version: 66.03
glider: 5
mission: 3
dive: 32
start: 6 12 108 3 5 24
data:
$ID,5
$MISSION,3
$DIVE,32
$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,-77263.406
$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,17
$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
$GPS1,025901,6152.975,-914.217,62,1.5,62,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-56.3
$GPS2,030432,6152.993,-914.073,12,1.1,17,-9.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.089,-0.203
$KALMAN_X,-39562.1,-875.7,13704.7,-24349.3,-7018.0
$KALMAN_Y,10858.2,-1857.7,-8810.5,51919.2,39993.5
$MHEAD_RNG_PITCHd_Wd,165.8,22375,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.97,-146.6,0.0,0.0,0,128,0.00,0.00,-99.07,0.000,6,0.000,0.000,423,2148,3431
$GC,132,-0.97,-146.6,5.0,-4.8,5,148,10.65,2.58,0.00,0.000,4,0.138,0.056,2480,734,3433
$GC,352,-0.76,-146.6,41.0,-12.4,14,357,0.25,2.53,0.00,0.000,6,0.085,0.051,2533,2149,3434
$GC,679,-0.68,-146.6,71.4,-9.3,30,683,0.00,2.55,0.00,0.000,4,0.000,0.061,2533,737,3434
$GC,729,-0.62,-146.6,76.4,-9.7,32,734,0.15,2.55,0.00,0.000,6,0.088,0.052,2566,2155,3434
$GC,1045,-0.62,-146.6,102.7,-8.6,47,1050,0.00,2.60,0.00,0.000,4,0.000,0.061,2566,732,3435
$GC,1056,-0.62,-146.6,103.7,-8.5,47,1063,0.00,2.55,0.00,0.000,6,0.000,0.053,2566,2151,3435
$GC,1372,-0.62,-146.6,131.0,-8.5,63,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2152,3435
$GC,1681,-0.62,-146.6,154.4,-7.0,78,1685,0.00,2.55,0.00,0.000,4,0.000,0.067,2566,3557,3435
$GC,1691,-0.62,-146.6,155.3,-7.1,78,1697,0.00,2.53,0.00,0.000,6,0.000,0.051,2566,2143,3435
$GC,2008,-0.62,-146.6,176.0,-6.6,94,2012,0.00,2.62,0.00,0.000,4,0.000,0.067,2566,3565,3435
$GC,2018,-0.62,-146.6,176.8,-6.6,94,2024,0.00,2.53,0.00,0.000,6,0.000,0.049,2566,2147,3435
$GC,2334,-0.62,-146.6,198.2,-6.9,110,2338,0.00,2.60,0.00,0.000,4,0.000,0.067,2565,3557,3435
$GC,2396,-0.66,-146.6,202.5,-6.8,113,2400,0.00,2.50,0.00,0.000,6,0.000,0.049,2566,2150,3435
$GC,2722,-0.66,-146.6,224.4,-6.7,129,2727,0.00,2.60,0.00,0.000,4,0.000,0.067,2566,3557,3435
$GC,2763,-0.66,-146.6,227.3,-7.1,131,2767,0.00,2.53,0.00,0.000,6,0.000,0.051,2566,2143,3435
$GC,3090,-0.66,-146.6,250.7,-7.5,147,3095,0.00,2.60,0.00,0.000,4,0.000,0.067,2566,3558,3434
$GC,3112,-0.66,-146.6,252.6,-7.8,148,3116,0.00,2.50,0.00,0.000,6,0.000,0.050,2566,2151,3434
$GC,3433,-0.66,-146.6,277.1,-7.5,164,3438,0.00,2.60,0.00,0.000,4,0.000,0.068,2566,3559,3434
$GC,3474,-0.72,-146.6,280.5,-8.7,166,3479,0.10,2.53,0.00,0.000,6,0.056,0.051,2534,2145,3434
$GC,3801,-0.65,-146.6,310.0,-9.0,182,3806,0.10,2.62,0.00,0.000,4,0.096,0.069,2554,3560,3434
$GC,3819,-0.65,-146.6,311.4,-8.7,183,3823,0.00,2.53,0.00,0.000,6,0.000,0.053,2554,2151,3434
$GC,4145,-0.65,-146.6,337.0,-8.0,199,4149,0.00,2.60,0.00,0.000,4,0.000,0.069,2554,3558,3434
$GC,4166,-0.65,-146.6,339.0,-8.4,200,4171,0.00,2.53,0.00,0.000,6,0.000,0.053,2554,2151,3434
$GC,4488,-0.65,-146.6,364.0,-7.7,216,4492,0.00,2.60,0.00,0.000,4,0.000,0.070,2554,3558,3434
$GC,4509,-0.65,-146.6,365.9,-7.8,217,4514,0.00,2.53,0.00,0.000,6,0.000,0.053,2554,2149,3434
$GC,4831,-0.65,-146.6,391.8,-8.3,233,4835,0.00,2.60,0.00,0.000,4,0.000,0.070,2554,3564,3434
$GC,4847,-0.65,-146.6,393.1,-8.5,234,4852,0.00,2.53,0.00,0.000,6,0.000,0.054,2554,2150,3434
$GC,5174,-0.65,-146.6,422.6,-9.1,250,5179,0.00,2.62,0.00,0.000,4,0.000,0.071,2554,3562,3434
$GC,5219,-0.65,-146.6,426.8,-9.5,252,5223,0.00,2.55,0.00,0.000,6,0.000,0.054,2554,2142,3433
$GC,5539,-0.65,-146.6,453.9,-8.5,268,5544,0.00,2.62,0.00,0.000,4,0.000,0.069,2554,3560,3433
$GC,5562,-0.65,-146.6,455.8,-8.2,269,5566,0.00,2.53,0.00,0.000,6,0.000,0.052,2554,2150,3433
$GC,5883,-0.65,-146.6,478.9,-6.7,285,5887,0.00,2.60,0.00,0.000,4,0.000,0.071,2554,3557,3433
$GC,5939,-0.65,-146.6,482.8,-7.2,287,5945,0.00,2.53,0.00,0.000,6,0.000,0.053,2554,2150,3433
$GC,6256,-0.65,-146.6,502.4,-5.1,303,6260,0.00,2.62,0.00,0.000,4,0.000,0.071,2554,3558,3433
$GC,6363,-0.65,-146.6,508.8,-5.8,308,6367,0.00,2.53,0.00,0.000,6,0.000,0.054,2554,2142,3432
$GC,6692,-0.65,-146.6,525.7,-6.0,324,6696,0.00,2.62,0.00,0.000,4,0.000,0.074,2554,3556,3432
$GC,6702,-0.65,-146.6,526.6,-6.2,324,6708,0.00,2.55,0.00,0.000,6,0.000,0.058,2554,2147,3433
$GC,7018,-0.65,-146.6,550.3,-7.9,340,7022,0.00,2.65,0.00,0.000,4,0.000,0.076,2554,3558,3433
$GC,7106,-0.65,-146.6,557.6,-7.4,344,7111,0.00,2.55,0.00,0.000,6,0.000,0.058,2554,2150,3432
$GC,7428,-0.69,-146.6,580.2,-6.6,360,7433,0.00,2.67,0.00,0.000,4,0.000,0.082,2554,3557,3432
$STATE,7453,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7454,begin apogee
$GC,7463,-0.33,0.0,581.8,6.4,361,7593,0.32,0.00,123.55,1.223,6,0.082,0.000,2624,2128,2832
$STATE,7594,end apogee,CONTROL_FINISHED_OK
$STATE,7594,begin climb
$GC,7597,0.97,146.6,584.1,0.0,368,7728,1.33,2.72,120.95,1.187,4,0.070,0.084,2909,744,2234
$GC,7759,0.87,146.6,573.6,8.4,375,7765,0.00,2.65,0.00,0.000,6,0.000,0.069,2909,2148,2234
$GC,8075,1.01,303.0,558.8,1.7,391,8211,0.00,2.78,128.07,1.188,4,0.000,0.085,2909,3554,1596
$GC,8251,1.20,422.7,555.6,2.7,399,8357,0.22,2.65,99.43,1.158,6,0.049,0.070,2970,2152,1108
$GC,8673,1.12,422.7,521.5,8.1,420,8678,0.12,2.67,0.00,0.000,4,0.088,0.084,2945,740,1109
$GC,8740,1.12,422.7,516.1,6.8,423,8744,0.00,2.65,0.00,0.000,6,0.000,0.071,2945,2150,1109
$GC,9061,1.12,422.7,487.2,8.9,439,9065,0.00,2.67,0.00,0.000,4,0.000,0.079,2945,739,1108
$GC,9110,1.12,422.7,481.9,10.6,441,9115,0.00,2.62,0.00,0.000,6,0.000,0.066,2944,2151,1107
$GC,9426,1.12,422.7,454.6,7.7,456,9427,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2150,1107
$GC,9735,1.12,422.7,433.6,6.8,471,9740,0.00,2.65,0.00,0.000,4,0.000,0.073,2944,737,1107
$GC,9807,1.12,422.7,428.5,7.5,474,9812,0.00,2.60,0.00,0.000,6,0.000,0.060,2945,2156,1107
$GC,10123,1.12,422.7,406.1,8.1,489,10127,0.00,2.62,0.00,0.000,4,0.000,0.071,2945,743,1107
$GC,10173,1.12,422.7,401.7,8.9,491,10177,0.00,2.55,0.00,0.000,6,0.000,0.058,2945,2150,1107
$GC,10489,1.12,422.7,373.5,9.1,506,10493,0.00,2.62,0.00,0.000,4,0.000,0.070,2944,738,1108
$GC,10538,1.12,422.7,368.5,10.0,508,10542,0.00,2.58,0.00,0.000,6,0.000,0.057,2945,2153,1108
$GC,10854,1.12,422.7,340.8,8.6,523,10858,0.00,2.60,0.00,0.000,4,0.000,0.069,2944,742,1108
$GC,10903,1.12,422.7,336.3,9.7,525,10908,0.00,2.58,0.00,0.000,6,0.000,0.057,2945,2160,1108
$GC,11219,1.12,422.7,311.4,8.0,540,11223,0.00,2.62,0.00,0.000,4,0.000,0.068,2945,736,1109
$GC,11269,1.12,422.7,307.3,8.8,542,11273,0.00,2.55,0.00,0.000,6,0.000,0.055,2945,2153,1109
$GC,11584,1.12,422.7,283.2,7.8,557,11588,0.00,2.62,0.00,0.000,4,0.000,0.067,2945,738,1109
$GC,11628,1.12,422.7,279.5,8.6,559,11632,0.00,2.55,0.00,0.000,6,0.000,0.056,2944,2150,1109
$GC,11949,1.12,422.7,256.1,7.1,575,11953,0.00,2.58,0.00,0.000,4,0.000,0.067,2945,742,1110
$GC,11998,1.12,422.7,252.2,8.1,577,12003,0.00,2.55,0.00,0.000,6,0.000,0.056,2945,2150,1110
$GC,12314,1.12,422.7,230.4,6.8,592,12318,0.00,2.60,0.00,0.000,4,0.000,0.067,2944,740,1110
$GC,12358,1.12,422.7,227.0,7.5,594,12362,0.00,2.55,0.00,0.000,6,0.000,0.056,2945,2149,1110
$GC,12679,1.16,422.7,204.5,7.1,610,12683,0.00,2.60,0.00,0.000,4,0.000,0.067,2944,740,1110
$GC,12723,1.16,422.7,201.2,7.6,612,12727,0.00,2.55,0.00,0.000,6,0.000,0.055,2945,2151,1110
$GC,13043,1.16,422.7,179.6,6.9,628,13048,0.00,2.60,0.00,0.000,4,0.000,0.067,2945,736,1110
$GC,13088,1.16,422.7,176.1,7.3,630,13092,0.00,2.55,0.00,0.000,6,0.000,0.054,2945,2150,1111
$GC,13409,1.20,422.7,151.6,8.0,646,13414,0.00,2.60,0.00,0.000,4,0.000,0.067,2945,740,1111
$GC,13460,1.25,422.7,147.2,8.2,648,13465,0.12,2.55,0.00,0.000,6,0.051,0.054,2984,2154,1111
$GC,13778,1.14,422.7,113.0,11.2,663,13780,0.17,0.00,0.00,0.000,6,0.076,0.000,2948,2154,1111
$GC,14085,1.14,422.7,87.0,8.5,678,14090,0.00,2.60,0.00,0.000,4,0.000,0.066,2947,739,1111
$GC,14149,1.18,422.7,81.2,8.9,681,14153,0.00,2.55,0.00,0.000,6,0.000,0.054,2948,2155,1111
$GC,14476,1.23,422.7,53.8,8.7,697,14481,0.00,2.60,0.00,0.000,4,0.000,0.065,2948,739,1112
$GC,14527,1.27,422.7,48.4,10.6,699,14532,0.12,2.55,0.00,0.000,6,0.050,0.054,2989,2157,1112
$GC,14844,1.17,422.7,10.0,12.4,714,14849,0.15,2.60,0.00,0.000,4,0.075,0.064,2952,740,1112
$GC,14884,1.17,422.7,5.8,8.9,716,14888,0.00,2.53,0.00,0.000,6,0.000,0.054,2952,2148,1112
$STATE,14940,end climb,SURFACE_DEPTH_REACHED
$STATE,14940,begin surface coast
$FINISH,0.2,1.027108
$STATE,14962,end surface coast,CONTROL_FINISHED_OK
$STATE,14962,begin surface
$SM_CCo,15043,0.00,0.000,0,0,1110,422.41
$SM_GC,0.97,10.95,0.00,0.00,0.037,0.000,0.000,420,2167,1110,-10.40,0.51,422.41
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1675
$TCM_TEMP,17.50
$XPDR_PINGS,524
$ALTIM_TOP_PING,17.7,999.0
$ALTIM_BOTTOM_PING,525.7,65.8
$24V_AH,23.8,10.040
$10V_AH,10.0,3.531
$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,24.775,196.550,472.000,0.000,0.000,37.763,27.926,141.762,135.500,0.000,0.000,17.142,1371.340,11197.274,598.927,1706.994,497.702,33.365,1528.230,0.000,1665.263,0.000,31.417
$DEVICE_MAMPS,138.060,85.137,1222.598,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,492.624,533.581,450.563,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37938,720
$CAP_FILE_SIZE,124903,0
$CFSIZE,254472192,250249216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,120608,071725,6151.755,-908.020,42,1.2,42,-9.4