version: 66.03
glider: 5
mission: 3
dive: 16
start: 6 8 108 21 48 5
data:
$ID,5
$MISSION,3
$DIVE,16
$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,-76981
$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,21
$R_STBD_OVSHOOT,22
$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
$GPS1,213725,6141.047,-915.096,42,1.2,42,-9.4
$_CALLS,2
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-58.6
$GPS2,214714,6140.976,-915.306,11,1.4,17,-9.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.215,0.153
$KALMAN_X,-17516.8,1366.1,-530.8,-35460.0,-9349.2
$KALMAN_Y,-10359.6,-750.9,38.0,40857.3,-3081.9
$MHEAD_RNG_PITCHd_Wd,64.0,3783,-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,-146.6,0.0,0.0,0,100,0.00,0.00,-73.40,0.000,6,0.000,0.000,421,2164,3431
$GC,103,-1.44,-146.6,2.7,-4.8,3,119,10.23,2.55,0.00,0.000,4,0.141,0.064,2378,3563,3433
$GC,372,-1.22,-146.6,65.4,-20.2,14,377,0.28,2.55,0.00,0.000,6,0.101,0.049,2431,2138,3433
$GC,694,-1.15,-146.6,114.1,-15.8,30,698,0.00,2.62,0.00,0.000,4,0.000,0.066,2432,3560,3434
$GC,856,-1.07,-146.6,139.3,-15.4,37,861,0.17,2.53,0.00,0.000,6,0.099,0.049,2467,2145,3434
$GC,1172,-1.07,-146.6,178.1,-11.6,52,1176,0.00,2.62,0.00,0.000,4,0.000,0.067,2467,3562,3435
$GC,1250,-1.11,-146.6,187.8,-12.3,55,1256,0.00,2.53,0.00,0.000,6,0.000,0.051,2467,2146,3435
$GC,1566,-1.11,-146.6,224.5,-11.8,71,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2130,3435
$GC,1875,-1.11,-146.6,260.2,-11.4,86,1880,0.00,2.53,0.00,0.000,4,0.000,0.065,2467,749,3435
$GC,1971,-1.17,-146.6,271.2,-11.4,90,1976,0.00,2.53,0.00,0.000,6,0.000,0.055,2467,2147,3435
$GC,2287,-1.21,-146.6,306.6,-11.0,105,2292,0.15,2.58,0.00,0.000,4,0.054,0.071,2422,3558,3435
$GC,2377,-1.14,-146.6,318.3,-12.9,109,2382,0.15,2.53,0.00,0.000,6,0.101,0.052,2451,2151,3435
$GC,2698,-1.14,-146.6,355.0,-11.2,125,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2134,3435
$GC,3007,-1.14,-146.6,390.9,-12.3,140,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2134,3434
$GC,3316,-1.14,-146.6,428.1,-12.0,155,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2134,3434
$GC,3626,-1.14,-146.6,468.4,-14.1,170,3630,0.00,2.62,0.00,0.000,4,0.000,0.072,2452,3558,3434
$GC,3670,-1.14,-146.6,475.2,-15.4,172,3675,0.00,2.53,0.00,0.000,6,0.000,0.054,2451,2146,3434
$GC,3991,-1.14,-146.6,524.8,-15.5,188,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2129,3434
$GC,4301,-1.14,-146.6,578.8,-17.4,203,4305,0.00,2.60,0.00,0.000,4,0.000,0.073,2451,3558,3434
$GC,4334,-1.14,-146.6,585.0,-18.1,204,4340,0.00,2.55,0.00,0.000,6,0.000,0.056,2451,2146,3434
$GC,4649,-1.14,-146.6,640.9,-17.1,220,4654,0.00,2.55,0.00,0.000,4,0.000,0.070,2451,741,3434
$GC,4841,-1.19,-146.6,675.8,-19.8,228,4847,0.00,2.58,0.00,0.000,6,0.000,0.061,2451,2151,3433
$GC,5157,-1.19,-146.6,733.9,-17.6,244,5161,0.00,2.65,0.00,0.000,4,0.000,0.077,2451,744,3433
$GC,5274,-1.25,-146.6,752.7,-15.0,249,5279,0.12,2.60,0.00,0.000,6,0.059,0.065,2417,2157,3433
$GC,5591,-1.15,-146.6,785.6,-8.6,264,5596,0.15,2.62,0.00,0.000,4,0.107,0.085,2450,3556,3433
$GC,5721,-1.15,-146.6,790.6,-6.3,270,5725,0.00,2.58,0.00,0.000,6,0.000,0.067,2449,2154,3432
$STATE,6024,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6024,begin apogee
$GC,6030,-0.33,0.0,837.3,23.7,285,6160,0.85,0.00,126.38,1.433,6,0.097,0.000,2625,2128,2832
$STATE,6161,end apogee,CONTROL_FINISHED_OK
$STATE,6161,begin climb
$GC,6164,1.44,146.6,855.3,0.0,291,6297,1.83,2.75,124.80,1.405,4,0.078,0.078,3009,3558,2233
$GC,6509,1.16,146.6,840.1,17.0,307,6514,0.30,2.67,0.00,0.000,6,0.097,0.076,2951,2147,2231
$GC,6836,1.27,219.1,822.3,6.7,323,6904,0.10,2.78,61.17,1.396,4,0.070,0.093,2977,744,1937
$GC,6974,1.80,488.3,811.0,-2.3,329,7211,0.52,2.70,226.55,1.378,6,0.050,0.078,3097,2163,841
$GC,7518,1.73,488.3,730.5,14.1,356,7522,0.00,2.75,0.00,0.000,4,0.000,0.092,3096,738,843
$GC,7551,1.62,488.3,725.8,13.1,357,7558,0.22,2.67,0.00,0.000,6,0.105,0.077,3055,2138,843
$GC,7867,1.62,488.3,684.8,14.4,373,7871,0.00,2.70,0.00,0.000,4,0.000,0.089,3054,744,842
$GC,7916,1.62,488.3,676.9,15.5,375,7920,0.00,2.67,0.00,0.000,6,0.000,0.076,3055,2149,842
$GC,8232,1.62,488.3,624.6,18.1,390,8236,0.00,2.67,0.00,0.000,4,0.000,0.083,3055,739,841
$GC,8354,1.62,488.3,600.7,19.7,395,8361,0.00,2.65,0.00,0.000,6,0.000,0.071,3055,2155,841
$GC,8670,1.62,488.3,539.5,18.4,411,8675,0.00,2.65,0.00,0.000,4,0.000,0.075,3055,739,841
$GC,8733,1.66,488.3,527.8,18.2,414,8738,0.00,2.62,0.00,0.000,6,0.000,0.064,3055,2159,841
$GC,9060,1.66,488.3,471.2,16.4,430,9065,0.00,2.65,0.00,0.000,4,0.000,0.073,3055,739,842
$GC,9093,1.66,488.3,465.6,16.4,431,9099,0.00,2.60,0.00,0.000,6,0.000,0.062,3055,2149,842
$GC,9409,1.66,488.3,418.1,14.6,447,9413,0.00,2.62,0.00,0.000,4,0.000,0.071,3055,738,842
$GC,9453,1.66,488.3,411.5,14.7,449,9457,0.00,2.60,0.00,0.000,6,0.000,0.060,3055,2157,843
$GC,9773,1.66,488.3,367.9,13.8,465,9778,0.00,2.62,0.00,0.000,4,0.000,0.070,3055,738,843
$GC,9818,1.70,488.3,361.6,13.5,467,9823,0.00,2.58,0.00,0.000,6,0.000,0.058,3054,2150,844
$GC,10140,1.70,488.3,318.3,13.4,483,10144,0.00,2.62,0.00,0.000,4,0.000,0.071,3055,738,844
$GC,10172,1.70,488.3,313.4,15.0,484,10178,0.00,2.58,0.00,0.000,6,0.000,0.058,3055,2152,845
$GC,10488,1.70,488.3,267.1,15.2,500,10492,0.00,2.62,0.00,0.000,4,0.000,0.071,3055,737,845
$GC,10520,1.70,488.3,261.9,14.8,501,10526,0.00,2.58,0.00,0.000,6,0.000,0.057,3055,2151,846
$GC,10836,1.70,488.3,211.2,16.5,517,10840,0.00,2.62,0.00,0.000,4,0.000,0.070,3054,737,846
$GC,10869,1.70,488.3,205.3,17.4,518,10875,0.00,2.58,0.00,0.000,6,0.000,0.056,3055,2154,846
$GC,11184,1.70,488.3,156.2,15.2,534,11189,0.00,2.60,0.00,0.000,4,0.000,0.068,3055,738,846
$GC,11206,1.70,488.3,152.6,15.1,535,11211,0.00,2.58,0.00,0.000,6,0.000,0.056,3055,2156,846
$GC,11528,1.70,488.3,101.8,15.9,551,11532,0.00,2.62,0.00,0.000,4,0.000,0.067,3054,737,846
$GC,11545,1.70,488.3,98.8,16.4,552,11550,0.00,2.55,0.00,0.000,6,0.000,0.054,3055,2151,846
$GC,11873,1.75,488.3,45.5,16.0,568,11878,0.12,2.62,0.00,0.000,4,0.054,0.066,3090,734,847
$GC,11929,1.75,488.3,35.7,16.8,570,11935,0.00,2.58,0.00,0.000,6,0.000,0.054,3090,2160,847
$STATE,12118,end climb,SURFACE_DEPTH_REACHED
$STATE,12118,begin surface coast
$FINISH,-0.1,1.026952
$STATE,12140,end surface coast,CONTROL_FINISHED_OK
$STATE,12140,begin surface
$SM_CCo,12223,0.00,0.000,0,0,847,486.92
$SM_GC,0.67,11.60,0.00,0.00,0.038,0.000,0.000,418,2161,847,-10.40,0.31,486.92
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1697
$TCM_TEMP,17.50
$XPDR_PINGS,430
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,801.4,44.4
$24V_AH,23.7,6.621
$10V_AH,10.0,2.223
$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,26.800,130.550,538.900,0.000,0.000,76.786,59.329,275.563,114.750,0.000,0.000,16.991,1115.344,8944.386,591.780,1519.168,642.959,33.354,1407.294,0.000,1470.371,0.000,49.135
$DEVICE_MAMPS,141.128,92.807,1432.756,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.328,421.031,317.157,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28468,581
$CAP_FILE_SIZE,105163,0
$CFSIZE,254472192,251297792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,090608,011302,6141.104,-915.955,38,1.5,38,-9.4