.13,-146.6,544.1,-15.6,196,4139,0.15,0.00,0.00,0.000,6,0.102,0.000,2450,2134,3433
$GC,4446,-1.13,-146.6,591.4,-14.9,211,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2134,3433
$GC,4755,-1.13,-146.6,635.9,-13.7,226,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2134,3433
$GC,5065,-1.13,-146.6,673.5,-9.5,241,5069,0.00,2.65,0.00,0.000,4,0.000,0.079,2450,3559,3432
$GC,5138,-1.18,-146.6,680.3,-9.0,244,5142,0.00,2.55,0.00,0.000,6,0.000,0.059,2450,2149,3432
$GC,5454,-1.22,-146.6,704.9,-7.2,259,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2132,3432
$GC,5763,-1.22,-146.6,724.1,-6.9,274,5767,0.00,2.70,0.00,0.000,4,0.000,0.089,2450,3555,3432
$GC,5893,-1.22,-146.6,734.9,-8.6,280,5897,0.00,2.60,0.00,0.000,6,0.000,0.067,2450,2146,3431
$GC,6220,-1.27,-146.6,770.7,-12.1,296,6222,0.12,0.00,0.00,0.000,6,0.064,0.000,2418,2130,3430
$GC,6529,-1.27,-146.6,813.9,-13.1,311,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2129,3428
$GC,6839,-1.27,-146.6,844.6,-5.9,326,6840,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2128,3427
$GC,7147,-1.27,-146.6,883.5,-12.6,341,7152,0.00,2.78,0.00,0.000,4,0.000,0.101,2418,3555,3424
$STATE,7290,end dive,NO_VERTICAL_VELOCITY
$STATE,7290,begin apogee
$GC,7300,-0.33,0.0,883.4,0.0,347,7430,0.95,0.00,126.12,1.522,6,0.081,0.000,2623,2126,2832
$STATE,7430,end apogee,CONTROL_FINISHED_OK
$STATE,7430,begin climb
$GC,7433,1.44,146.6,882.8,0.0,354,7570,1.83,2.80,125.95,1.468,4,0.075,0.094,3009,752,2234
$GC,7692,1.26,146.6,851.1,15.7,366,7697,0.17,2.70,0.00,0.000,6,0.105,0.084,2977,2146,2233
$GC,8019,1.33,190.6,823.4,8.0,382,8059,0.00,0.00,38.17,1.420,6,0.000,0.000,2978,2146,2054
$GC,8368,1.44,258.3,803.7,6.9,399,8434,0.15,2.83,57.88,1.443,4,0.064,0.097,3016,3550,1779
$GC,8446,1.35,258.3,796.4,11.2,402,8452,0.00,2.70,0.00,0.000,6,0.000,0.077,3016,2150,1779
$GC,8762,1.30,258.3,754.5,13.8,418,8767,0.17,2.80,0.00,0.000,4,0.107,0.099,2982,3559,1779
$GC,8790,1.30,258.3,751.0,11.3,419,8794,0.00,2.67,0.00,0.000,6,0.000,0.077,2982,2151,1779
$GC,9106,1.37,275.0,723.3,9.2,434,9128,0.00,2.85,15.57,1.363,4,0.000,0.097,2982,3559,1710
$GC,9140,1.47,299.0,720.1,8.9,435,9172,0.17,2.72,21.98,1.370,6,0.062,0.078,3021,2145,1612
$GC,9481,1.47,299.0,678.2,14.1,452,9485,0.00,2.80,0.00,0.000,4,0.000,0.097,3021,3563,1611
$GC,9491,1.47,299.0,676.7,13.4,452,9497,0.00,2.70,0.00,0.000,6,0.000,0.077,3021,2146,1611
$GC,9806,1.47,299.0,634.2,14.0,468,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2131,1611
$GC,10115,1.47,299.0,590.6,13.5,483,10120,0.00,2.72,0.00,0.000,4,0.000,0.087,3021,3559,1611
$GC,10125,1.47,299.0,589.0,13.1,483,10131,0.00,2.65,0.00,0.000,6,0.000,0.069,3021,2142,1611
$GC,10441,1.47,299.0,548.4,12.7,499,10446,0.00,2.70,0.00,0.000,4,0.000,0.082,3021,3563,1611
$GC,10503,1.47,299.0,541.1,11.5,502,10508,0.00,2.60,0.00,0.000,6,0.000,0.061,3022,2147,1611
$GC,10829,1.47,299.0,502.8,12.7,518,10830,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2134,1611
$GC,11139,1.47,299.0,463.9,11.9,533,11143,0.00,2.67,0.00,0.000,4,0.000,0.077,3021,3563,1611
$GC,11155,1.47,299.0,461.8,12.1,534,11160,0.00,2.58,0.00,0.000,6,0.000,0.058,3021,2149,1611
$GC,11482,1.47,299.0,417.1,15.3,550,11483,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2134,1613
$GC,11791,1.47,299.0,366.8,15.8,565,11792,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2135,1614
$GC,12100,1.47,299.0,323.3,13.4,580,12105,0.00,2.65,0.00,0.000,4,0.000,0.071,3021,3565,1615
$GC,12122,1.47,299.0,319.9,14.6,581,12127,0.00,2.58,0.00,0.000,6,0.000,0.055,3021,2143,1615
$GC,12443,1.47,299.0,272.5,15.0,597,12447,0.00,2.62,0.00,0.000,4,0.000,0.071,3021,3562,1616
$GC,12460,1.47,299.0,269.9,14.6,598,12464,0.00,2.55,0.00,0.000,6,0.000,0.054,3021,2150,1616
$GC,12786,1.47,299.0,225.6,12.8,614,12790,0.00,2.62,0.00,0.000,4,0.000,0.070,3021,3567,1617
$GC,12796,1.47,299.0,224.1,12.7,614,12802,0.00,2.55,0.00,0.000,6,0.000,0.054,3021,2149,1618
$GC,13112,1.47,299.0,187.5,11.6,630,13113,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2149,1618
$GC,13421,1.47,299.0,152.6,11.7,645,13425,0.00,2.62,0.00,0.000,4,0.000,0.069,3021,3569,1619
$GC,13431,1.47,299.0,151.1,12.1,645,13437,0.00,2.55,0.00,0.000,6,0.000,0.053,3021,2146,1619
$GC,13747,1.47,299.0,110.6,12.8,661,13751,0.00,2.55,0.00,0.000,4,0.000,0.067,3021,744,1619
$GC,13780,1.47,299.0,105.8,13.9,662,13786,0.00,2.55,0.00,0.000,6,0.000,0.057,3021,2155,1619
$GC,14097,1.47,299.0,61.1,14.0,678,14101,0.00,2.55,0.00,0.000,4,0.000,0.067,3021,3559,1620
$GC,14114,1.47,299.0,58.4,13.5,679,14119,0.00,2.53,0.00,0.000,6,0.000,0.052,3021,2149,1620
$GC,14442,1.47,299.0,17.6,11.9,695,14447,0.00,2.60,0.00,0.000,4,0.000,0.067,3021,3559,1620
$GC,14460,1.47,299.0,15.2,11.9,696,14465,0.00,2.53,0.00,0.000,6,0.000,0.052,3021,2149,1621
$STATE,14578,end climb,SURFACE_DEPTH_REACHED
$STATE,14579,begin surface coast
$FINISH,-0.0,1.026918
$STATE,14601,end surface coast,CONTROL_FINISHED_OK
$STATE,14601,begin surface
$SM_CCo,14623,1.77,0.113,0,0,1609,300.00
$SM_GC,1.37,0.00,0.00,1.77,0.000,0.000,0.113,417,2123,1609,-10.50,-0.76,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1698
$TCM_TEMP,16.50
$XPDR_PINGS,365
$ALTIM_TOP_PING,17.6,999.0
$ALTIM_BOTTOM_PING,800.2,96.4
$24V_AH,23.6,5.772
$10V_AH,10.0,1.956
$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,25.700,136.450,385.675,1.775,0.000,75.523,70.667,292.140,98.500,0.000,0.000,14.900,1310.474,11144.408,514.186,1582.691,693.897,33.350,1339.049,0.000,1542.800,0.000,49.277
$DEVICE_MAMPS,138.827,101.244,1522.495,112.749,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,483.439,518.296,382.561,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34831,703
$CAP_FILE_SIZE,116495,0
$CFSIZE,254472192,251498496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,080608,093408,6137.725,-856.464,30,1.5,30,-9.2