version: 66.03
glider: 5
mission: 3
dive: 13
start: 6 8 108 9 40 26
data:
$ID,5
$MISSION,3
$DIVE,13
$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,-76936.133
$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,22
$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
$GPS1,093408,6137.725,-856.464,30,1.5,30,-9.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-56.2
$GPS2,093933,6137.710,-856.591,14,1.5,14,-9.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.008,0.264
$KALMAN_X,8063.5,-3993.9,-2086.8,-37469.2,10166.7
$KALMAN_Y,-6449.7,2660.8,928.0,26552.5,-10140.3
$MHEAD_RNG_PITCHd_Wd,10.8,14048,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-71.60,0.000,6,0.000,0.000,418,2124,3430
$GC,101,-1.44,-146.6,2.6,-4.2,3,117,10.23,2.53,0.00,0.000,4,0.140,0.055,2376,735,3432
$GC,370,-1.24,-146.6,61.6,-18.2,14,375,0.25,2.55,0.00,0.000,6,0.097,0.053,2425,2150,3433
$GC,692,-1.14,-146.6,105.8,-13.3,30,694,0.12,0.00,0.00,0.000,6,0.107,0.000,2449,2151,3433
$GC,1002,-1.14,-146.6,142.7,-12.6,45,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2149,3434
$GC,1309,-1.14,-146.6,180.4,-11.1,60,1314,0.00,2.58,0.00,0.000,4,0.000,0.065,2449,746,3434
$GC,1433,-1.14,-146.6,194.7,-11.8,65,1439,0.00,2.55,0.00,0.000,6,0.000,0.055,2449,2156,3435
$GC,1749,-1.14,-146.6,232.7,-12.4,81,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2155,3435
$GC,2058,-1.14,-146.6,273.2,-13.2,96,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2155,3435
$GC,2367,-1.14,-146.6,312.1,-13.0,111,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2155,3435
$GC,2676,-1.14,-146.6,356.8,-15.8,126,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2155,3435
$GC,2986,-1.14,-146.6,409.3,-16.9,141,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2155,3435
$GC,3295,-1.14,-146.6,455.9,-13.8,156,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2155,3435
$GC,3604,-1.14,-146.6,492.8,-11.7,171,3608,0.00,2.58,0.00,0.000,4,0.000,0.074,2450,3556,3434
$GC,3705,-1.14,-146.6,506.0,-13.4,175,3711,0.00,2.53,0.00,0.000,6,0.000,0.054,2449,2149,3434
$GC,4021,-1.14,-146.6,547.7,-13.9,191,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2132,3434
$GC,4330,-1.14,-146.6,589.2,-12.4,206,4335,0.00,2.65,0.00,0.000,4,0.000,0.077,2449,3558,3434
$GC,4403,-1.14,-146.6,597.9,-11.7,209,4407,0.00,2.55,0.00,0.000,6,0.000,0.055,2450,2145,3434
$GC,4719,-1.14,-146.6,619.9,-3.8,224,4723,0.00,2.55,0.00,0.000,4,0.000,0.071,2449,746,3434
$GC,4920,-1.14,-146.6,629.0,-5.8,233,4924,0.00,2.58,0.00,0.000,6,0.000,0.061,2449,2152,3434
$GC,5241,-1.14,-146.6,656.6,-9.8,249,5245,0.00,2.65,0.00,0.000,4,0.000,0.077,2449,746,3434
$GC,5438,-1.20,-146.6,683.5,-14.8,258,5442,0.00,2.60,0.00,0.000,6,0.000,0.067,2449,2154,3434
$GC,5765,-1.25,-146.6,728.6,-13.1,274,5769,0.00,2.67,0.00,0.000,4,0.000,0.091,2449,3562,3433
$GC,5910,-1.25,-146.6,743.4,-8.8,280,5917,0.00,2.60,0.00,0.000,6,0.000,0.069,2449,2152,3432
$GC,6227,-1.30,-146.6,764.1,-6.7,296,6232,0.15,2.67,0.00,0.000,4,0.063,0.090,2409,744,3431
$GC,6284,-1.26,-146.6,769.5,-9.9,298,6290,0.00,2.67,0.00,0.000,6,0.000,0.079,2409,2154,3430
$GC,6600,-1.22,-146.6,796.1,-11.7,314,6601,0.12,0.00,0.00,0.000,6,0.121,0.000,2431,2159,3429
$GC,6908,-1.22,-146.6,841.1,-12.9,329,6913,0.00,2.72,0.00,0.000,4,0.000,0.101,2431,3562,3427
$GC,6998,-1.22,-146.6,851.8,-12.6,333,7003,0.00,2.65,0.00,0.000,6,0.000,0.077,2431,2154,3426
$STATE,7130,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7130,begin apogee
$GC,7137,-0.33,0.0,868.3,12.2,340,7267,0.95,0.00,126.12,1.517,6,0.105,0.000,2623,2131,2832
$STATE,7267,end apogee,CONTROL_FINISHED_OK
$STATE,7267,begin climb
$GC,7270,1.44,146.6,871.3,0.0,346,7401,1.83,0.00,126.30,1.457,6,0.077,0.000,3008,2130,2234
$GC,7704,1.22,146.6,826.5,11.9,367,7709,0.20,2.78,0.00,0.000,4,0.110,0.096,2971,3564,2233
$GC,7754,1.22,146.6,818.6,11.6,369,7759,0.00,2.70,0.00,0.000,6,0.000,0.078,2971,2149,2233
$GC,8070,1.18,146.6,790.4,11.9,384,8075,0.00,2.80,0.00,0.000,4,0.000,0.098,2971,3562,2232
$GC,8115,1.08,146.6,784.7,12.1,386,8121,0.17,2.67,0.00,0.000,6,0.105,0.074,2937,2147,2231
$GC,8437,1.32,255.6,771.4,5.0,402,8540,0.20,2.92,91.78,1.444,4,0.061,0.095,2987,3564,1789
$GC,8721,1.32,255.6,728.8,19.8,415,8725,0.00,2.67,0.00,0.000,6,0.000,0.075,2986,2152,1789
$GC,9048,1.32,255.6,678.3,12.2,431,9052,0.00,2.78,0.00,0.000,4,0.000,0.097,2987,3559,1789
$GC,9058,1.32,255.6,677.1,11.4,431,9064,0.00,2.67,0.00,0.000,6,0.000,0.077,2987,2150,1789
$GC,9374,1.43,322.2,647.2,7.0,447,9436,0.10,2.83,56.33,1.380,4,0.072,0.094,3013,741,1518
$GC,9595,1.43,322.2,623.8,10.3,457,9599,0.00,2.70,0.00,0.000,6,0.000,0.081,3012,2150,1518
$GC,9921,1.43,322.2,586.9,12.7,473,9926,0.00,2.72,0.00,0.000,4,0.000,0.084,3013,738,1518
$GC,9955,1.38,322.2,582.1,13.8,474,9961,0.00,2.70,0.00,0.000,6,0.000,0.075,3012,2157,1518
$GC,10270,1.38,322.2,540.4,13.8,490,10275,0.00,2.67,0.00,0.000,4,0.000,0.080,3012,740,1518
$GC,10412,1.38,322.2,517.8,16.0,496,10416,0.00,2.65,0.00,0.000,6,0.000,0.068,3013,2160,1518
$GC,10728,1.38,322.2,475.2,13.0,511,10729,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2160,1518
$GC,11037,1.38,322.2,437.7,12.1,526,11041,0.00,2.65,0.00,0.000,4,0.000,0.071,3012,739,1519
$GC,11047,1.38,322.2,436.3,12.1,526,11053,0.00,2.60,0.00,0.000,6,0.000,0.062,3012,2151,1519
$GC,11363,1.38,322.2,401.3,10.7,542,11367,0.00,2.62,0.00,0.000,4,0.000,0.070,3013,739,1520
$GC,11375,1.42,322.2,400.1,10.6,542,11381,0.00,2.60,0.00,0.000,6,0.000,0.060,3013,2154,1520
$GC,11691,1.46,322.2,366.7,10.9,558,11692,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2154,1521
$GC,12000,1.46,322.2,330.9,11.9,573,12004,0.00,2.62,0.00,0.000,4,0.000,0.068,3013,739,1522
$GC,12033,1.51,322.2,326.8,12.0,574,12039,0.00,2.58,0.00,0.000,6,0.000,0.059,3013,2149,1522
$GC,12349,1.56,322.2,288.3,12.1,590,12354,0.12,2.62,0.00,0.000,4,0.054,0.067,3047,734,1524
$GC,12371,1.56,322.2,285.1,13.8,591,12375,0.00,2.60,0.00,0.000,6,0.000,0.058,3047,2155,1524
$GC,12692,1.50,322.2,236.9,15.4,607,12696,0.00,2.62,0.00,0.000,4,0.000,0.067,3047,738,1524
$GC,12725,1.45,322.2,231.5,16.2,608,12732,0.17,2.58,0.00,0.000,6,0.091,0.058,3014,2151,1525
$GC,13041,1.52,322.2,188.3,14.0,624,13042,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2150,1525
$GC,13351,1.57,322.2,142.2,15.2,639,13353,0.12,0.00,0.00,0.000,6,0.055,0.000,3047,2150,1526
$GC,13660,1.57,322.2,88.0,17.6,654,13669,0.00,2.62,3.62,0.561,4,0.000,0.066,3047,743,1518
$GC,13676,1.57,322.2,84.8,17.9,654,13682,0.00,2.58,0.00,0.000,6,0.000,0.056,3047,2156,1518
$GC,13992,1.57,322.2,33.1,14.8,670,13996,0.00,2.62,0.00,0.000,4,0.000,0.065,3047,734,1519
$GC,14041,1.57,322.2,25.3,15.5,672,14046,0.00,2.58,0.00,0.000,6,0.000,0.055,3047,2154,1519
$STATE,14210,end climb,SURFACE_DEPTH_REACHED
$STATE,14210,begin surface coast
$FINISH,0.1,1.014310
$STATE,14232,end surface coast,CONTROL_FINISHED_OK
$STATE,14232,begin surface
$SM_CCo,14315,0.00,0.000,0,0,1518,322.32
$SM_GC,0.89,11.48,0.00,0.00,0.041,0.000,0.000,423,2173,1518,-10.39,0.65,322.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1690
$TCM_TEMP,17.30
$XPDR_PINGS,401
$ALTIM_TOP_PING,18.3,999.0
$ALTIM_BOTTOM_PING,801.1,76.2
$24V_AH,23.6,5.962
$10V_AH,10.0,2.023
$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,26.225,121.650,404.150,0.000,0.000,37.759,31.352,144.189,107.500,0.000,0.000,14.932,1294.996,10755.260,518.572,1614.708,459.005,33.346,1337.091,0.000,1573.617,0.000,49.211
$DEVICE_MAMPS,140.361,101.244,1517.126,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,468.692,497.043,361.576,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34767,681
$CAP_FILE_SIZE,108340,0
$CFSIZE,254472192,251449344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,080608,134007,6138.878,-901.475,30,1.0,30,-9.3