version: 66.03
glider: 5
mission: 3
dive: 23
start: 6 10 108 3 27 47
data:
$ID,5
$MISSION,3
$DIVE,23
$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,-77126.961
$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,34
$R_STBD_OVSHOOT,23
$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
$GPS1,031755,6139.742,-928.362,63,1.6,63,-9.5
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-56.2
$GPS2,032657,6139.620,-928.414,11,1.9,11,-9.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.220,0.108
$KALMAN_X,-48890.7,2340.7,1588.8,-18906.4,-13282.8
$KALMAN_Y,-36728.4,428.3,991.9,62548.6,-11551.8
$MHEAD_RNG_PITCHd_Wd,73.4,15510,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.22,-146.6,0.0,0.0,0,106,0.00,0.00,-81.12,0.000,2,0.000,0.000,421,2159,3284
$GC,110,-1.22,-146.6,3.9,-5.0,4,132,10.38,2.58,-3.33,0.000,4,0.137,0.073,2427,759,3432
$GC,383,-1.03,-146.6,54.3,-17.4,16,388,0.22,2.50,0.00,0.000,6,0.095,0.051,2473,2152,3432
$GC,712,-0.93,-146.6,103.6,-15.8,32,713,0.10,0.00,0.00,0.000,6,0.100,0.000,2493,2151,3433
$GC,1019,-0.93,-146.6,154.6,-16.5,47,1023,0.00,2.55,0.00,0.000,4,0.000,0.065,2493,3563,3433
$GC,1068,-0.93,-146.6,163.3,-17.8,49,1073,0.00,2.50,0.00,0.000,6,0.000,0.050,2493,2161,3433
$GC,1384,-0.93,-146.6,213.9,-15.1,64,1388,0.00,2.55,0.00,0.000,4,0.000,0.064,2493,743,3433
$GC,1424,-0.93,-146.6,219.9,-15.5,66,1428,0.00,2.53,0.00,0.000,6,0.000,0.054,2493,2149,3433
$GC,1750,-0.93,-146.6,266.4,-13.6,82,1754,0.00,2.55,0.00,0.000,4,0.000,0.067,2493,3555,3433
$GC,1782,-0.93,-146.6,271.4,-14.7,83,1788,0.00,2.53,0.00,0.000,6,0.000,0.051,2493,2146,3433
$GC,2098,-0.93,-146.6,314.1,-13.5,99,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2128,3433
$GC,2407,-0.93,-146.6,362.7,-16.4,114,2412,0.00,2.62,0.00,0.000,4,0.000,0.068,2493,3563,3433
$GC,2448,-0.93,-146.6,369.5,-16.7,116,2452,0.00,2.55,0.00,0.000,6,0.000,0.053,2493,2146,3433
$GC,2774,-0.93,-146.6,421.8,-15.9,132,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2127,3433
$GC,3084,-0.93,-146.6,472.4,-15.6,147,3088,0.00,2.62,0.00,0.000,4,0.000,0.070,2493,3564,3432
$GC,3123,-0.93,-146.6,478.5,-15.9,149,3127,0.00,2.55,0.00,0.000,6,0.000,0.054,2493,2143,3432
$GC,3449,-0.93,-146.6,521.9,-11.9,165,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2124,3432
$GC,3758,-0.93,-146.6,556.7,-11.4,180,3763,0.00,2.62,0.00,0.000,4,0.000,0.067,2493,3562,3432
$GC,3814,-0.93,-146.6,563.1,-11.7,182,3820,0.00,2.53,0.00,0.000,6,0.000,0.052,2493,2150,3432
$GC,4130,-0.93,-146.6,603.4,-13.6,198,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2133,3432
$GC,4439,-0.93,-146.6,646.4,-13.3,213,4443,0.00,2.62,0.00,0.000,4,0.000,0.070,2493,3565,3432
$GC,4472,-0.93,-146.6,650.7,-12.8,214,4479,0.00,2.55,0.00,0.000,6,0.000,0.054,2493,2147,3431
$GC,4788,-0.93,-146.6,691.3,-13.3,230,4792,0.00,2.53,0.00,0.000,4,0.000,0.070,2493,746,3431
$GC,4899,-0.93,-146.6,705.2,-11.9,235,4904,0.00,2.55,0.00,0.000,6,0.000,0.058,2493,2150,3431
$GC,5221,-0.93,-146.6,747.8,-13.1,251,5225,0.00,2.62,0.00,0.000,4,0.000,0.071,2493,738,3431
$GC,5405,-0.93,-146.6,774.0,-14.1,259,5410,0.00,2.58,0.00,0.000,6,0.000,0.058,2493,2160,3431
$GC,5721,-0.93,-146.6,813.1,-10.8,274,5725,0.00,2.62,0.00,0.000,4,0.000,0.074,2493,746,3431
$GC,5911,-0.99,-146.6,833.2,-10.5,282,5917,0.00,2.58,0.00,0.000,6,0.000,0.062,2493,2150,3431
$GC,6227,-0.99,-146.6,866.3,-12.8,298,6231,0.00,2.62,0.00,0.000,4,0.000,0.084,2493,3560,3431
$GC,6334,-0.99,-146.6,878.1,-12.6,303,6338,0.00,2.60,0.00,0.000,6,0.000,0.067,2493,2150,3431
$GC,6660,-0.99,-146.6,915.2,-11.8,319,6664,0.00,2.65,0.00,0.000,4,0.000,0.091,2493,743,3430
$GC,6710,-1.04,-146.6,920.8,-12.2,321,6715,0.00,2.65,0.00,0.000,6,0.000,0.077,2493,2149,3430
$STATE,6755,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6755,begin apogee
$GC,6762,-0.33,0.0,925.9,10.9,323,6892,0.62,0.00,127.47,1.496,6,0.083,0.000,2626,2151,2832
$STATE,6893,end apogee,CONTROL_FINISHED_OK
$STATE,6893,begin climb
$GC,6896,1.22,146.6,930.2,0.0,329,7032,1.60,2.78,126.12,1.466,4,0.081,0.090,2964,3551,2234
$GC,7225,1.08,146.6,898.3,15.0,344,7231,0.15,2.67,0.00,0.000,6,0.101,0.075,2936,2145,2232
$GC,7547,0.98,146.6,878.0,8.7,360,7552,0.12,2.75,0.00,0.000,4,0.104,0.091,2911,3559,2231
$GC,7648,1.13,194.0,867.6,6.3,364,7695,0.15,2.67,40.42,1.440,6,0.058,0.075,2949,2128,2041
$GC,8008,1.08,194.0,834.3,12.7,382,8012,0.00,2.78,0.00,0.000,4,0.000,0.093,2949,3564,2040
$GC,8048,1.01,194.0,828.3,14.1,384,8053,0.15,2.65,0.00,0.000,6,0.102,0.074,2920,2164,2039
$GC,8375,1.15,243.4,803.0,6.2,400,8426,0.12,2.83,42.58,1.457,4,0.063,0.093,2951,739,1839
$GC,8461,1.19,299.2,797.9,6.0,404,8516,0.00,2.70,48.35,1.438,6,0.000,0.078,2951,2151,1611
$GC,8836,1.40,426.2,783.1,3.4,422,8952,0.20,2.83,108.62,1.418,4,0.057,0.083,3004,740,1094
$GC,8977,1.26,426.2,771.7,11.8,428,8983,0.15,2.70,0.00,0.000,6,0.095,0.072,2977,2155,1094
$GC,9292,1.26,426.2,747.2,8.1,444,9297,0.00,2.70,0.00,0.000,4,0.000,0.081,2977,738,1095
$GC,9360,1.36,463.2,742.8,6.7,447,9399,0.00,2.65,33.58,1.338,6,0.000,0.067,2977,2156,942
$GC,9729,1.44,514.5,720.4,6.1,465,9780,0.15,2.75,44.78,1.327,4,0.054,0.074,3020,735,734
$GC,9838,1.44,514.5,707.5,10.7,470,9842,0.00,2.62,0.00,0.000,6,0.000,0.061,3020,2151,735
$GC,10159,1.40,514.5,667.4,12.8,486,10164,0.00,2.65,0.00,0.000,4,0.000,0.073,3020,734,736
$GC,10193,1.40,514.5,662.2,14.3,487,10199,0.00,2.62,0.00,0.000,6,0.000,0.060,3020,2160,736
$GC,10508,1.40,514.5,615.7,15.1,503,10513,0.00,2.65,0.00,0.000,4,0.000,0.072,3020,737,737
$GC,10536,1.40,514.5,609.9,21.3,504,10540,0.00,2.60,0.00,0.000,6,0.000,0.058,3020,2154,737
$GC,10851,1.40,514.5,558.0,16.9,519,10856,0.00,2.62,0.00,0.000,4,0.000,0.070,3020,737,738
$GC,10879,1.40,514.5,553.0,18.1,520,10883,0.00,2.60,0.00,0.000,6,0.000,0.058,3020,2161,738
$GC,11194,1.40,514.5,505.2,15.5,535,11199,0.00,2.62,0.00,0.000,4,0.000,0.071,3020,737,739
$GC,11234,1.40,514.5,498.5,16.8,537,11238,0.00,2.58,0.00,0.000,6,0.000,0.057,3020,2154,738
$GC,11560,1.40,514.5,446.9,16.3,553,11565,0.00,2.62,0.00,0.000,4,0.000,0.069,3020,737,739
$GC,11623,1.40,514.5,436.7,15.9,556,11628,0.00,2.58,0.00,0.000,6,0.000,0.056,3020,2161,739
$GC,11950,1.40,514.5,388.1,13.8,572,11954,0.00,2.65,0.00,0.000,4,0.000,0.068,3020,735,739
$GC,11977,1.40,514.5,383.7,15.9,573,11981,0.00,2.58,0.00,0.000,6,0.000,0.056,3020,2150,739
$GC,12292,1.40,514.5,341.5,12.7,588,12297,0.00,2.62,0.00,0.000,4,0.000,0.068,3020,737,740
$GC,12326,1.40,514.5,337.1,12.7,589,12332,0.00,2.55,0.00,0.000,6,0.000,0.055,3020,2149,740
$GC,12641,1.40,514.5,293.4,14.9,605,12645,0.00,2.62,0.00,0.000,4,0.000,0.068,3020,733,740
$GC,12668,1.40,514.5,289.0,16.7,606,12672,0.00,2.58,0.00,0.000,6,0.000,0.055,3020,2155,740
$GC,12984,1.40,514.5,239.6,15.1,621,12988,0.00,2.62,0.00,0.000,4,0.000,0.068,3020,737,740
$GC,13017,1.40,514.5,234.6,14.0,622,13023,0.00,2.58,0.00,0.000,6,0.000,0.055,3020,2159,740
$GC,13332,1.40,514.5,189.8,13.9,638,13337,0.00,2.62,0.00,0.000,4,0.000,0.068,3020,737,740
$GC,13377,1.40,514.5,184.5,11.4,640,13381,0.00,2.55,0.00,0.000,6,0.000,0.054,3020,2147,741
$GC,13698,1.40,514.5,150.5,10.1,656,13702,0.00,2.60,0.00,0.000,4,0.000,0.068,3020,736,741
$GC,13720,1.40,514.5,148.0,10.1,657,13724,0.00,2.55,0.00,0.000,6,0.000,0.054,3020,2150,741
$GC,14041,1.40,514.5,107.0,15.3,673,14046,0.00,2.62,0.00,0.000,4,0.000,0.068,3020,734,741
$GC,14059,1.40,514.5,104.3,14.4,674,14064,0.00,2.55,0.00,0.000,6,0.000,0.054,3020,2151,741
$GC,14387,1.40,514.5,57.9,14.8,690,14391,0.00,2.60,0.00,0.000,4,0.000,0.067,3020,737,741
$GC,14426,1.40,514.5,52.6,12.9,692,14431,0.00,2.55,0.00,0.000,6,0.000,0.053,3020,2151,741
$GC,14754,1.40,514.5,6.3,14.1,708,14758,0.00,2.60,0.00,0.000,4,0.000,0.064,3020,736,741
$STATE,14785,end climb,SURFACE_DEPTH_REACHED
$STATE,14785,begin surface coast
$FINISH,0.6,1.027106
$STATE,14793,end surface coast,CONTROL_FINISHED_OK
$STATE,14793,begin surface
$SM_CCo,14878,0.00,0.000,0,0,741,512.92
$SM_GC,0.76,11.27,0.00,0.00,0.038,0.000,0.000,421,2173,741,-10.39,0.20,512.92
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1663
$TCM_TEMP,17.50
$XPDR_PINGS,527
$ALTIM_TOP_PING,18.0,999.0
$ALTIM_BOTTOM_PING,852.8,81.3
$24V_AH,23.7,8.187
$10V_AH,10.0,2.740
$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,25.400,177.800,571.925,0.000,0.000,75.522,57.553,224.950,139.500,0.000,0.000,13.977,1357.718,10984.286,653.418,1772.898,647.373,33.351,1618.306,0.000,1725.403,0.000,52.462
$DEVICE_MAMPS,137.293,92.807,1495.650,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,485.954,524.415,380.231,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38113,710
$CAP_FILE_SIZE,126392,0
$CFSIZE,254472192,250867712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,100608,073701,6137.436,-924.299,40,0.9,40,-9.5