version: 66.03
glider: 5
mission: 3
dive: 31
start: 6 11 108 22 18 44
data:
$ID,5
$MISSION,3
$DIVE,31
$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,-77245.641
$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
$GPS1,220856,6150.714,-914.114,48,1.1,48,-9.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-60.0
$GPS2,221750,6150.762,-913.863,9,1.7,14,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.194,-0.107
$KALMAN_X,-39405.6,242.4,6024.1,-17747.2,3990.2
$KALMAN_Y,-5752.2,184.9,-773.5,54259.5,20698.5
$MHEAD_RNG_PITCHd_Wd,250.7,18253,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.97,-146.6,0.0,0.0,0,100,0.00,0.00,-71.60,0.000,6,0.000,0.000,418,2160,3429
$GC,104,-0.97,-146.6,5.5,-6.2,4,120,10.70,2.55,0.00,0.000,4,0.139,0.062,2483,3565,3431
$GC,311,-0.74,-146.6,39.6,-11.7,12,316,0.25,2.53,0.00,0.000,6,0.086,0.048,2536,2144,3433
$GC,629,-0.65,-146.6,65.8,-8.4,27,634,0.10,2.60,0.00,0.000,4,0.098,0.063,2556,3558,3433
$GC,696,-0.65,-146.6,72.4,-9.2,30,700,0.00,2.50,0.00,0.000,6,0.000,0.048,2556,2150,3433
$GC,1017,-0.65,-146.6,99.7,-7.9,46,1021,0.00,2.60,0.00,0.000,4,0.000,0.065,2556,3564,3433
$GC,1066,-0.65,-146.6,104.0,-8.1,48,1071,0.00,2.53,0.00,0.000,6,0.000,0.049,2555,2145,3433
$GC,1382,-0.65,-146.6,129.4,-8.2,63,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2126,3433
$GC,1691,-0.65,-146.6,154.9,-8.5,78,1696,0.00,2.60,0.00,0.000,4,0.000,0.067,2555,3558,3433
$GC,1747,-0.65,-146.6,160.1,-9.1,80,1754,0.00,2.50,0.00,0.000,6,0.000,0.049,2556,2147,3433
$GC,2063,-0.65,-146.6,187.5,-8.8,96,2067,0.00,2.60,0.00,0.000,4,0.000,0.067,2556,3564,3433
$GC,2107,-0.65,-146.6,191.8,-9.6,98,2111,0.00,2.53,0.00,0.000,6,0.000,0.049,2556,2145,3433
$GC,2428,-0.65,-146.6,221.4,-9.2,114,2432,0.00,2.60,0.00,0.000,4,0.000,0.067,2556,3561,3433
$GC,2472,-0.65,-146.6,225.7,-9.6,116,2476,0.00,2.53,0.00,0.000,6,0.000,0.050,2556,2144,3433
$GC,2793,-0.65,-146.6,253.8,-8.3,132,2797,0.00,2.62,0.00,0.000,4,0.000,0.069,2556,3564,3433
$GC,2848,-0.65,-146.6,258.7,-8.8,134,2854,0.00,2.53,0.00,0.000,6,0.000,0.051,2556,2147,3433
$GC,3163,-0.65,-146.6,284.6,-7.9,150,3168,0.00,2.60,0.00,0.000,4,0.000,0.068,2556,3558,3433
$GC,3191,-0.65,-146.6,286.9,-8.1,151,3195,0.00,2.53,0.00,0.000,6,0.000,0.052,2556,2146,3433
$GC,3507,-0.65,-146.6,309.6,-6.8,166,3511,0.00,2.60,0.00,0.000,4,0.000,0.068,2556,3558,3433
$GC,3524,-0.65,-146.6,310.9,-7.0,167,3528,0.00,2.53,0.00,0.000,6,0.000,0.053,2556,2152,3432
$GC,3850,-0.65,-146.6,332.4,-6.7,183,3855,0.00,2.58,0.00,0.000,4,0.000,0.069,2556,3557,3433
$GC,3906,-0.65,-146.6,336.3,-7.1,185,3912,0.00,2.53,0.00,0.000,6,0.000,0.051,2556,2143,3432
$GC,4222,-0.65,-146.6,355.6,-6.2,201,4226,0.00,2.60,0.00,0.000,4,0.000,0.068,2556,3564,3432
$GC,4249,-0.65,-146.6,357.4,-6.4,202,4253,0.00,2.53,0.00,0.000,6,0.000,0.051,2556,2149,3432
$GC,4565,-0.65,-146.6,377.4,-6.4,217,4569,0.00,2.60,0.00,0.000,4,0.000,0.070,2556,3561,3432
$GC,4598,-0.65,-146.6,379.7,-7.2,218,4604,0.00,2.53,0.00,0.000,6,0.000,0.052,2556,2148,3432
$GC,4913,-0.65,-146.6,399.9,-6.4,234,4918,0.00,2.60,0.00,0.000,4,0.000,0.070,2556,3562,3431
$GC,4946,-0.65,-146.6,402.2,-6.8,235,4950,0.00,2.53,0.00,0.000,6,0.000,0.053,2556,2150,3432
$GC,5262,-0.65,-146.6,423.5,-6.9,250,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2133,3432
$GC,5571,-0.65,-146.6,444.3,-6.3,265,5575,0.00,2.62,0.00,0.000,4,0.000,0.070,2556,3565,3431
$GC,5650,-0.65,-146.6,449.5,-6.2,268,5657,0.00,2.55,0.00,0.000,6,0.000,0.053,2556,2139,3431
$GC,5966,-0.65,-146.6,468.7,-6.0,284,5970,0.00,2.62,0.00,0.000,4,0.000,0.069,2556,3559,3430
$GC,6006,-0.65,-146.6,471.1,-6.2,286,6010,0.00,2.53,0.00,0.000,6,0.000,0.053,2556,2142,3431
$GC,6332,-0.65,-146.6,492.1,-6.9,302,6337,0.00,2.60,0.00,0.000,4,0.000,0.071,2556,3557,3430
$GC,6417,-0.65,-146.6,498.9,-8.4,306,6421,0.00,2.53,0.00,0.000,6,0.000,0.053,2556,2145,3430
$GC,6744,-0.65,-146.6,525.2,-7.7,322,6749,0.00,2.62,0.00,0.000,4,0.000,0.072,2556,3565,3430
$GC,6766,-0.65,-146.6,526.9,-6.9,323,6771,0.00,2.55,0.00,0.000,6,0.000,0.054,2556,2142,3430
$GC,7087,-0.65,-146.6,546.9,-6.6,339,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2125,3430
$GC,7397,-0.65,-146.6,559.9,-3.4,354,7402,0.00,2.62,0.00,0.000,4,0.000,0.074,2556,3556,3430
$GC,7511,-0.65,-146.6,564.0,-3.4,359,7515,0.00,2.53,0.00,0.000,6,0.000,0.055,2556,2151,3430
$GC,7833,-0.65,-146.6,577.0,-4.9,375,7838,0.00,2.62,0.00,0.000,4,0.000,0.077,2556,3556,3430
$GC,7928,-0.65,-146.6,581.9,-5.1,379,7933,0.00,2.55,0.00,0.000,6,0.000,0.059,2556,2148,3430
$GC,8244,-0.65,-146.6,597.6,-5.6,394,8249,0.00,2.65,0.00,0.000,4,0.000,0.080,2556,3564,3430
$GC,8294,-0.65,-146.6,601.4,-7.4,396,8299,0.00,2.58,0.00,0.000,6,0.000,0.063,2556,2145,3430
$GC,8611,-0.74,-146.6,620.1,-4.0,411,8616,0.00,2.60,0.00,0.000,4,0.000,0.084,2556,743,3429
$GC,8631,-0.79,-146.6,620.6,-3.8,412,8636,0.12,2.60,0.00,0.000,6,0.058,0.071,2521,2146,3429
$STATE,8955,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8955,begin apogee
$GC,8962,-0.33,0.0,640.4,5.8,428,9089,0.47,0.00,124.18,1.292,6,0.066,0.000,2626,2147,2832
$STATE,9090,end apogee,CONTROL_FINISHED_OK
$STATE,9090,begin climb
$GC,9093,0.97,146.6,640.0,0.0,434,9224,1.30,2.75,122.60,1.255,4,0.066,0.085,2908,3563,2234
$GC,9459,0.93,186.2,618.7,4.9,450,9499,0.00,2.65,34.25,1.217,6,0.000,0.068,2908,2144,2072
$GC,9818,0.86,186.2,595.2,9.1,468,9822,0.00,2.65,0.00,0.000,4,0.000,0.089,2908,746,2071
$GC,9885,0.90,255.1,592.0,4.1,471,9949,0.00,2.67,58.10,1.256,6,0.000,0.077,2908,2157,1790
$GC,10275,0.96,296.7,566.9,4.9,490,10317,0.00,2.80,35.47,1.252,4,0.000,0.088,2908,743,1622
$GC,10364,1.14,460.0,565.8,1.5,494,10508,0.15,2.67,136.10,1.251,6,0.057,0.075,2948,2149,956
$GC,10816,1.14,460.0,540.2,6.2,516,10821,0.00,2.67,0.00,0.000,4,0.000,0.087,2948,3560,956
$GC,10844,1.14,460.0,538.1,7.4,517,10848,0.00,2.65,0.00,0.000,6,0.000,0.071,2948,2151,957
$GC,11160,1.14,460.0,515.0,6.7,532,11164,0.00,2.62,0.00,0.000,4,0.000,0.082,2948,740,956
$GC,11237,1.14,460.0,509.6,7.9,535,11244,0.00,2.62,0.00,0.000,6,0.000,0.070,2948,2150,956
$GC,11553,1.14,460.0,482.9,9.2,551,11558,0.00,2.65,0.00,0.000,4,0.000,0.077,2948,740,956
$GC,11604,1.14,460.0,477.9,10.4,553,11608,0.00,2.62,0.00,0.000,6,0.000,0.065,2948,2155,956
$GC,11919,1.14,460.0,448.4,9.5,568,11924,0.00,2.65,0.00,0.000,4,0.000,0.074,2948,739,956
$GC,11964,1.14,460.0,443.7,10.6,570,11968,0.00,2.60,0.00,0.000,6,0.000,0.062,2948,2150,956
$GC,12285,1.14,460.0,412.4,9.8,586,12289,0.00,2.65,0.00,0.000,4,0.000,0.071,2948,736,957
$GC,12334,1.14,460.0,407.1,10.4,588,12339,0.00,2.60,0.00,0.000,6,0.000,0.060,2948,2156,957
$GC,12650,1.14,460.0,376.9,9.4,603,12654,0.00,2.62,0.00,0.000,4,0.000,0.071,2948,739,958
$GC,12695,1.14,460.0,372.5,9.7,605,12700,0.00,2.58,0.00,0.000,6,0.000,0.058,2948,2151,958
$GC,13017,1.14,460.0,343.4,8.9,621,13021,0.00,2.62,0.00,0.000,4,0.000,0.070,2948,738,958
$GC,13072,1.14,460.0,338.2,9.8,623,13078,0.00,2.58,0.00,0.000,6,0.000,0.058,2948,2155,959
$GC,13388,1.14,460.0,310.8,8.5,639,13392,0.00,2.60,0.00,0.000,4,0.000,0.068,2948,736,959
$GC,13432,1.14,460.0,306.7,9.4,641,13436,0.00,2.58,0.00,0.000,6,0.000,0.056,2948,2156,959
$GC,13753,1.14,460.0,279.0,8.7,657,13757,0.00,2.60,0.00,0.000,4,0.000,0.068,2948,738,960
$GC,13808,1.14,460.0,273.7,9.4,659,13814,0.00,2.55,0.00,0.000,6,0.000,0.056,2948,2150,960
$GC,14124,1.14,460.0,247.2,8.2,675,14128,0.00,2.60,0.00,0.000,4,0.000,0.067,2948,737,960
$GC,14167,1.14,460.0,243.3,8.7,677,14172,0.00,2.55,0.00,0.000,6,0.000,0.055,2948,2150,960
$GC,14489,1.18,460.0,216.6,8.6,693,14493,0.00,2.60,0.00,0.000,4,0.000,0.067,2948,739,960
$GC,14539,1.18,460.0,211.9,9.1,695,14543,0.00,2.55,0.00,0.000,6,0.000,0.055,2948,2150,961
$GC,14855,1.22,460.0,184.8,8.7,710,14859,0.00,2.58,0.00,0.000,4,0.000,0.067,2948,738,961
$GC,14905,1.26,460.0,180.2,9.2,712,14910,0.12,2.55,0.00,0.000,6,0.051,0.055,2990,2150,961
$GC,15223,1.14,460.0,139.2,13.7,727,15228,0.17,2.58,0.00,0.000,4,0.076,0.066,2948,737,961
$GC,15273,1.19,460.0,133.2,10.2,729,15277,0.00,2.55,0.00,0.000,6,0.000,0.054,2948,2152,962
$GC,15591,1.25,460.0,102.2,10.1,744,15596,0.10,2.60,0.00,0.000,4,0.056,0.065,2983,738,962
$GC,15655,1.17,460.0,94.4,12.2,747,15660,0.15,2.55,0.00,0.000,6,0.079,0.054,2951,2152,962
$GC,15984,1.22,460.0,62.7,9.2,763,15988,0.00,2.60,0.00,0.000,4,0.000,0.066,2951,737,962
$GC,16028,1.27,460.0,58.1,10.3,765,16033,0.10,2.55,0.00,0.000,6,0.057,0.054,2984,2155,962
$GC,16350,1.20,460.0,22.7,11.0,781,16355,0.12,2.60,0.00,0.000,4,0.081,0.064,2959,737,963
$GC,16384,1.24,460.0,19.4,7.7,782,16390,0.00,2.53,0.00,0.000,6,0.000,0.053,2959,2149,962
$STATE,16614,end climb,SURFACE_DEPTH_REACHED
$STATE,16614,begin surface coast
$FINISH,0.2,1.012255
$STATE,16638,end surface coast,CONTROL_FINISHED_OK
$STATE,16638,begin surface
$SM_CCo,16719,0.00,0.000,0,0,962,458.71
$SM_GC,0.91,10.93,0.00,0.00,0.035,0.000,0.000,423,2148,962,-10.38,-0.08,458.71
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1684
$TCM_TEMP,17.40
$XPDR_PINGS,560
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,576.0,73.9
$24V_AH,23.8,9.853
$10V_AH,10.0,3.456
$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,24.800,207.150,510.700,0.000,0.000,75.521,55.518,212.701,145.000,0.000,0.000,14.771,1531.611,12504.610,610.501,1942.647,662.256,33.354,1653.729,0.000,1897.412,0.000,34.701
$DEVICE_MAMPS,138.827,88.972,1292.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,544.535,589.096,474.666,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41142,795
$CAP_FILE_SIZE,139639,0
$CFSIZE,254472192,250290176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,120608,025901,6152.975,-914.217,62,1.5,62,-9.5