version: 66.03
glider: 5
mission: 3
dive: 18
start: 6 9 108 5 10 23
data:
$ID,5
$MISSION,3
$DIVE,18
$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,-77032.898
$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,20
$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
$GPS1,050407,6140.106,-918.232,27,1.4,27,-9.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-56.1
$GPS2,050933,6140.055,-918.232,18,1.5,18,-9.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.012,0.263
$KALMAN_X,-29857.4,1448.6,878.7,-27276.2,-17069.3
$KALMAN_Y,-19100.1,1684.9,388.1,45090.5,-9817.5
$MHEAD_RNG_PITCHd_Wd,11.9,6590,-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,-80.60,0.000,2,0.000,0.000,420,2152,3385
$GC,112,-1.44,-146.6,4.4,-5.7,4,129,10.12,2.58,-0.98,0.000,4,0.137,0.071,2378,740,3431
$GC,382,-1.22,-146.6,64.5,-19.3,15,387,0.28,2.55,0.00,0.000,6,0.099,0.052,2432,2158,3432
$GC,704,-1.16,-146.6,114.0,-14.9,31,708,0.00,2.60,0.00,0.000,4,0.000,0.062,2433,738,3434
$GC,874,-1.11,-146.6,138.9,-14.3,38,881,0.12,2.55,0.00,0.000,6,0.103,0.053,2458,2157,3434
$GC,1190,-1.11,-146.6,180.1,-12.6,54,1194,0.00,2.55,0.00,0.000,4,0.000,0.066,2458,3564,3434
$GC,1252,-1.11,-146.6,188.5,-13.6,57,1256,0.00,2.53,0.00,0.000,6,0.000,0.050,2457,2148,3434
$GC,1578,-1.11,-146.6,229.1,-12.3,73,1582,0.00,2.53,0.00,0.000,4,0.000,0.067,2458,746,3434
$GC,1667,-1.15,-146.6,240.3,-12.1,77,1671,0.00,2.55,0.00,0.000,6,0.000,0.055,2458,2155,3434
$GC,1988,-1.15,-146.6,278.3,-11.8,93,1992,0.00,2.55,0.00,0.000,4,0.000,0.069,2458,3557,3434
$GC,2072,-1.15,-146.6,288.5,-12.3,97,2076,0.00,2.53,0.00,0.000,6,0.000,0.052,2458,2146,3434
$GC,2398,-1.15,-146.6,327.7,-11.9,113,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2129,3434
$GC,2708,-1.15,-146.6,368.7,-13.5,128,2712,0.00,2.62,0.00,0.000,4,0.000,0.070,2458,3558,3433
$GC,2792,-1.15,-146.6,380.3,-13.3,132,2796,0.00,2.53,0.00,0.000,6,0.000,0.052,2458,2145,3434
$GC,3119,-1.15,-146.6,425.9,-14.4,148,3123,0.00,2.53,0.00,0.000,4,0.000,0.067,2458,750,3433
$GC,3231,-1.20,-146.6,442.4,-14.9,153,3235,0.00,2.53,0.00,0.000,6,0.000,0.056,2458,2149,3433
$GC,3551,-1.20,-146.6,488.4,-14.4,169,3556,0.00,2.58,0.00,0.000,4,0.000,0.071,2458,3558,3433
$GC,3691,-1.20,-146.6,509.7,-14.6,175,3696,0.00,2.53,0.00,0.000,6,0.000,0.054,2458,2152,3433
$GC,4007,-1.20,-146.6,553.7,-14.4,190,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2135,3433
$GC,4317,-1.20,-146.6,600.6,-15.6,205,4321,0.00,2.58,0.00,0.000,4,0.000,0.071,2458,739,3433
$GC,4406,-1.20,-146.6,614.6,-15.6,209,4410,0.00,2.58,0.00,0.000,6,0.000,0.059,2458,2152,3433
$GC,4727,-1.25,-146.6,670.7,-17.8,225,4732,0.12,2.62,0.00,0.000,4,0.057,0.072,2423,746,3432
$GC,4857,-1.25,-146.6,695.4,-18.1,231,4861,0.00,2.55,0.00,0.000,6,0.000,0.059,2423,2150,3433
$GC,5184,-1.17,-146.6,744.5,-13.9,247,5189,0.10,2.62,0.00,0.000,4,0.113,0.074,2441,747,3432
$GC,5413,-1.17,-146.6,767.2,-2.8,257,5418,0.00,2.58,0.00,0.000,6,0.000,0.061,2441,2155,3432
$GC,5729,-1.17,-146.6,763.6,2.3,272,5734,0.00,2.62,0.00,0.000,4,0.000,0.082,2441,3565,3432
$GC,5843,-1.17,-146.6,765.0,-4.4,277,5848,0.00,2.60,0.00,0.000,6,0.000,0.067,2441,2154,3433
$GC,6164,-1.17,-146.6,804.3,-15.0,293,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2127,3431
$GC,6474,-1.13,-146.6,843.5,-8.9,308,6478,0.00,2.72,0.00,0.000,4,0.000,0.093,2442,3560,3429
$GC,6651,-1.13,-146.6,867.0,-18.2,316,6655,0.00,2.62,0.00,0.000,6,0.000,0.074,2442,2155,3429
$STATE,6933,end dive,NO_VERTICAL_VELOCITY
$STATE,6933,begin apogee
$GC,6940,-0.33,0.0,877.3,0.0,330,7069,0.85,0.00,125.80,1.498,6,0.081,0.000,2624,2126,2833
$STATE,7069,end apogee,CONTROL_FINISHED_OK
$STATE,7070,begin climb
$GC,7073,1.44,146.6,876.6,0.0,336,7208,1.83,2.85,124.68,1.453,4,0.078,0.091,3009,3555,2234
$GC,7217,1.56,275.9,871.4,4.1,343,7333,0.15,2.70,109.43,1.416,6,0.064,0.072,3044,2126,1707
$GC,7644,1.45,275.9,817.6,12.4,363,7650,0.15,2.78,0.00,0.000,4,0.109,0.089,3014,3561,1707
$GC,7707,1.45,275.9,810.4,12.0,366,7712,0.00,2.65,0.00,0.000,6,0.000,0.077,3014,2162,1707
$GC,8033,1.45,275.9,754.0,18.4,382,8038,0.00,2.72,0.00,0.000,4,0.000,0.094,3014,738,1707
$GC,8105,1.45,275.9,739.9,18.8,385,8110,0.00,2.70,0.00,0.000,6,0.000,0.078,3014,2152,1706
$GC,8421,1.45,275.9,675.0,21.0,400,8425,0.00,2.72,0.00,0.000,4,0.000,0.084,3014,737,1704
$GC,8442,1.45,275.9,670.1,20.8,401,8447,0.00,2.67,0.00,0.000,6,0.000,0.074,3014,2153,1704
$GC,8763,1.45,275.9,615.2,14.4,417,8767,0.00,2.70,0.00,0.000,4,0.000,0.081,3014,737,1703
$GC,8848,1.45,275.9,602.4,16.8,421,8852,0.00,2.62,0.00,0.000,6,0.000,0.067,3014,2152,1703
$GC,9174,1.45,275.9,551.6,14.6,437,9179,0.00,2.62,0.00,0.000,4,0.000,0.077,3014,3567,1703
$GC,9192,1.45,275.9,548.9,14.6,438,9196,0.00,2.60,0.00,0.000,6,0.000,0.061,3014,2145,1703
$GC,9518,1.45,275.9,508.5,11.6,454,9522,0.00,2.65,0.00,0.000,4,0.000,0.074,3014,3561,1703
$GC,9528,1.45,275.9,507.3,11.2,454,9534,0.00,2.58,0.00,0.000,6,0.000,0.058,3014,2149,1703
$GC,9845,1.45,278.4,474.9,9.9,470,9849,0.00,2.65,0.00,0.000,4,0.000,0.072,3014,3564,1704
$GC,9855,1.46,281.6,473.6,9.9,470,9866,0.00,2.58,5.95,0.946,6,0.000,0.057,3014,2149,1684
$GC,10188,1.47,286.7,440.8,9.8,487,10201,0.00,2.67,6.22,0.927,4,0.000,0.069,3014,3567,1663
$GC,10209,1.48,297.3,438.7,9.5,488,10225,0.00,2.60,10.65,1.030,6,0.000,0.055,3014,2142,1619
$GC,10535,1.49,300.1,406.1,9.9,503,10544,0.00,2.65,4.15,0.750,4,0.000,0.069,3014,3563,1608
$GC,10551,1.49,300.1,404.3,10.3,503,10557,0.00,2.58,0.00,0.000,6,0.000,0.054,3014,2149,1608
$GC,10867,1.49,300.1,370.3,11.2,519,10871,0.00,2.62,0.00,0.000,4,0.000,0.068,3014,3561,1608
$GC,10879,1.49,300.1,368.9,11.2,519,10885,0.00,2.55,0.00,0.000,6,0.000,0.054,3014,2149,1608
$GC,11195,1.54,300.1,331.2,11.9,535,11199,0.00,2.62,0.00,0.000,4,0.000,0.067,3014,3564,1609
$GC,11212,1.54,300.1,329.1,12.0,536,11216,0.00,2.58,0.00,0.000,6,0.000,0.054,3014,2142,1609
$GC,11539,1.58,300.1,293.0,10.3,552,11540,0.12,0.00,0.00,0.000,6,0.054,0.000,3048,2141,1609
$GC,11848,1.53,300.1,260.8,10.6,567,11852,0.00,2.60,0.00,0.000,4,0.000,0.065,3048,3562,1610
$GC,11858,1.47,300.1,259.6,10.1,567,11865,0.15,2.55,0.00,0.000,6,0.094,0.052,3020,2146,1610
$GC,12175,1.56,326.5,233.4,8.8,583,12199,0.00,0.00,22.73,0.950,6,0.000,0.000,3019,2146,1501
$GC,12506,1.62,326.5,196.4,11.4,599,12511,0.15,2.62,0.00,0.000,4,0.051,0.065,3060,3569,1501
$GC,12516,1.62,326.5,194.8,11.6,599,12522,0.00,2.58,0.00,0.000,6,0.000,0.052,3060,2141,1501
$GC,12833,1.56,326.5,140.7,17.9,615,12834,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2141,1501
$GC,13142,1.50,326.5,82.1,20.0,630,13147,0.15,2.53,0.00,0.000,4,0.094,0.064,3027,746,1502
$GC,13153,1.45,326.5,79.5,19.7,630,13159,0.00,2.55,0.00,0.000,6,0.000,0.054,3027,2157,1502
$GC,13470,1.51,326.5,27.9,14.6,646,13474,0.00,2.60,0.00,0.000,4,0.000,0.064,3027,744,1502
$GC,13543,1.58,326.5,18.0,11.8,649,13547,0.00,2.53,0.00,0.000,6,0.000,0.052,3027,2151,1502
$STATE,13691,end climb,SURFACE_DEPTH_REACHED
$STATE,13691,begin surface coast
$FINISH,-0.0,1.008681
$STATE,13714,end surface coast,CONTROL_FINISHED_OK
$STATE,13714,begin surface
$SM_CCo,13796,0.00,0.000,0,0,1502,326.25
$SM_GC,0.72,11.30,0.00,0.00,0.038,0.000,0.000,421,2153,1502,-10.39,0.11,326.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1678
$TCM_TEMP,17.40
$XPDR_PINGS,453
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,23.7,7.016
$10V_AH,10.0,2.356
$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,25.600,151.125,409.600,0.000,0.000,38.995,28.672,148.193,121.250,0.000,0.000,18.891,1277.950,10218.735,522.085,1639.503,465.074,33.353,1376.818,0.000,1588.549,0.000,54.010
$DEVICE_MAMPS,137.293,93.574,1497.951,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.375,485.655,346.113,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34793,657
$CAP_FILE_SIZE,114131,0
$CFSIZE,254472192,251183104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,090608,090137,6140.815,-925.376,42,1.6,42,-9.5