version: 66.03
glider: 5
mission: 3
dive: 22
start: 6 9 108 22 17 36
data:
$ID,5
$MISSION,3
$DIVE,22
$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,412.5
$T_MISSION,440
$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,-77112.359
$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,14
$R_STBD_OVSHOOT,21
$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
$GPS1,221031,6138.749,-928.775,37,1.6,37,-9.5
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-55.7
$GPS2,221647,6138.639,-928.707,15,2.2,34,-9.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.015,0.245
$KALMAN_X,-50055.6,2062.2,1410.4,-17511.4,-19019.0
$KALMAN_Y,-32220.6,336.5,196.0,57138.4,-11247.9
$MHEAD_RNG_PITCHd_Wd,13.0,16159,-14.8,-8.000
$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,-1.22,-146.6,0.0,0.0,0,120,0.00,0.00,-93.43,0.000,6,0.000,0.000,422,2170,3431
$GC,124,-1.22,-146.6,2.9,-3.2,4,140,10.35,2.60,0.00,0.000,4,0.137,0.058,2428,732,3433
$GC,381,-1.01,-146.6,55.7,-18.1,14,389,0.25,2.53,0.00,0.000,6,0.090,0.051,2480,2150,3434
$GC,698,-0.95,-146.6,100.5,-14.1,30,702,0.00,2.55,0.00,0.000,4,0.000,0.065,2480,3560,3434
$GC,787,-0.90,-146.6,111.7,-11.4,34,792,0.12,2.53,0.00,0.000,6,0.094,0.049,2506,2141,3435
$GC,1109,-0.90,-146.6,143.4,-8.9,50,1113,0.00,2.53,0.00,0.000,4,0.000,0.064,2506,738,3435
$GC,1171,-0.90,-146.6,148.6,-8.3,53,1176,0.00,2.55,0.00,0.000,6,0.000,0.054,2506,2153,3435
$GC,1498,-0.90,-146.6,173.1,-7.4,69,1503,0.00,2.55,0.00,0.000,4,0.000,0.067,2507,3563,3435
$GC,1593,-0.90,-146.6,180.9,-7.8,73,1598,0.00,2.53,0.00,0.000,6,0.000,0.050,2506,2147,3435
$GC,1909,-0.90,-146.6,205.6,-7.3,88,1914,0.00,2.60,0.00,0.000,4,0.000,0.067,2506,3556,3435
$GC,1999,-0.90,-146.6,212.6,-7.3,92,2003,0.00,2.50,0.00,0.000,6,0.000,0.050,2506,2149,3435
$GC,2320,-0.90,-146.6,235.2,-6.9,108,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2132,3435
$GC,2629,-0.90,-146.6,257.9,-7.8,123,2634,0.00,2.58,0.00,0.000,4,0.000,0.067,2506,3554,3435
$GC,2708,-0.90,-146.6,264.6,-8.0,126,2714,0.00,2.53,0.00,0.000,6,0.000,0.051,2506,2141,3435
$GC,3024,-0.90,-146.6,289.5,-7.3,142,3028,0.00,2.47,0.00,0.000,4,0.000,0.065,2506,749,3434
$GC,3087,-0.94,-146.6,294.2,-6.9,145,3091,0.00,2.53,0.00,0.000,6,0.000,0.054,2506,2150,3434
$GC,3414,-0.94,-146.6,322.6,-9.1,161,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2150,3434
$GC,3723,-0.94,-146.6,352.8,-9.9,176,3727,0.00,2.60,0.00,0.000,4,0.000,0.068,2506,743,3433
$GC,3808,-0.98,-146.6,361.3,-9.9,180,3812,0.00,2.55,0.00,0.000,6,0.000,0.057,2506,2151,3433
$GC,4135,-0.98,-146.6,393.0,-9.8,196,4139,0.00,2.58,0.00,0.000,4,0.000,0.071,2506,3564,3433
$GC,4279,-0.98,-146.6,406.8,-10.0,202,4285,0.00,2.55,0.00,0.000,6,0.000,0.054,2506,2146,3433
$GC,4595,-0.98,-146.6,437.1,-10.0,218,4599,0.00,2.53,0.00,0.000,4,0.000,0.068,2506,746,3433
$GC,4696,-1.02,-146.6,448.0,-11.0,222,4702,0.12,2.55,0.00,0.000,6,0.054,0.056,2469,2156,3433
$GC,5012,-0.95,-146.6,487.2,-12.7,238,5017,0.10,2.53,0.00,0.000,4,0.097,0.070,2490,3556,3433
$GC,5101,-0.95,-146.6,498.6,-12.5,242,5105,0.00,2.53,0.00,0.000,6,0.000,0.054,2490,2146,3433
$GC,5421,-0.95,-146.6,532.4,-10.1,258,5426,0.00,2.53,0.00,0.000,4,0.000,0.067,2490,747,3433
$GC,5500,-0.95,-146.6,540.2,-9.9,261,5506,0.00,2.55,0.00,0.000,6,0.000,0.056,2490,2156,3433
$GC,5815,-0.95,-146.6,571.7,-10.4,277,5820,0.00,2.55,0.00,0.000,4,0.000,0.070,2489,3562,3433
$GC,5882,-0.95,-146.6,579.0,-11.0,280,5887,0.00,2.55,0.00,0.000,6,0.000,0.054,2489,2146,3432
$GC,6204,-0.95,-146.6,610.0,-9.3,296,6205,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2126,3433
$GC,6513,-0.95,-146.6,638.3,-8.9,311,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2127,3433
$GC,6823,-0.95,-146.6,666.8,-9.6,326,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2127,3432
$GC,7132,-0.95,-146.6,699.5,-10.7,341,7136,0.00,2.55,0.00,0.000,4,0.000,0.069,2489,738,3432
$GC,7232,-0.95,-146.6,711.1,-12.5,345,7236,0.00,2.55,0.00,0.000,6,0.000,0.058,2490,2149,3432
$GC,7548,-0.95,-146.6,752.0,-13.8,360,7553,0.00,2.62,0.00,0.000,4,0.000,0.072,2489,741,3432
$GC,7656,-0.95,-146.6,767.0,-14.2,365,7660,0.00,2.55,0.00,0.000,6,0.000,0.058,2490,2150,3432
$GC,7982,-0.95,-146.6,808.9,-11.7,381,7987,0.00,2.62,0.00,0.000,4,0.000,0.075,2490,746,3432
$GC,8184,-0.95,-146.6,833.6,-12.1,390,8188,0.00,2.58,0.00,0.000,6,0.000,0.062,2490,2150,3432
$GC,8506,-1.01,-146.6,864.9,-7.5,406,8510,0.00,2.62,0.00,0.000,4,0.000,0.084,2490,3558,3432
$GC,8584,-1.05,-146.6,871.6,-9.2,409,8590,0.00,2.60,0.00,0.000,6,0.000,0.068,2490,2153,3432
$GC,8900,-1.05,-146.6,907.4,-12.1,425,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2135,3431
$STATE,9082,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9082,begin apogee
$GC,9089,-0.33,0.0,923.9,5.1,434,9220,0.62,0.00,127.50,1.487,6,0.084,0.000,2624,2126,2832
$STATE,9220,end apogee,CONTROL_FINISHED_OK
$STATE,9221,begin climb
$GC,9223,1.22,146.6,924.5,0.0,440,9360,1.58,2.80,125.85,1.459,4,0.072,0.093,2962,739,2234
$GC,9443,1.07,146.6,921.9,12.3,451,9448,0.15,2.70,0.00,0.000,6,0.100,0.077,2935,2149,2233
$GC,9770,1.04,159.1,900.6,7.5,467,9791,0.00,2.88,11.90,1.309,4,0.000,0.096,2935,739,2183
$GC,9831,0.94,159.1,896.4,8.0,469,9838,0.15,2.72,0.00,0.000,6,0.097,0.080,2903,2152,2183
$GC,10147,1.09,225.5,888.3,5.6,485,10213,0.15,2.80,57.28,1.473,4,0.061,0.092,2946,3561,1912
$GC,10241,1.09,225.5,881.1,8.4,489,10246,0.00,2.70,0.00,0.000,6,0.000,0.076,2946,2151,1912
$GC,10557,1.14,255.8,862.7,6.9,504,10589,0.00,2.83,27.27,1.445,4,0.000,0.093,2946,3561,1789
$GC,10598,1.24,320.3,860.6,5.7,506,10661,0.10,2.70,56.25,1.460,6,0.067,0.075,2973,2131,1526
$GC,10971,1.29,349.2,840.3,6.9,524,11002,0.00,2.70,25.98,1.420,4,0.000,0.086,2974,760,1408
$GC,11127,1.29,349.2,826.9,8.0,531,11132,0.00,2.65,0.00,0.000,6,0.000,0.075,2973,2153,1407
$GC,11449,1.29,349.2,786.9,12.8,547,11453,0.00,2.67,0.00,0.000,4,0.000,0.083,2974,759,1408
$GC,11459,1.29,349.2,785.0,13.7,547,11465,0.00,2.60,0.00,0.000,6,0.000,0.069,2973,2156,1407
$GC,11774,1.29,349.2,737.6,13.9,563,11779,0.00,2.65,0.00,0.000,4,0.000,0.078,2974,756,1408
$GC,11825,1.29,349.2,731.0,10.3,565,11829,0.00,2.60,0.00,0.000,6,0.000,0.065,2973,2158,1407
$GC,12140,1.29,349.2,697.0,9.4,580,12145,0.00,2.65,0.00,0.000,4,0.000,0.074,2973,750,1408
$GC,12158,1.29,349.2,695.2,9.9,581,12163,0.00,2.58,0.00,0.000,6,0.000,0.062,2973,2150,1408
$GC,12485,1.29,349.2,659.9,11.3,597,12486,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2149,1408
$GC,12794,1.29,349.2,626.6,10.4,612,12796,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2148,1409
$GC,13104,1.29,349.2,595.6,10.2,627,13105,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2149,1410
$GC,13413,1.29,349.2,565.1,9.9,642,13417,0.00,2.58,0.00,0.000,4,0.000,0.070,2973,758,1410
$GC,13423,1.29,349.2,563.9,10.0,642,13429,0.00,2.53,0.00,0.000,6,0.000,0.058,2973,2155,1411
$GC,13739,1.36,392.0,537.8,6.4,658,13783,0.00,2.70,37.12,1.180,4,0.000,0.069,2973,753,1234
$GC,13796,1.41,392.0,533.2,8.8,660,13803,0.15,2.58,0.00,0.000,6,0.057,0.056,3012,2152,1234
$GC,14113,1.35,392.0,494.6,13.2,676,14114,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2152,1235
$GC,14422,1.30,392.0,454.1,13.1,691,14424,0.15,0.00,0.00,0.000,6,0.085,0.000,2983,2152,1235
$GC,14731,1.30,392.0,415.7,14.0,706,14735,0.00,2.58,0.00,0.000,4,0.000,0.070,2982,754,1236
$GC,14747,1.30,392.0,413.1,14.3,707,14752,0.00,2.53,0.00,0.000,6,0.000,0.057,2982,2150,1236
$GC,15074,1.30,392.0,369.2,13.2,723,15079,0.00,2.60,0.00,0.000,4,0.000,0.069,2982,750,1236
$GC,15114,1.30,392.0,364.0,12.5,725,15119,0.00,2.55,0.00,0.000,6,0.000,0.056,2982,2159,1236
$GC,15442,1.30,392.0,327.9,11.0,741,15446,0.00,2.58,0.00,0.000,4,0.000,0.069,2982,757,1236
$GC,15458,1.30,392.0,325.9,11.4,742,15463,0.00,2.53,0.00,0.000,6,0.000,0.055,2982,2155,1236
$GC,15785,1.30,392.0,283.1,13.9,758,15790,0.00,2.58,0.00,0.000,4,0.000,0.068,2982,757,1237
$GC,15803,1.30,392.0,280.6,13.9,759,15807,0.00,2.53,0.00,0.000,6,0.000,0.055,2982,2151,1237
$GC,16129,1.35,392.0,237.2,12.9,775,16134,0.00,2.58,0.00,0.000,4,0.000,0.067,2983,757,1237
$GC,16147,1.35,392.0,234.8,13.1,776,16152,0.00,2.50,0.00,0.000,6,0.000,0.055,2982,2152,1237
$GC,16475,1.39,392.0,189.3,14.3,792,16479,0.00,2.58,0.00,0.000,4,0.000,0.068,2982,754,1238
$GC,16496,1.43,392.0,185.9,14.1,793,16501,0.12,2.53,0.00,0.000,6,0.050,0.054,3021,2151,1238
$GC,16818,1.39,392.0,134.4,15.9,809,16819,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2151,1238
$GC,17127,1.34,392.0,84.7,15.5,824,17132,0.15,2.58,0.00,0.000,4,0.085,0.066,2987,756,1238
$GC,17145,1.34,392.0,81.9,15.5,825,17150,0.00,2.53,0.00,0.000,6,0.000,0.054,2988,2155,1238
$GC,17473,1.38,392.0,40.4,12.5,841,17474,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2155,1238
$GC,17781,1.38,392.0,3.4,11.3,856,17785,0.00,2.58,0.00,0.000,4,0.000,0.066,2988,756,1239
$GC,17791,1.38,392.0,2.4,10.6,856,17797,0.00,2.47,0.00,0.000,6,0.000,0.051,2988,2155,1239
$STATE,17816,end climb,SURFACE_DEPTH_REACHED
$STATE,17816,begin surface coast
$FINISH,0.1,1.027122
$STATE,17838,end surface coast,CONTROL_FINISHED_OK
$STATE,17838,begin surface
$SM_CCo,17920,0.00,0.000,0,0,1238,391.25
$SM_GC,0.82,11.12,0.00,0.00,0.038,0.000,0.000,421,2174,1238,-10.39,0.68,391.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1675
$TCM_TEMP,16.30
$XPDR_PINGS,607
$ALTIM_TOP_PING,17.5,999.0
$ALTIM_BOTTOM_PING,851.4,82.2
$24V_AH,23.7,7.919
$10V_AH,10.0,2.665
$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,25.400,181.200,469.150,0.000,0.000,37.763,29.381,173.651,159.500,0.000,0.000,35.314,1610.587,13501.522,607.754,2028.953,544.049,33.346,1656.749,0.000,1958.279,0.000,52.469
$DEVICE_MAMPS,136.526,95.875,1487.213,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,588.554,635.400,443.879,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44317,859
$CAP_FILE_SIZE,140256,0
$CFSIZE,254472192,250908672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,100608,031755,6139.742,-928.362,63,1.6,63,-9.5