version: 66.03
glider: 5
mission: 3
dive: 33
start: 6 12 108 7 23 55
data:
$ID,5
$MISSION,3
$DIVE,33
$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,-77277.586
$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,19
$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
$GPS1,071725,6151.755,-908.020,42,1.2,42,-9.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-55.7
$GPS2,072303,6151.714,-907.916,13,1.3,13,-9.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.173,-0.138
$KALMAN_X,-28252.3,198.9,4666.6,-22243.9,8752.8
$KALMAN_Y,224.9,-1649.4,2840.3,48313.4,26882.7
$MHEAD_RNG_PITCHd_Wd,240.8,20026,-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,-146.6,0.0,0.0,0,108,0.00,0.00,-80.78,0.000,2,0.000,0.000,420,2166,3084
$GC,112,-0.97,-146.6,3.2,-3.6,4,137,10.60,2.58,-8.98,0.000,4,0.135,0.076,2480,3564,3431
$GC,358,-0.73,-146.6,36.3,-11.9,15,363,0.28,2.53,0.00,0.000,6,0.086,0.048,2539,2145,3431
$GC,686,-0.66,-146.6,67.9,-9.6,31,690,0.00,2.60,0.00,0.000,4,0.000,0.064,2539,3560,3432
$GC,736,-0.59,-146.6,73.1,-10.4,33,741,0.15,2.50,0.00,0.000,6,0.094,0.048,2570,2147,3432
$GC,1052,-0.59,-146.6,100.1,-8.5,48,1056,0.00,2.60,0.00,0.000,4,0.000,0.064,2570,3562,3432
$GC,1084,-0.59,-146.6,103.2,-9.9,49,1091,0.00,2.50,0.00,0.000,6,0.000,0.050,2570,2151,3432
$GC,1402,-0.59,-146.6,132.1,-9.2,65,1406,0.00,2.58,0.00,0.000,4,0.000,0.065,2570,3560,3432
$GC,1446,-0.59,-146.6,136.6,-9.4,67,1450,0.00,2.50,0.00,0.000,6,0.000,0.049,2570,2150,3432
$GC,1766,-0.59,-146.6,164.8,-8.9,83,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2131,3432
$GC,2076,-0.59,-146.6,191.5,-8.4,98,2080,0.00,2.60,0.00,0.000,4,0.000,0.067,2570,3560,3433
$GC,2115,-0.64,-146.6,195.0,-9.3,100,2120,0.00,2.53,0.00,0.000,6,0.000,0.050,2570,2146,3433
$GC,2443,-0.64,-146.6,220.8,-7.5,116,2447,0.00,2.58,0.00,0.000,4,0.000,0.067,2570,3559,3432
$GC,2483,-0.69,-146.6,224.0,-8.4,118,2487,0.00,2.53,0.00,0.000,6,0.000,0.051,2570,2147,3432
$GC,2809,-0.69,-146.6,247.0,-6.8,134,2814,0.00,2.60,0.00,0.000,4,0.000,0.068,2570,3558,3432
$GC,2843,-0.74,-146.6,249.4,-7.3,135,2850,0.15,2.53,0.00,0.000,6,0.051,0.051,2526,2144,3432
$GC,3161,-0.65,-146.6,276.4,-8.8,151,3166,0.15,2.62,0.00,0.000,4,0.090,0.069,2562,3560,3433
$GC,3200,-0.65,-146.6,279.9,-8.1,153,3205,0.00,2.53,0.00,0.000,6,0.000,0.051,2562,2146,3432
$GC,3527,-0.65,-146.6,304.7,-7.8,169,3532,0.00,2.60,0.00,0.000,4,0.000,0.069,2562,3559,3432
$GC,3555,-0.65,-146.6,307.0,-8.3,170,3559,0.00,2.50,0.00,0.000,6,0.000,0.052,2562,2151,3432
$GC,3870,-0.65,-146.6,331.7,-8.0,185,3875,0.00,2.60,0.00,0.000,4,0.000,0.068,2563,3558,3432
$GC,3892,-0.65,-146.6,333.6,-8.1,186,3897,0.00,2.53,0.00,0.000,6,0.000,0.052,2562,2149,3432
$GC,4213,-0.65,-146.6,358.1,-7.4,202,4218,0.00,2.62,0.00,0.000,4,0.000,0.070,2562,3564,3431
$GC,4258,-0.65,-146.6,361.8,-8.5,204,4262,0.00,2.53,0.00,0.000,6,0.000,0.052,2562,2151,3431
$GC,4579,-0.65,-146.6,384.8,-7.1,220,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2137,3431
$GC,4888,-0.65,-146.6,405.4,-6.4,235,4892,0.00,2.60,0.00,0.000,4,0.000,0.070,2562,3558,3431
$GC,4937,-0.65,-146.6,408.9,-7.0,237,4942,0.00,2.53,0.00,0.000,6,0.000,0.052,2562,2147,3431
$GC,5253,-0.65,-146.6,428.4,-6.1,252,5257,0.00,2.60,0.00,0.000,4,0.000,0.070,2562,3559,3431
$GC,5293,-0.69,-146.6,431.0,-7.1,254,5297,0.00,2.53,0.00,0.000,6,0.000,0.053,2562,2150,3431
$GC,5619,-0.69,-146.6,453.2,-7.0,270,5624,0.00,2.60,0.00,0.000,4,0.000,0.070,2563,3558,3431
$GC,5630,-0.69,-146.6,454.0,-7.3,270,5636,0.00,2.53,0.00,0.000,6,0.000,0.054,2563,2150,3430
$GC,5946,-0.69,-146.6,478.5,-8.0,286,5951,0.00,2.62,0.00,0.000,4,0.000,0.071,2562,3563,3430
$GC,5990,-0.69,-146.6,482.3,-8.4,288,5995,0.00,2.53,0.00,0.000,6,0.000,0.054,2562,2151,3431
$GC,6312,-0.69,-146.6,505.6,-7.0,304,6316,0.00,2.60,0.00,0.000,4,0.000,0.071,2563,3558,3430
$GC,6384,-0.74,-146.6,511.5,-8.3,307,6389,0.10,2.53,0.00,0.000,6,0.058,0.053,2529,2147,3430
$GC,6700,-0.68,-146.6,537.0,-6.9,322,6705,0.10,2.62,0.00,0.000,4,0.095,0.071,2550,3558,3430
$GC,6722,-0.68,-146.6,538.4,-5.7,323,6727,0.00,2.53,0.00,0.000,6,0.000,0.055,2550,2147,3430
$GC,7044,-0.68,-146.6,549.0,-2.2,339,7048,0.00,2.60,0.00,0.000,4,0.000,0.071,2550,3558,3430
$GC,7061,-0.68,-146.6,549.4,-2.7,340,7065,0.00,2.55,0.00,0.000,6,0.000,0.056,2550,2141,3430
$GC,7389,-0.68,-146.6,561.5,-4.7,356,7393,0.00,2.62,0.00,0.000,4,0.000,0.072,2550,3558,3430
$GC,7473,-0.68,-146.6,569.7,-11.1,360,7477,0.00,2.53,0.00,0.000,6,0.000,0.053,2550,2140,3430
$GC,7800,-0.79,-146.6,586.1,-7.0,376,7804,0.00,2.65,0.00,0.000,4,0.000,0.073,2550,3561,3430
$GC,7827,-0.79,-146.6,588.5,-8.3,377,7831,0.00,2.55,0.00,0.000,6,0.000,0.054,2550,2141,3429
$GC,8143,-0.79,-146.6,619.2,-9.6,392,8147,0.00,2.65,0.00,0.000,4,0.000,0.076,2550,3558,3429
$STATE,8339,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8339,begin apogee
$GC,8348,-0.33,0.0,635.6,10.0,401,8479,0.35,0.00,123.90,1.247,6,0.084,0.000,2624,2122,2832
$STATE,8480,end apogee,CONTROL_FINISHED_OK
$STATE,8480,begin climb
$GC,8483,0.97,146.6,642.4,0.0,408,8614,1.35,2.65,122.55,1.213,4,0.079,0.079,2908,773,2234
$GC,8742,0.88,163.3,632.6,5.5,420,8764,0.00,2.58,15.45,1.116,6,0.000,0.067,2908,2150,2166
$GC,9074,0.85,196.4,614.2,5.1,436,9105,0.12,0.00,28.70,1.188,6,0.093,0.000,2884,2152,2031
$GC,9402,0.90,226.1,600.6,5.2,452,9433,0.00,2.72,25.73,1.204,4,0.000,0.083,2885,766,1910
$GC,9463,1.09,309.2,598.0,3.7,455,9539,0.22,2.62,69.80,1.232,6,0.048,0.071,2943,2155,1571
$GC,9849,1.00,309.2,573.8,7.9,473,9854,0.12,2.65,0.00,0.000,4,0.093,0.084,2917,3558,1569
$GC,9922,1.00,309.2,567.6,8.9,476,9926,0.00,2.58,0.00,0.000,6,0.000,0.066,2917,2175,1569
$GC,10238,1.00,309.2,546.6,6.0,491,10243,0.00,2.67,0.00,0.000,4,0.000,0.077,2917,737,1569
$GC,10293,1.00,309.2,542.3,8.0,493,10299,0.00,2.62,0.00,0.000,6,0.000,0.065,2917,2153,1569
$GC,10609,1.00,309.2,519.4,7.3,509,10613,0.00,2.60,0.00,0.000,4,0.000,0.074,2917,3562,1569
$GC,10636,1.00,309.2,517.1,7.8,510,10640,0.00,2.60,0.00,0.000,6,0.000,0.060,2917,2142,1568
$GC,10952,1.00,309.2,493.4,7.2,525,10956,0.00,2.55,0.00,0.000,4,0.000,0.071,2918,743,1568
$GC,10991,1.00,309.2,490.2,8.3,527,10996,0.00,2.58,0.00,0.000,6,0.000,0.060,2918,2153,1568
$GC,11318,1.00,309.2,464.7,8.0,543,11322,0.00,2.62,0.00,0.000,4,0.000,0.070,2917,743,1568
$GC,11351,1.00,309.2,461.8,8.7,544,11357,0.00,2.58,0.00,0.000,6,0.000,0.059,2918,2153,1568
$GC,11666,1.00,309.2,436.8,7.7,560,11667,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2153,1569
$GC,11976,1.00,309.2,416.1,6.2,575,11980,0.00,2.62,0.00,0.000,4,0.000,0.069,2918,740,1569
$GC,12025,1.00,309.2,412.5,7.6,577,12029,0.00,2.55,0.00,0.000,6,0.000,0.057,2917,2151,1569
$GC,12341,1.00,309.2,393.1,6.1,592,12342,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2152,1570
$GC,12650,1.01,311.5,374.0,5.9,607,12660,0.00,2.62,3.62,0.643,4,0.000,0.067,2918,749,1562
$GC,12700,1.01,311.5,370.6,7.5,609,12704,0.00,2.55,0.00,0.000,6,0.000,0.055,2917,2154,1562
$GC,13021,1.01,311.5,350.2,7.0,625,13025,0.00,2.62,0.00,0.000,4,0.000,0.068,2918,736,1562
$GC,13053,1.01,311.5,347.6,7.9,626,13059,0.00,2.55,0.00,0.000,6,0.000,0.056,2918,2150,1562
$GC,13369,1.01,311.5,323.6,7.9,642,13370,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2149,1563
$GC,13678,1.01,311.5,300.4,7.2,657,13682,0.00,2.60,0.00,0.000,4,0.000,0.067,2918,741,1563
$GC,13728,1.05,311.5,296.7,6.9,659,13732,0.00,2.55,0.00,0.000,6,0.000,0.055,2917,2151,1563
$GC,14044,1.05,311.5,274.2,7.2,674,14045,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2151,1563
$GC,14353,1.05,311.5,252.7,6.7,689,14357,0.00,2.60,0.00,0.000,4,0.000,0.067,2918,741,1564
$GC,14397,1.10,311.5,249.6,7.6,691,14402,0.00,2.55,0.00,0.000,6,0.000,0.055,2917,2150,1564
$GC,14719,1.14,311.5,229.9,6.0,707,14720,0.12,0.00,0.00,0.000,6,0.050,0.000,2960,2150,1564
$GC,15028,1.04,311.5,204.8,8.2,722,15033,0.15,2.60,0.00,0.000,4,0.078,0.065,2923,739,1564
$GC,15068,1.04,311.5,201.9,6.8,724,15072,0.00,2.55,0.00,0.000,6,0.000,0.055,2922,2160,1564
$GC,15394,1.06,322.9,182.7,5.7,740,15415,0.00,2.70,11.48,0.850,4,0.000,0.066,2923,736,1515
$GC,15439,1.06,322.9,179.9,6.7,742,15444,0.00,2.55,0.00,0.000,6,0.000,0.054,2923,2148,1515
$GC,15766,1.13,332.6,162.0,5.7,758,15777,0.00,0.00,9.45,0.819,6,0.000,0.000,2923,2147,1475
$GC,16076,1.18,332.6,143.2,6.2,773,16081,0.12,2.60,0.00,0.000,4,0.048,0.064,2965,739,1475
$GC,16116,1.08,332.6,140.1,8.9,775,16121,0.15,2.55,0.00,0.000,6,0.077,0.054,2933,2154,1475
$GC,16443,1.09,339.1,120.2,5.8,791,16452,0.00,0.00,7.03,0.747,6,0.000,0.000,2933,2153,1449
$GC,16754,1.15,375.6,103.2,5.0,806,16789,0.00,2.65,29.88,0.851,4,0.000,0.064,2933,741,1300
$GC,16830,1.21,375.6,98.8,6.3,809,16835,0.15,2.58,0.00,0.000,6,0.046,0.054,2978,2155,1300
$GC,17146,1.11,375.6,74.1,8.2,824,17148,0.17,0.00,0.00,0.000,6,0.075,0.000,2942,2155,1300
$GC,17455,1.15,403.3,57.2,5.2,839,17485,0.00,2.67,23.12,0.808,4,0.000,0.064,2942,747,1187
$GC,17531,1.23,403.3,52.5,6.4,842,17536,0.12,2.55,0.00,0.000,6,0.050,0.053,2980,2150,1187
$GC,17847,1.14,403.3,27.6,9.2,857,17852,0.15,2.60,0.00,0.000,4,0.077,0.061,2946,736,1187
$GC,17880,1.14,403.3,24.5,10.0,858,17887,0.00,2.55,0.00,0.000,6,0.000,0.051,2945,2158,1187
$STATE,18173,end climb,SURFACE_DEPTH_REACHED
$STATE,18173,begin surface coast
$FINISH,0.2,1.024535
$STATE,18195,end surface coast,CONTROL_FINISHED_OK
$STATE,18195,begin surface
$SM_CCo,18277,0.00,0.000,0,0,1187,403.52
$SM_GC,0.97,10.93,0.00,0.00,0.036,0.000,0.000,418,2158,1187,-10.39,0.25,403.52
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1689
$TCM_TEMP,16.70
$XPDR_PINGS,624
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,575.7,69.8
$24V_AH,23.8,10.226
$10V_AH,10.1,3.617
$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,25.775,201.375,470.700,0.000,0.000,37.764,25.255,162.277,161.000,0.000,0.000,13.557,1646.139,13821.963,613.493,1993.838,540.196,33.349,1659.859,0.000,1951.968,0.000,34.661
$DEVICE_MAMPS,134.992,83.603,1247.142,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,598.684,646.398,550.259,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44349,874
$CAP_FILE_SIZE,144866,0
$CFSIZE,254472192,250167296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,120608,122958,6147.970,-911.298,30,4.2,49,-9.4