version: 66.03
glider: 5
mission: 3
dive: 30
start: 6 11 108 17 2 39
data:
$ID,5
$MISSION,3
$DIVE,30
$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,550
$T_MISSION,580
$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,-77230.242
$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,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
$GPS1,165502,6148.768,-919.711,39,1.6,39,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-58.3
$GPS2,170145,6148.840,-919.544,16,1.3,16,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.032,-0.219
$KALMAN_X,-39035.3,1364.5,488.0,-18756.1,3450.3
$KALMAN_Y,-16933.4,55.2,-55.4,61255.4,14046.2
$MHEAD_RNG_PITCHd_Wd,181.2,16346,-11.0,-6.000
$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,24,-0.97,-146.6,0.0,0.0,0,105,0.00,0.00,-77.28,0.000,6,0.000,0.000,424,2170,3430
$GC,109,-0.97,-146.6,5.4,-7.0,4,125,10.70,2.55,0.00,0.000,4,0.140,0.064,2482,3562,3432
$GC,378,-0.72,-146.6,49.9,-11.4,15,383,0.28,2.53,0.00,0.000,6,0.086,0.047,2541,2139,3433
$GC,700,-0.66,-146.6,81.6,-10.1,31,704,0.00,2.60,0.00,0.000,4,0.000,0.064,2541,3557,3434
$GC,718,-0.61,-146.6,83.3,-9.9,32,723,0.12,2.50,0.00,0.000,6,0.090,0.048,2567,2152,3434
$GC,1045,-0.61,-146.6,111.6,-8.7,48,1049,0.00,2.58,0.00,0.000,4,0.000,0.063,2567,3556,3434
$GC,1112,-0.61,-146.6,118.1,-9.5,51,1116,0.00,2.50,0.00,0.000,6,0.000,0.047,2568,2146,3434
$GC,1433,-0.61,-146.6,144.9,-8.1,67,1437,0.00,2.60,0.00,0.000,4,0.000,0.065,2567,3558,3434
$GC,1450,-0.61,-146.6,146.3,-7.7,68,1454,0.00,2.50,0.00,0.000,6,0.000,0.050,2567,2152,3434
$GC,1776,-0.61,-146.6,170.9,-7.4,84,1781,0.00,2.58,0.00,0.000,4,0.000,0.065,2567,3557,3434
$GC,1789,-0.61,-146.6,171.8,-7.4,84,1794,0.00,2.50,0.00,0.000,6,0.000,0.049,2567,2150,3434
$GC,2104,-0.61,-146.6,195.8,-7.9,100,2108,0.00,2.60,0.00,0.000,4,0.000,0.066,2568,3561,3434
$GC,2148,-0.61,-146.6,199.5,-8.6,102,2152,0.00,2.50,0.00,0.000,6,0.000,0.048,2567,2145,3434
$GC,2469,-0.61,-146.6,224.5,-8.1,118,2473,0.00,2.60,0.00,0.000,4,0.000,0.067,2567,3557,3434
$GC,2514,-0.65,-146.6,228.4,-8.5,120,2518,0.00,2.50,0.00,0.000,6,0.000,0.050,2567,2149,3434
$GC,2841,-0.65,-146.6,254.6,-8.0,136,2845,0.00,2.58,0.00,0.000,4,0.000,0.067,2567,3557,3434
$GC,2868,-0.65,-146.6,256.9,-8.0,137,2872,0.00,2.50,0.00,0.000,6,0.000,0.050,2567,2150,3433
$GC,3183,-0.65,-146.6,283.0,-8.6,152,3188,0.00,2.58,0.00,0.000,4,0.000,0.067,2568,3556,3433
$GC,3234,-0.69,-146.6,287.7,-9.5,154,3238,0.00,2.50,0.00,0.000,6,0.000,0.050,2567,2150,3434
$GC,3550,-0.69,-146.6,314.2,-7.9,169,3554,0.00,2.60,0.00,0.000,4,0.000,0.068,2567,3564,3433
$GC,3577,-0.74,-146.6,316.6,-8.6,170,3582,0.12,2.53,0.00,0.000,6,0.052,0.052,2530,2150,3433
$GC,3893,-0.67,-146.6,345.2,-8.7,185,3898,0.12,2.58,0.00,0.000,4,0.091,0.068,2555,3556,3433
$GC,3915,-0.67,-146.6,347.0,-7.9,186,3919,0.00,2.53,0.00,0.000,6,0.000,0.052,2555,2145,3433
$GC,4235,-0.67,-146.6,371.6,-7.9,202,4240,0.00,2.60,0.00,0.000,4,0.000,0.069,2555,3560,3432
$GC,4257,-0.67,-146.6,373.5,-7.9,203,4262,0.00,2.50,0.00,0.000,6,0.000,0.052,2555,2150,3432
$GC,4579,-0.67,-146.6,399.8,-8.2,219,4583,0.00,2.60,0.00,0.000,4,0.000,0.069,2555,3562,3432
$GC,4589,-0.67,-146.6,400.7,-8.1,219,4593,0.00,2.53,0.00,0.000,6,0.000,0.054,2555,2151,3432
$GC,4905,-0.67,-146.6,425.5,-7.3,234,4910,0.00,2.60,0.00,0.000,4,0.000,0.070,2555,3563,3432
$GC,4916,-0.67,-146.6,426.4,-7.1,234,4922,0.00,2.53,0.00,0.000,6,0.000,0.054,2555,2151,3432
$GC,5232,-0.67,-146.6,448.0,-6.7,250,5236,0.00,2.60,0.00,0.000,4,0.000,0.070,2555,3558,3432
$GC,5244,-0.67,-146.6,448.7,-6.4,250,5250,0.00,2.53,0.00,0.000,6,0.000,0.054,2555,2150,3431
$GC,5560,-0.67,-146.6,471.5,-7.4,266,5564,0.00,2.60,0.00,0.000,4,0.000,0.071,2555,3561,3431
$GC,5615,-0.67,-146.6,476.3,-8.7,268,5621,0.00,2.53,0.00,0.000,6,0.000,0.053,2555,2150,3431
$GC,5931,-0.67,-146.6,501.3,-7.5,284,5936,0.00,2.60,0.00,0.000,4,0.000,0.070,2555,3556,3431
$GC,5982,-0.67,-146.6,505.8,-7.9,286,5986,0.00,2.50,0.00,0.000,6,0.000,0.052,2555,2146,3430
$GC,6298,-0.67,-146.6,526.8,-6.2,301,6302,0.00,2.60,0.00,0.000,4,0.000,0.071,2555,3557,3430
$GC,6353,-0.67,-146.6,530.3,-6.1,303,6359,0.00,2.53,0.00,0.000,6,0.000,0.053,2555,2147,3430
$GC,6669,-0.67,-146.6,548.5,-6.0,319,6673,0.00,2.60,0.00,0.000,4,0.000,0.071,2556,3557,3430
$GC,6709,-0.67,-146.6,551.2,-7.1,321,6713,0.00,2.53,0.00,0.000,6,0.000,0.054,2555,2144,3430
$GC,7035,-0.67,-146.6,572.0,-6.7,337,7039,0.00,2.62,0.00,0.000,4,0.000,0.071,2555,3561,3430
$GC,7090,-0.67,-146.6,576.3,-8.3,339,7096,0.00,2.53,0.00,0.000,6,0.000,0.054,2555,2150,3430
$GC,7406,-0.67,-146.6,594.7,-5.1,355,7410,0.00,2.62,0.00,0.000,4,0.000,0.071,2555,3563,3430
$GC,7479,-0.72,-146.6,598.8,-5.2,358,7483,0.00,2.55,0.00,0.000,6,0.000,0.054,2555,2139,3430
$GC,7795,-0.76,-146.6,608.7,-1.4,373,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2121,3430
$GC,8105,-0.82,-146.6,624.6,-2.9,388,8110,0.15,2.62,0.00,0.000,4,0.049,0.071,2513,3557,3430
$GC,8168,-0.71,-146.6,627.2,-5.0,391,8173,0.15,2.53,0.00,0.000,6,0.095,0.058,2543,2146,3430
$GC,8495,-0.71,-146.6,655.9,-6.7,407,8499,0.00,2.65,0.00,0.000,4,0.000,0.076,2543,3561,3430
$GC,8581,-0.66,-146.6,659.7,-1.9,411,8585,0.00,2.55,0.00,0.000,6,0.000,0.058,2543,2145,3430
$GC,8907,-0.66,-146.6,681.6,-12.9,427,8911,0.00,2.67,0.00,0.000,4,0.000,0.083,2543,3552,3430
$GC,8924,-0.72,-146.6,684.2,-15.3,428,8929,0.00,2.55,0.00,0.000,6,0.000,0.061,2543,2148,3430
$STATE,9022,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9022,begin apogee
$GC,9028,-0.33,0.0,693.4,10.4,433,9156,0.40,0.00,124.88,1.305,6,0.088,0.000,2625,2136,2832
$STATE,9157,end apogee,CONTROL_FINISHED_OK
$STATE,9157,begin climb
$GC,9160,0.97,146.6,700.2,0.0,439,9291,1.30,2.70,123.30,1.273,4,0.062,0.085,2913,749,2234
$GC,9546,0.74,146.6,665.4,17.8,456,9553,0.25,2.62,0.00,0.000,6,0.077,0.071,2862,2146,2233
$GC,9863,1.05,301.2,652.6,1.8,472,9999,0.28,2.72,129.05,1.279,4,0.049,0.084,2935,3556,1604
$GC,10079,1.05,301.2,644.0,8.9,482,10084,0.00,2.65,0.00,0.000,6,0.000,0.071,2935,2155,1604
$GC,10400,1.05,301.2,612.2,10.6,498,10405,0.00,2.70,0.00,0.000,4,0.000,0.084,2935,3556,1603
$GC,10441,1.01,301.2,607.3,13.0,500,10445,0.00,2.62,0.00,0.000,6,0.000,0.066,2935,2144,1603
$GC,10768,0.94,301.2,560.4,14.0,516,10770,0.15,0.00,0.00,0.000,6,0.091,0.000,2904,2122,1602
$GC,11077,0.98,301.2,529.5,8.5,531,11081,0.00,2.60,0.00,0.000,4,0.000,0.077,2904,741,1601
$GC,11117,1.03,301.2,526.0,8.9,533,11121,0.00,2.60,0.00,0.000,6,0.000,0.065,2904,2151,1601
$GC,11444,1.08,301.2,499.6,8.0,549,11449,0.12,2.60,0.00,0.000,4,0.056,0.074,2941,3558,1601
$GC,11488,1.04,301.2,495.0,10.6,551,11493,0.00,2.58,0.00,0.000,6,0.000,0.058,2941,2147,1601
$GC,11810,0.98,301.2,461.5,10.7,567,11815,0.15,2.58,0.00,0.000,4,0.084,0.071,2908,741,1601
$GC,11860,1.02,301.2,456.4,10.1,569,11865,0.00,2.58,0.00,0.000,6,0.000,0.061,2908,2152,1601
$GC,12176,1.02,301.2,429.9,7.8,584,12177,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2152,1601
$GC,12485,1.07,301.2,407.2,6.8,599,12490,0.10,2.60,0.00,0.000,4,0.058,0.069,2942,742,1602
$GC,12526,1.00,301.2,404.0,9.0,601,12531,0.12,2.55,0.00,0.000,6,0.084,0.058,2914,2150,1602
$GC,12853,1.00,301.2,382.4,6.5,617,12854,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2149,1603
$GC,13162,1.00,301.2,362.5,6.4,632,13167,0.00,2.60,0.00,0.000,4,0.000,0.067,2914,739,1603
$GC,13213,1.04,301.2,358.9,7.2,634,13218,0.00,2.58,0.00,0.000,6,0.000,0.057,2914,2161,1603
$GC,13529,1.04,301.2,338.9,6.6,649,13530,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2161,1604
$GC,13838,1.04,301.2,317.2,6.9,664,13842,0.00,2.60,0.00,0.000,4,0.000,0.067,2914,743,1604
$GC,13888,1.08,301.2,313.2,7.9,666,13892,0.00,2.53,0.00,0.000,6,0.000,0.056,2914,2147,1604
$GC,14204,1.08,301.2,289.3,7.5,681,14205,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2147,1605
$GC,14513,1.08,301.2,267.8,6.4,696,14518,0.00,2.60,0.00,0.000,4,0.000,0.067,2914,738,1605
$GC,14554,1.12,301.2,265.0,7.1,698,14559,0.12,2.55,0.00,0.000,6,0.051,0.055,2955,2155,1605
$GC,14881,1.02,301.2,237.0,8.7,714,14886,0.15,2.53,0.00,0.000,4,0.078,0.066,2918,3556,1605
$GC,14931,1.07,301.2,233.2,7.2,716,14935,0.00,2.53,0.00,0.000,6,0.000,0.051,2918,2147,1606
$GC,15247,1.07,301.2,212.7,6.4,731,15251,0.00,2.53,0.00,0.000,4,0.000,0.067,2918,744,1606
$GC,15309,1.07,301.2,208.2,7.5,734,15313,0.00,2.55,0.00,0.000,6,0.000,0.055,2919,2155,1606
$GC,15635,1.07,301.2,185.7,7.3,750,15636,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2155,1606
$GC,15945,1.11,301.3,165.3,6.0,765,15950,0.10,2.60,0.00,0.000,4,0.055,0.066,2953,739,1606
$GC,15985,1.03,301.3,162.2,8.1,767,15990,0.15,2.55,0.00,0.000,6,0.081,0.055,2921,2160,1607
$GC,16312,1.03,301.3,139.5,7.3,783,16314,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2158,1607
$GC,16623,1.03,301.3,116.7,7.1,798,16627,0.00,2.60,0.00,0.000,4,0.000,0.066,2920,743,1607
$GC,16679,1.08,301.3,112.0,8.0,800,16686,0.00,2.53,0.00,0.000,6,0.000,0.054,2920,2151,1608
$GC,16995,1.08,301.3,90.0,7.1,816,16999,0.00,2.53,0.00,0.000,4,0.000,0.065,2920,3557,1608
$GC,17035,1.13,301.3,86.8,7.4,818,17040,0.10,2.53,0.00,0.000,6,0.056,0.051,2955,2148,1608
$GC,17363,1.06,301.3,61.9,7.3,834,17368,0.12,2.53,0.00,0.000,4,0.081,0.066,2929,744,1608
$GC,17425,1.06,301.3,57.5,6.7,837,17430,0.00,2.53,0.00,0.000,6,0.000,0.054,2929,2150,1608
$GC,17753,1.06,301.3,35.7,6.9,853,17757,0.00,2.53,0.00,0.000,4,0.000,0.065,2929,3557,1608
$GC,17797,1.11,301.3,32.3,7.4,855,17802,0.00,2.53,0.00,0.000,6,0.000,0.050,2929,2142,1608
$GC,18120,1.16,301.3,9.1,7.8,871,18124,0.10,2.53,0.00,0.000,4,0.053,0.064,2965,738,1608
$STATE,18195,end climb,SURFACE_DEPTH_REACHED
$STATE,18195,begin surface coast
$FINISH,0.5,1.027104
$STATE,18207,end surface coast,CONTROL_FINISHED_OK
$STATE,18207,begin surface
$SM_CCo,18293,0.00,0.000,0,0,1607,300.49
$SM_GC,0.93,11.02,0.00,0.00,0.038,0.000,0.000,418,2173,1607,-10.40,0.65,300.49
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1667
$TCM_TEMP,19.30
$XPDR_PINGS,647
$ALTIM_TOP_PING,18.6,17.9
$ALTIM_BOTTOM_PING,675.5,26.9
$24V_AH,23.8,9.636
$10V_AH,10.0,3.374
$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,26.400,215.650,377.225,0.000,0.000,37.762,45.941,181.361,168.000,0.000,0.000,16.775,1677.767,13837.092,536.042,2039.690,598.187,33.387,1591.849,0.000,1989.255,0.000,43.912
$DEVICE_MAMPS,140.361,85.137,1305.434,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,600.005,646.740,534.990,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44216,875
$CAP_FILE_SIZE,150110,0
$CFSIZE,254472192,250355712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,110608,220856,6150.714,-914.114,48,1.1,48,-9.5