version: 66.03
glider: 5
mission: 3
dive: 19
start: 6 9 108 9 11 24
data:
$ID,5
$MISSION,3
$DIVE,19
$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,-77045.648
$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
$GPS1,090137,6140.815,-925.376,42,1.6,42,-9.5
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-57.6
$GPS2,091033,6140.695,-925.320,12,1.4,12,-9.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.243,0.101
$KALMAN_X,-34640.1,954.5,631.0,-28036.2,-14374.8
$KALMAN_Y,-22434.4,1217.1,688.2,49762.8,-10655.1
$MHEAD_RNG_PITCHd_Wd,77.0,12592,-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,-146.6,0.0,0.0,0,105,0.00,0.00,-75.57,0.000,6,0.000,0.000,421,2167,3428
$GC,109,-1.44,-146.6,6.1,-8.5,4,124,10.15,2.55,0.00,0.000,4,0.139,0.063,2375,3558,3430
$GC,130,0.16,-146.6,16.3,-41.5,4,139,1.73,2.53,0.00,0.000,6,0.096,0.048,2730,2146,3431
$GC,457,-0.79,-146.6,34.8,-6.0,20,463,0.90,2.53,0.00,0.000,4,0.051,0.059,2524,738,3431
$GC,595,-0.98,-146.6,43.9,-7.7,26,600,0.17,2.55,0.00,0.000,6,0.048,0.053,2473,2158,3431
$GC,916,-0.98,-146.6,75.7,-9.2,42,921,0.00,2.60,0.00,0.000,4,0.000,0.062,2473,739,3431
$GC,1029,-1.04,-146.6,85.1,-7.7,47,1033,0.00,2.55,0.00,0.000,6,0.000,0.052,2473,2155,3432
$GC,1351,-1.08,-146.6,110.2,-7.3,63,1355,0.00,2.60,0.00,0.000,4,0.000,0.064,2473,738,3432
$GC,1414,-1.16,-146.6,115.0,-7.4,66,1419,0.12,2.55,0.00,0.000,6,0.054,0.054,2437,2154,3432
$GC,1743,-1.11,-146.6,146.0,-10.9,82,1747,0.00,2.55,0.00,0.000,4,0.000,0.067,2437,3563,3432
$GC,1793,-1.11,-146.6,151.9,-11.1,84,1797,0.00,2.53,0.00,0.000,6,0.000,0.051,2437,2149,3432
$GC,2109,-1.06,-146.6,187.3,-11.4,99,2114,0.15,2.55,0.00,0.000,4,0.097,0.066,2471,739,3432
$GC,2159,-1.13,-146.6,192.3,-9.3,101,2164,0.00,2.55,0.00,0.000,6,0.000,0.054,2471,2153,3432
$GC,2476,-1.18,-146.6,222.4,-9.6,116,2481,0.12,2.55,0.00,0.000,4,0.054,0.067,2435,3561,3432
$GC,2539,-1.13,-146.6,230.0,-11.9,119,2544,0.00,2.53,0.00,0.000,6,0.000,0.051,2435,2150,3432
$GC,2867,-1.08,-146.6,274.3,-13.8,135,2872,0.12,2.53,0.00,0.000,4,0.104,0.066,2461,747,3432
$GC,2923,-1.13,-146.6,281.4,-11.8,137,2927,0.00,2.53,0.00,0.000,6,0.000,0.055,2461,2152,3432
$GC,3238,-1.13,-146.6,319.9,-12.0,152,3243,0.00,2.55,0.00,0.000,4,0.000,0.069,2461,3556,3432
$GC,3272,-1.13,-146.6,324.1,-12.6,153,3278,0.00,2.53,0.00,0.000,6,0.000,0.053,2461,2150,3432
$GC,3587,-1.13,-146.6,361.1,-11.5,169,3591,0.00,2.55,0.00,0.000,4,0.000,0.068,2461,743,3432
$GC,3638,-1.18,-146.6,367.4,-12.7,171,3642,0.00,2.55,0.00,0.000,6,0.000,0.055,2461,2153,3431
$GC,3954,-1.18,-146.6,404.5,-11.6,186,3958,0.00,2.58,0.00,0.000,4,0.000,0.071,2460,3565,3432
$GC,3993,-1.18,-146.6,408.9,-11.1,188,3997,0.00,2.55,0.00,0.000,6,0.000,0.054,2461,2144,3431
$GC,4319,-1.18,-146.6,442.0,-10.3,204,4324,0.00,2.62,0.00,0.000,4,0.000,0.071,2461,3562,3432
$GC,4360,-1.22,-146.6,445.8,-9.7,206,4365,0.12,2.53,0.00,0.000,6,0.058,0.054,2426,2150,3432
$GC,4689,-1.16,-146.6,483.3,-11.9,222,4694,0.10,2.62,0.00,0.000,4,0.107,0.070,2445,3562,3432
$GC,4722,-1.16,-146.6,487.7,-11.5,223,4728,0.00,2.55,0.00,0.000,6,0.000,0.054,2445,2147,3431
$GC,5038,-1.16,-146.6,519.7,-9.7,239,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2129,3431
$GC,5347,-1.16,-146.6,547.2,-9.0,254,5352,0.00,2.62,0.00,0.000,4,0.000,0.071,2445,3557,3431
$GC,5392,-1.16,-146.6,551.4,-9.0,256,5396,0.00,2.53,0.00,0.000,6,0.000,0.054,2445,2150,3430
$GC,5713,-1.16,-146.6,578.1,-8.0,272,5717,0.00,2.55,0.00,0.000,4,0.000,0.067,2445,739,3430
$GC,5763,-1.16,-146.6,582.2,-7.7,274,5767,0.00,2.55,0.00,0.000,6,0.000,0.058,2445,2149,3430
$GC,6079,-1.16,-146.6,610.7,-9.0,289,6083,0.00,2.58,0.00,0.000,4,0.000,0.069,2445,748,3430
$GC,6123,-1.16,-146.6,614.7,-8.8,291,6128,0.00,2.55,0.00,0.000,6,0.000,0.057,2445,2155,3430
$GC,6445,-1.16,-146.6,648.3,-11.1,307,6449,0.00,2.55,0.00,0.000,4,0.000,0.071,2445,3556,3430
$GC,6501,-1.16,-146.6,655.0,-11.6,309,6507,0.00,2.55,0.00,0.000,6,0.000,0.056,2445,2145,3430
$GC,6817,-1.16,-146.6,697.1,-13.5,325,6821,0.00,2.55,0.00,0.000,4,0.000,0.072,2445,739,3430
$GC,6889,-1.16,-146.6,707.3,-14.1,328,6893,0.00,2.58,0.00,0.000,6,0.000,0.060,2445,2156,3430
$GC,7204,-1.16,-146.6,761.3,-19.5,343,7209,0.00,2.62,0.00,0.000,4,0.000,0.074,2445,746,3430
$GC,7447,-1.20,-146.6,805.8,-14.1,354,7452,0.00,2.58,0.00,0.000,6,0.000,0.064,2445,2150,3430
$GC,7774,-1.20,-146.6,842.3,-8.8,370,7778,0.00,2.65,0.00,0.000,4,0.000,0.087,2445,3557,3429
$GC,7858,-1.20,-146.6,851.6,-12.0,374,7863,0.00,2.60,0.00,0.000,6,0.000,0.071,2445,2155,3429
$GC,8185,-1.20,-146.6,891.2,-9.1,390,8190,0.00,2.70,0.00,0.000,4,0.000,0.091,2445,3556,3428
$GC,8235,-1.15,-146.6,896.7,-11.2,392,8240,0.00,2.60,0.00,0.000,6,0.000,0.068,2445,2146,3428
$STATE,8486,end dive,NO_VERTICAL_VELOCITY
$STATE,8487,begin apogee
$GC,8493,-0.33,0.0,902.7,0.0,404,8623,0.82,0.00,126.85,1.494,6,0.074,0.000,2625,2136,2832
$STATE,8624,end apogee,CONTROL_FINISHED_OK
$STATE,8624,begin climb
$GC,8627,1.44,146.6,901.7,0.0,410,8763,1.77,2.75,125.53,1.450,4,0.066,0.091,3007,747,2234
$GC,8990,1.24,146.6,866.6,18.5,426,8997,0.20,2.67,0.00,0.000,6,0.107,0.076,2973,2150,2233
$GC,9307,1.31,218.4,838.2,6.7,442,9375,0.00,2.78,61.20,1.424,4,0.000,0.091,2972,3564,1940
$GC,9416,1.40,278.3,831.2,7.3,447,9474,0.15,2.67,51.50,1.409,6,0.062,0.074,3006,2130,1697
$GC,9786,1.54,361.9,803.9,6.2,465,9861,0.12,0.00,71.85,1.412,6,0.068,0.000,3037,2126,1356
$GC,10157,1.54,361.9,759.7,16.9,483,10161,0.00,2.65,0.00,0.000,4,0.000,0.090,3037,759,1356
$GC,10212,1.54,361.9,750.2,16.9,485,10218,0.00,2.65,0.00,0.000,6,0.000,0.077,3036,2155,1356
$GC,10528,1.54,361.9,697.0,15.9,501,10532,0.00,2.65,0.00,0.000,4,0.000,0.080,3037,759,1355
$GC,10556,1.54,361.9,692.2,17.7,502,10560,0.00,2.60,0.00,0.000,6,0.000,0.069,3037,2150,1356
$GC,10871,1.54,361.9,642.7,15.4,517,10876,0.00,2.60,0.00,0.000,4,0.000,0.076,3036,762,1355
$GC,10911,1.54,361.9,636.1,16.4,519,10916,0.00,2.55,0.00,0.000,6,0.000,0.064,3036,2155,1356
$GC,11238,1.54,361.9,591.2,13.3,535,11243,0.00,2.60,0.00,0.000,4,0.000,0.073,3037,760,1356
$GC,11265,1.54,361.9,587.1,15.0,536,11270,0.00,2.55,0.00,0.000,6,0.000,0.061,3037,2149,1356
$GC,11582,1.54,361.9,542.4,13.9,551,11583,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2149,1357
$GC,11891,1.54,361.9,497.2,15.0,566,11895,0.00,2.60,0.00,0.000,4,0.000,0.070,3037,754,1357
$GC,11908,1.54,361.9,494.5,15.3,567,11912,0.00,2.55,0.00,0.000,6,0.000,0.058,3037,2154,1357
$GC,12234,1.54,361.9,445.2,14.7,583,12236,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2155,1358
$GC,12544,1.54,361.9,397.4,16.5,598,12548,0.00,2.58,0.00,0.000,4,0.000,0.068,3036,758,1359
$GC,12566,1.54,361.9,393.4,17.6,599,12571,0.00,2.53,0.00,0.000,6,0.000,0.058,3037,2150,1359
$GC,12888,1.54,361.9,338.8,16.4,615,12889,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2149,1360
$GC,13197,1.54,361.9,287.6,17.1,630,13201,0.00,2.58,0.00,0.000,4,0.000,0.067,3037,758,1360
$GC,13229,1.54,361.9,281.8,16.3,631,13235,0.00,2.53,0.00,0.000,6,0.000,0.057,3037,2150,1360
$GC,13545,1.54,361.9,231.6,15.4,647,13549,0.00,2.55,0.00,0.000,4,0.000,0.067,3037,760,1361
$GC,13562,1.54,361.9,228.7,16.5,648,13566,0.00,2.53,0.00,0.000,6,0.000,0.057,3037,2151,1361
$GC,13888,1.54,361.9,174.4,16.7,664,13892,0.00,2.58,0.00,0.000,4,0.000,0.067,3037,759,1361
$GC,13909,1.54,361.9,170.6,16.1,665,13914,0.00,2.50,0.00,0.000,6,0.000,0.056,3036,2150,1361
$GC,14231,1.54,361.9,118.3,15.6,681,14236,0.00,2.55,0.00,0.000,4,0.000,0.067,3037,3562,1361
$GC,14253,1.54,361.9,114.8,15.0,682,14258,0.00,2.50,0.00,0.000,6,0.000,0.053,3037,2169,1361
$GC,14575,1.58,361.9,69.2,14.1,698,14576,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2168,1362
$GC,14884,1.64,361.9,25.4,13.6,713,14888,0.00,2.58,0.00,0.000,4,0.000,0.067,3037,746,1362
$GC,14950,1.64,361.9,15.3,14.9,716,14955,0.00,2.55,0.00,0.000,6,0.000,0.054,3037,2161,1362
$STATE,15064,end climb,SURFACE_DEPTH_REACHED
$STATE,15065,begin surface coast
$FINISH,-0.1,1.027090
$STATE,15085,end surface coast,CONTROL_FINISHED_OK
$STATE,15085,begin surface
$SM_CCo,15168,0.00,0.000,0,0,1362,360.59
$SM_GC,0.80,11.35,0.00,0.00,0.038,0.000,0.000,426,2162,1362,-10.38,0.31,360.59
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1683
$TCM_TEMP,17.30
$XPDR_PINGS,474
$ALTIM_TOP_PING,19.5,19.1
$24V_AH,23.7,7.229
$10V_AH,10.0,2.431
$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,28.125,175.125,436.925,0.000,0.000,75.524,53.019,231.301,126.500,0.000,0.000,12.123,1396.973,11377.896,557.454,1729.993,642.655,33.349,1469.114,0.000,1687.492,0.000,52.632
$DEVICE_MAMPS,138.827,91.273,1494.116,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,495.748,535.306,435.428,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38067,723
$CAP_FILE_SIZE,128214,0
$CFSIZE,254472192,251105280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,090608,132526,6140.627,-926.306,38,1.9,38,-9.5