version: 66.03
glider: 5
mission: 3
dive: 20
start: 6 9 108 13 35 36
data:
$ID,5
$MISSION,3
$DIVE,20
$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,-77060.812
$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
$GPS1,132526,6140.627,-926.306,38,1.9,38,-9.5
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-55.4
$GPS2,133445,6140.563,-926.529,14,1.3,14,-9.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.252,0.078
$KALMAN_X,-40545.4,1222.8,1180.1,-24009.4,-14573.7
$KALMAN_Y,-23501.4,638.4,862.6,50977.5,-7992.3
$MHEAD_RNG_PITCHd_Wd,82.2,13666,-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,-146.6,0.0,0.0,0,109,0.00,0.00,-81.38,0.000,2,0.000,0.000,425,2162,3414
$GC,113,-1.44,-146.6,4.6,-6.3,4,130,10.10,2.60,-0.32,0.000,4,0.137,0.071,2377,738,3431
$GC,136,0.14,-146.6,14.6,-37.3,4,145,1.67,2.55,0.00,0.000,6,0.089,0.052,2727,2150,3432
$GC,464,-0.80,-146.6,39.6,-8.8,20,469,0.90,2.58,0.00,0.000,4,0.055,0.060,2522,739,3433
$GC,573,-0.97,-146.6,51.4,-12.0,25,578,0.15,2.55,0.00,0.000,6,0.050,0.054,2477,2153,3433
$GC,901,-1.02,-146.6,96.7,-13.7,41,906,0.00,2.55,0.00,0.000,4,0.000,0.066,2478,3561,3433
$GC,1019,-1.08,-146.6,115.7,-16.3,46,1024,0.00,2.53,0.00,0.000,6,0.000,0.048,2478,2142,3433
$GC,1336,-1.14,-146.6,166.1,-16.2,61,1341,0.12,2.62,0.00,0.000,4,0.056,0.064,2442,3565,3433
$GC,1404,-1.14,-146.6,178.0,-18.1,64,1409,0.00,2.53,0.00,0.000,6,0.000,0.049,2442,2147,3433
$GC,1726,-1.14,-146.6,230.0,-15.4,80,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2130,3433
$GC,2035,-1.14,-146.6,274.9,-13.8,95,2039,0.00,2.60,0.00,0.000,4,0.000,0.067,2442,3557,3433
$GC,2073,-1.14,-146.6,280.5,-14.1,96,2079,0.00,2.53,0.00,0.000,6,0.000,0.051,2442,2147,3433
$GC,2389,-1.14,-146.6,324.1,-13.6,112,2393,0.00,2.53,0.00,0.000,4,0.000,0.067,2441,747,3433
$GC,2438,-1.14,-146.6,331.1,-13.6,114,2442,0.00,2.55,0.00,0.000,6,0.000,0.055,2442,2156,3433
$GC,2754,-1.14,-146.6,371.7,-12.9,129,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2155,3433
$GC,3063,-1.14,-146.6,410.4,-12.1,144,3067,0.00,2.60,0.00,0.000,4,0.000,0.067,2441,739,3433
$GC,3096,-1.14,-146.6,414.5,-11.9,145,3102,0.00,2.55,0.00,0.000,6,0.000,0.057,2442,2150,3433
$GC,3412,-1.14,-146.6,449.3,-10.6,161,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2150,3432
$GC,3721,-1.14,-146.6,481.5,-10.6,176,3725,0.00,2.58,0.00,0.000,4,0.000,0.068,2442,747,3432
$GC,3748,-1.14,-146.6,484.3,-10.2,177,3752,0.00,2.55,0.00,0.000,6,0.000,0.057,2442,2155,3432
$GC,4063,-1.14,-146.6,518.5,-11.4,192,4068,0.00,2.58,0.00,0.000,4,0.000,0.071,2441,3565,3432
$GC,4091,-1.14,-146.6,522.0,-12.3,193,4095,0.00,2.55,0.00,0.000,6,0.000,0.056,2441,2150,3432
$GC,4407,-1.14,-146.6,556.6,-11.3,208,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2133,3432
$GC,4716,-1.14,-146.6,594.7,-13.0,223,4720,0.00,2.53,0.00,0.000,4,0.000,0.069,2441,746,3432
$GC,4758,-1.14,-146.6,600.1,-13.5,225,4762,0.00,2.55,0.00,0.000,6,0.000,0.058,2441,2156,3432
$GC,5085,-1.14,-146.6,640.5,-10.7,241,5089,0.00,2.62,0.00,0.000,4,0.000,0.070,2441,739,3431
$GC,5162,-1.14,-146.6,649.1,-11.3,244,5168,0.00,2.55,0.00,0.000,6,0.000,0.058,2441,2149,3431
$GC,5478,-1.14,-146.6,685.5,-12.0,260,5482,0.00,2.58,0.00,0.000,4,0.000,0.073,2441,3556,3431
$GC,5550,-1.14,-146.6,694.2,-12.1,263,5554,0.00,2.55,0.00,0.000,6,0.000,0.056,2441,2143,3431
$GC,5866,-1.14,-146.6,731.9,-13.4,278,5870,0.00,2.58,0.00,0.000,4,0.000,0.077,2441,747,3431
$GC,5938,-1.14,-146.6,741.3,-12.6,281,5942,0.00,2.58,0.00,0.000,6,0.000,0.061,2441,2155,3431
$GC,6255,-1.14,-146.6,775.9,-11.5,296,6259,0.00,2.62,0.00,0.000,4,0.000,0.077,2441,749,3431
$GC,6422,-1.14,-146.6,797.5,-14.5,303,6428,0.00,2.60,0.00,0.000,6,0.000,0.067,2441,2156,3431
$GC,6738,-1.14,-146.6,831.4,-10.1,319,6742,0.00,2.65,0.00,0.000,4,0.000,0.087,2441,3564,3430
$GC,6850,-1.05,-146.6,844.3,-11.3,324,6855,0.15,2.62,0.00,0.000,6,0.105,0.074,2470,2161,3430
$GC,7173,-1.14,-146.6,882.6,-10.8,340,7178,0.00,2.70,0.00,0.000,4,0.000,0.092,2470,3556,3428
$GC,7237,-1.37,-146.6,886.3,-2.3,343,7242,0.30,2.62,0.00,0.000,6,0.057,0.071,2400,2142,3428
$GC,7567,-1.94,-146.6,904.7,-0.3,359,7572,0.52,2.75,0.00,0.000,4,0.050,0.091,2274,3562,3426
$STATE,7660,end dive,NO_VERTICAL_VELOCITY
$STATE,7660,begin apogee
$GC,7669,-0.33,0.0,904.9,0.0,363,7801,1.65,0.00,126.97,1.509,6,0.090,0.000,2626,2122,2832
$STATE,7802,end apogee,CONTROL_FINISHED_OK
$STATE,7802,begin climb
$GC,7805,1.44,146.6,903.5,0.0,370,7941,1.80,2.85,125.72,1.463,4,0.075,0.097,3009,739,2234
$GC,8159,1.33,195.5,869.3,7.8,386,8208,0.00,2.70,42.50,1.412,6,0.000,0.078,3009,2150,2034
$GC,8527,1.12,195.5,833.6,17.0,404,8529,0.32,0.00,0.00,0.000,6,0.098,0.000,2947,2151,2033
$GC,8835,1.20,195.5,786.8,15.7,419,8839,0.00,2.70,0.00,0.000,4,0.000,0.092,2947,3559,2032
$GC,8868,1.28,195.5,781.5,15.2,420,8875,0.15,2.67,0.00,0.000,6,0.061,0.075,2983,2143,2032
$GC,9184,1.51,338.4,757.2,3.5,436,9311,0.17,2.75,119.95,1.428,4,0.061,0.090,3029,744,1452
$GC,9393,1.58,382.8,741.3,8.0,446,9438,0.00,2.70,38.78,1.358,6,0.000,0.076,3029,2157,1271
$GC,9768,1.59,386.9,706.2,9.8,464,9775,0.00,0.00,5.43,1.012,6,0.000,0.000,3029,2156,1254
$GC,10075,1.59,386.9,671.2,13.7,479,10079,0.00,2.67,0.00,0.000,4,0.000,0.077,3029,740,1254
$GC,10124,1.59,386.9,663.8,14.8,481,10129,0.00,2.62,0.00,0.000,6,0.000,0.066,3029,2152,1254
$GC,10440,1.59,386.9,611.3,17.5,496,10445,0.00,2.65,0.00,0.000,4,0.000,0.074,3029,739,1255
$GC,10480,1.59,386.9,604.2,17.7,498,10485,0.00,2.60,0.00,0.000,6,0.000,0.062,3029,2151,1255
$GC,10807,1.59,386.9,551.1,15.6,514,10808,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2150,1256
$GC,11117,1.59,386.9,501.6,15.8,529,11118,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2150,1256
$GC,11426,1.59,386.9,453.0,15.7,544,11430,0.00,2.62,0.00,0.000,4,0.000,0.071,3029,739,1257
$GC,11458,1.59,386.9,447.6,15.8,545,11465,0.00,2.58,0.00,0.000,6,0.000,0.058,3029,2152,1257
$GC,11774,1.59,386.9,400.6,14.4,561,11779,0.00,2.62,0.00,0.000,4,0.000,0.069,3029,734,1258
$GC,11801,1.59,386.9,396.3,15.2,562,11806,0.00,2.60,0.00,0.000,6,0.000,0.058,3029,2160,1258
$GC,12117,1.59,386.9,351.3,13.9,577,12121,0.00,2.60,0.00,0.000,4,0.000,0.068,3029,739,1258
$GC,12150,1.59,386.9,346.3,14.9,578,12156,0.00,2.55,0.00,0.000,6,0.000,0.056,3029,2148,1259
$GC,12466,1.64,386.9,301.5,14.5,594,12471,0.12,2.60,0.00,0.000,4,0.053,0.068,3064,739,1259
$GC,12493,1.59,386.9,296.7,17.1,595,12498,0.00,2.58,0.00,0.000,6,0.000,0.056,3064,2155,1259
$GC,12809,1.53,386.9,241.5,18.1,610,12814,0.15,2.62,0.00,0.000,4,0.095,0.067,3032,734,1260
$GC,12854,1.59,386.9,234.1,14.9,612,12859,0.00,2.58,0.00,0.000,6,0.000,0.056,3031,2151,1261
$GC,13175,1.64,386.9,193.9,10.6,628,13177,0.12,0.00,0.00,0.000,6,0.053,0.000,3066,2150,1261
$GC,13485,1.59,386.9,156.5,11.6,643,13489,0.00,2.62,0.00,0.000,4,0.000,0.067,3066,734,1261
$GC,13518,1.53,386.9,152.2,12.3,644,13524,0.17,2.58,0.00,0.000,6,0.094,0.055,3032,2154,1261
$GC,13836,1.65,431.9,124.6,8.0,660,13880,0.12,2.70,37.85,0.890,4,0.054,0.066,3066,738,1071
$GC,13904,1.67,447.6,118.5,9.3,663,13926,0.00,2.58,14.15,0.838,6,0.000,0.054,3066,2150,1006
$GC,14237,1.67,447.6,88.4,10.7,679,14241,0.00,2.62,0.00,0.000,4,0.000,0.067,3066,737,1007
$GC,14254,1.67,447.6,86.2,10.7,680,14258,0.00,2.58,0.00,0.000,6,0.000,0.054,3066,2154,1007
$GC,14581,1.67,447.6,39.1,16.3,696,14585,0.00,2.62,0.00,0.000,4,0.000,0.065,3066,734,1007
$GC,14608,1.67,447.6,34.2,16.6,697,14612,0.00,2.58,0.00,0.000,6,0.000,0.053,3066,2158,1007
$STATE,14818,end climb,SURFACE_DEPTH_REACHED
$STATE,14818,begin surface coast
$FINISH,0.0,1.007199
$STATE,14840,end surface coast,CONTROL_FINISHED_OK
$STATE,14840,begin surface
$SM_CCo,14922,0.00,0.000,0,0,1007,447.67
$SM_GC,0.84,11.52,0.00,0.00,0.039,0.000,0.000,424,2160,1007,-10.38,0.28,447.67
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1680
$TCM_TEMP,17.40
$XPDR_PINGS,500
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,23.7,7.466
$10V_AH,10.0,2.505
$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,30.250,161.625,511.350,0.000,0.000,75.522,59.812,241.831,133.000,0.000,0.000,14.538,1348.244,11177.270,602.457,1695.195,657.293,33.354,1514.002,0.000,1647.484,0.000,52.673
$DEVICE_MAMPS,137.293,97.409,1508.689,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,484.855,524.427,407.933,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37938,708
$CAP_FILE_SIZE,124874,0
$CFSIZE,254472192,251052032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,090608,174538,6139.511,-927.404,37,1.6,44,-9.5