version: 66.03
glider: 5
mission: 3
dive: 15
start: 6 8 108 17 50 0
data:
$ID,5
$MISSION,3
$DIVE,15
$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,-76963.383
$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,16
$R_STBD_OVSHOOT,19
$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
$GPS1,174401,6139.882,-908.003,41,1.3,41,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-53.7
$GPS2,174909,6139.771,-908.009,12,1.4,12,-9.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.011,0.254
$KALMAN_X,-8248.6,-1082.1,-772.3,-35547.0,-2485.2
$KALMAN_Y,-6939.9,-1437.1,86.2,35826.5,-2734.0
$MHEAD_RNG_PITCHd_Wd,6.9,3477,-18.9,-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,-1.47,-135.4,0.0,0.0,0,128,0.00,0.00,-99.43,0.000,6,0.000,0.000,421,2162,3384
$GC,132,-1.49,-146.6,3.9,-3.8,5,148,10.12,2.60,-1.02,0.000,4,0.140,0.068,2366,733,3431
$GC,402,-1.29,-146.6,63.3,-18.1,16,407,0.28,2.58,0.00,0.000,6,0.100,0.053,2417,2160,3431
$GC,724,-1.22,-146.6,111.1,-15.4,32,728,0.00,2.55,0.00,0.000,4,0.000,0.067,2417,3561,3433
$GC,779,-1.17,-146.6,120.1,-16.9,34,786,0.12,2.55,0.00,0.000,6,0.106,0.051,2442,2135,3432
$GC,1095,-1.17,-146.6,169.0,-15.1,50,1099,0.00,2.50,0.00,0.000,4,0.000,0.064,2442,747,3433
$GC,1167,-1.17,-146.6,180.3,-15.4,53,1171,0.00,2.55,0.00,0.000,6,0.000,0.054,2442,2155,3433
$GC,1483,-1.17,-146.6,226.7,-14.8,68,1487,0.00,2.55,0.00,0.000,4,0.000,0.068,2441,3558,3433
$GC,1573,-1.17,-146.6,240.5,-15.2,72,1577,0.00,2.53,0.00,0.000,6,0.000,0.051,2442,2149,3433
$GC,1894,-1.17,-146.6,288.7,-14.5,88,1898,0.00,2.55,0.00,0.000,4,0.000,0.067,2442,744,3433
$GC,1956,-1.17,-146.6,297.4,-13.6,91,1961,0.00,2.55,0.00,0.000,6,0.000,0.056,2441,2150,3433
$GC,2283,-1.17,-146.6,345.3,-15.3,107,2287,0.00,2.58,0.00,0.000,4,0.000,0.071,2442,3562,3433
$GC,2373,-1.17,-146.6,359.5,-15.5,111,2377,0.00,2.55,0.00,0.000,6,0.000,0.052,2442,2142,3433
$GC,2693,-1.17,-146.6,408.5,-15.0,127,2697,0.00,2.53,0.00,0.000,4,0.000,0.065,2442,744,3433
$GC,2794,-1.17,-146.6,424.1,-15.8,131,2800,0.00,2.55,0.00,0.000,6,0.000,0.057,2442,2150,3433
$GC,3109,-1.17,-146.6,467.2,-12.8,147,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2150,3433
$GC,3419,-1.17,-146.6,503.1,-11.6,162,3423,0.00,2.58,0.00,0.000,4,0.000,0.074,2442,3558,3433
$GC,3513,-1.17,-146.6,513.6,-10.6,166,3518,0.00,2.55,0.00,0.000,6,0.000,0.055,2442,2148,3433
$GC,3830,-1.17,-146.6,537.5,-5.7,181,3835,0.00,2.55,0.00,0.000,4,0.000,0.068,2442,744,3433
$GC,3916,-1.17,-146.6,541.6,-5.0,185,3920,0.00,2.55,0.00,0.000,6,0.000,0.059,2442,2150,3432
$GC,4243,-1.17,-146.6,561.4,-6.4,201,4247,0.00,2.62,0.00,0.000,4,0.000,0.072,2442,743,3433
$GC,4397,-1.22,-146.6,573.7,-9.6,208,4402,0.00,2.58,0.00,0.000,6,0.000,0.061,2442,2156,3432
$GC,4724,-1.22,-146.6,608.6,-11.3,224,4728,0.00,2.60,0.00,0.000,4,0.000,0.077,2442,3561,3432
$GC,4832,-1.27,-146.6,622.8,-13.8,229,4836,0.00,2.55,0.00,0.000,6,0.000,0.059,2442,2149,3432
$GC,5159,-1.32,-146.6,673.8,-15.5,245,5164,0.12,2.58,0.00,0.000,4,0.061,0.075,2410,747,3431
$GC,5371,-1.32,-146.6,701.9,-9.5,254,5378,0.00,2.60,0.00,0.000,6,0.000,0.067,2409,2151,3431
$GC,5687,-1.25,-146.6,748.9,-16.2,270,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2151,3430
$GC,5997,-1.20,-146.6,784.8,-9.5,285,6002,0.15,2.67,0.00,0.000,4,0.120,0.091,2436,3558,3428
$GC,6181,-1.20,-146.6,806.4,-9.0,293,6186,0.00,2.62,0.00,0.000,6,0.000,0.073,2436,2155,3427
$STATE,6309,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6309,begin apogee
$GC,6315,-0.33,0.0,822.8,15.9,299,6445,0.90,0.00,125.68,1.449,6,0.096,0.000,2622,2129,2833
$STATE,6445,end apogee,CONTROL_FINISHED_OK
$STATE,6445,begin climb
$GC,6448,1.49,146.6,828.2,0.0,305,6584,1.88,2.83,125.03,1.402,4,0.074,0.092,3018,3558,2233
$GC,6607,1.36,146.6,814.5,10.3,312,6613,0.00,2.67,0.00,0.000,6,0.000,0.071,3018,2149,2233
$GC,6923,1.25,146.6,781.1,12.5,328,6928,0.20,2.78,0.00,0.000,4,0.111,0.093,2978,3563,2231
$GC,6990,1.19,146.6,770.6,14.1,331,6995,0.00,2.70,0.00,0.000,6,0.000,0.077,2978,2145,2231
$GC,7311,1.19,146.6,727.2,14.4,347,7315,0.00,2.70,0.00,0.000,4,0.000,0.092,2978,739,2230
$GC,7351,1.14,146.6,723.2,10.2,349,7356,0.15,2.70,0.00,0.000,6,0.110,0.077,2950,2157,2230
$GC,7678,1.31,197.6,692.4,7.5,365,7728,0.15,2.78,42.42,1.362,4,0.064,0.090,2991,3559,2026
$GC,7764,1.36,227.0,685.9,8.5,369,7795,0.00,2.67,26.08,1.324,6,0.000,0.071,2991,2150,1906
$GC,8112,1.48,299.7,662.2,6.4,386,8179,0.15,2.78,61.45,1.348,4,0.063,0.091,3027,735,1610
$GC,8237,1.48,299.7,649.2,11.7,392,8241,0.00,2.72,0.00,0.000,6,0.000,0.077,3027,2154,1610
$GC,8563,1.48,299.7,613.9,12.8,408,8568,0.00,2.72,0.00,0.000,4,0.000,0.084,3027,737,1610
$GC,8574,1.48,299.7,612.4,13.5,408,8580,0.00,2.65,0.00,0.000,6,0.000,0.074,3027,2147,1610
$GC,8889,1.50,314.5,579.5,9.3,424,8911,0.00,2.72,14.00,1.215,4,0.000,0.080,3028,740,1549
$GC,9018,1.50,314.5,564.9,12.7,429,9024,0.00,2.65,0.00,0.000,6,0.000,0.071,3027,2149,1549
$GC,9333,1.50,314.5,532.1,10.4,445,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2149,1549
$GC,9643,1.51,317.7,502.6,9.8,460,9652,0.00,2.65,4.65,0.871,4,0.000,0.076,3027,3561,1536
$GC,9660,1.51,317.7,500.9,10.2,461,9664,0.00,2.60,0.00,0.000,6,0.000,0.061,3027,2148,1536
$GC,9986,1.51,317.7,465.4,10.8,477,9990,0.00,2.65,0.00,0.000,4,0.000,0.074,3027,3561,1537
$GC,10003,1.51,317.7,463.3,11.5,478,10007,0.00,2.58,0.00,0.000,6,0.000,0.058,3027,2148,1536
$GC,10329,1.51,317.7,421.7,14.3,494,10333,0.00,2.65,0.00,0.000,4,0.000,0.071,3027,3563,1537
$GC,10346,1.51,317.7,419.1,14.3,495,10350,0.00,2.58,0.00,0.000,6,0.000,0.057,3027,2146,1537
$GC,10673,1.51,317.7,371.9,14.3,511,10674,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2133,1537
$GC,10982,1.55,317.7,330.7,12.8,526,10983,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2132,1539
$GC,11291,1.60,317.7,293.5,10.9,541,11296,0.00,2.65,0.00,0.000,4,0.000,0.070,3027,3568,1540
$GC,11309,1.60,317.7,291.5,10.8,542,11313,0.00,2.58,0.00,0.000,6,0.000,0.054,3027,2144,1540
$GC,11636,1.64,317.7,259.3,10.4,558,11637,0.12,0.00,0.00,0.000,6,0.052,0.000,3064,2125,1541
$GC,11945,1.59,317.7,216.2,14.9,573,11946,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2125,1541
$GC,12254,1.54,317.7,170.7,14.8,588,12256,0.15,0.00,0.00,0.000,6,0.099,0.000,3036,2125,1542
$GC,12563,1.54,317.7,134.0,11.8,603,12568,0.00,2.62,0.00,0.000,4,0.000,0.067,3036,3562,1542
$GC,12604,1.60,317.7,128.7,12.7,605,12608,0.00,2.55,0.00,0.000,6,0.000,0.052,3036,2144,1542
$GC,12931,1.64,317.7,81.8,15.3,621,12936,0.00,2.62,0.00,0.000,4,0.000,0.067,3036,3565,1543
$GC,12942,1.64,317.7,79.8,15.9,621,12949,0.00,2.53,0.00,0.000,6,0.000,0.052,3036,2148,1543
$GC,13259,1.69,317.7,31.3,14.6,637,13264,0.15,2.53,0.00,0.000,4,0.052,0.064,3082,745,1544
$GC,13315,1.59,317.7,21.6,17.3,639,13322,0.17,2.55,0.00,0.000,6,0.094,0.054,3047,2162,1544
$STATE,13463,end climb,SURFACE_DEPTH_REACHED
$STATE,13463,begin surface coast
$FINISH,0.0,1.011676
$STATE,13485,end surface coast,CONTROL_FINISHED_OK
$STATE,13485,begin surface
$SM_CCo,13567,0.00,0.000,0,0,1543,315.95
$SM_GC,0.85,11.43,0.00,0.00,0.039,0.000,0.000,421,2163,1543,-10.40,0.37,315.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1697
$TCM_TEMP,17.50
$XPDR_PINGS,435
$ALTIM_TOP_PING,17.7,999.0
$ALTIM_BOTTOM_PING,751.8,80.2
$24V_AH,23.7,6.373
$10V_AH,10.0,2.158
$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,26.250,141.150,399.300,0.000,0.000,37.762,26.300,134.402,115.750,0.000,0.000,12.473,1249.744,10051.296,534.234,1596.506,443.888,33.350,1365.145,0.000,1553.431,0.000,48.960
$DEVICE_MAMPS,140.361,92.807,1448.863,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.437,478.141,355.023,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34797,648
$CAP_FILE_SIZE,110743,0
$CFSIZE,254472192,251338752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,080608,213725,6141.047,-915.096,42,1.2,42,-9.4