version: 66.03
glider: 5
mission: 3
dive: 56
start: 6 18 108 21 29 13
data:
$ID,5
$MISSION,3
$DIVE,56
$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,120
$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,-77735.859
$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,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2620
$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
$GPS1,212308,6151.687,-906.904,48,1.3,48,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-52.2
$GPS2,212821,6151.776,-907.086,15,1.8,15,-9.4
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.117,-0.164
$KALMAN_X,-67669.5,-866.6,-1806.0,25441.7,2256.7
$KALMAN_Y,-39103.3,1528.3,2798.2,84450.2,-3793.7
$MHEAD_RNG_PITCHd_Wd,224.9,20251,-12.6,-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,-1.03,-117.3,0.0,0.0,0,99,0.00,0.00,-72.53,0.000,6,0.000,0.000,421,2167,3099
$GC,102,-1.03,-117.3,1.7,-2.4,3,119,10.60,2.50,0.00,0.000,4,0.139,0.061,2468,3550,3100
$GC,372,-0.70,-117.3,37.4,-11.5,14,377,0.38,2.50,0.00,0.000,6,0.088,0.048,2549,2147,3102
$GC,694,-0.64,-117.3,58.7,-6.9,30,698,0.00,2.55,0.00,0.000,4,0.000,0.061,2549,3551,3102
$GC,828,-0.58,-117.3,68.9,-7.6,36,833,0.12,2.50,0.00,0.000,6,0.099,0.047,2574,2142,3103
$GC,1152,-0.58,-117.3,85.7,-4.6,52,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2142,3103
$GC,1459,-0.58,-117.3,104.1,-6.8,67,1463,0.00,2.58,0.00,0.000,4,0.000,0.062,2574,3548,3103
$GC,1525,-0.58,-117.3,109.1,-6.5,70,1530,0.00,2.47,0.00,0.000,6,0.000,0.047,2574,2150,3103
$GC,1848,-0.58,-117.3,128.6,-5.7,86,1852,0.00,2.55,0.00,0.000,4,0.000,0.062,2574,3554,3103
$GC,1876,-0.58,-117.3,130.2,-5.6,87,1880,0.00,2.50,0.00,0.000,6,0.000,0.048,2574,2148,3103
$GC,2192,-0.58,-117.3,144.9,-4.2,102,2196,0.00,2.55,0.00,0.000,4,0.000,0.063,2573,3547,3103
$GC,2232,-0.58,-117.3,146.8,-4.9,104,2236,0.00,2.47,0.00,0.000,6,0.000,0.048,2573,2147,3103
$GC,2559,-0.58,-117.3,160.1,-3.7,120,2563,0.00,2.55,0.00,0.000,4,0.000,0.064,2574,3548,3103
$GC,2569,-0.58,-117.3,160.5,-3.8,120,2576,0.00,2.50,0.00,0.000,6,0.000,0.049,2574,2143,3103
$GC,2887,-0.58,-117.3,176.0,-5.3,136,2891,0.00,2.58,0.00,0.000,4,0.000,0.064,2574,3557,3103
$GC,2899,-0.58,-117.3,176.8,-5.6,136,2905,0.00,2.50,0.00,0.000,6,0.000,0.050,2574,2149,3103
$GC,3215,-0.58,-117.3,194.7,-5.7,152,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2149,3103
$GC,3524,-0.58,-117.3,211.4,-5.2,167,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2148,3103
$GC,3833,-0.58,-117.3,224.6,-4.1,182,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2148,3102
$GC,4143,-0.58,-117.3,235.5,-3.3,197,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2147,3103
$GC,4452,-0.58,-117.3,248.4,-4.7,212,4456,0.00,2.53,0.00,0.000,4,0.000,0.066,2574,747,3102
$GC,4462,-0.58,-117.3,248.9,-4.9,212,4469,0.00,2.50,0.00,0.000,6,0.000,0.054,2574,2142,3102
$GC,4778,-0.63,-117.3,266.2,-6.1,228,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2141,3102
$GC,5088,-0.67,-117.3,286.2,-6.2,243,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2140,3102
$GC,5397,-0.71,-117.3,306.7,-6.3,258,5402,0.12,2.58,0.00,0.000,4,0.053,0.067,2537,3565,3102
$GC,5408,-0.71,-117.3,307.5,-6.3,258,5414,0.00,2.53,0.00,0.000,6,0.000,0.054,2537,2150,3102
$GC,5724,-0.64,-117.3,330.7,-7.2,274,5726,0.10,0.00,0.00,0.000,6,0.100,0.000,2557,2149,3102
$GC,6033,-0.64,-117.3,355.8,-8.6,289,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2148,3101
$GC,6342,-0.64,-117.3,383.9,-9.9,304,6346,0.00,2.53,0.00,0.000,4,0.000,0.069,2557,750,3101
$GC,6352,-0.64,-117.3,385.0,-10.0,304,6358,0.00,2.53,0.00,0.000,6,0.000,0.055,2557,2152,3102
$GC,6668,-0.64,-117.3,409.6,-6.7,320,6672,0.00,2.60,0.00,0.000,4,0.000,0.069,2556,743,3101
$GC,6678,-0.64,-117.3,410.3,-6.6,320,6685,0.00,2.55,0.00,0.000,6,0.000,0.057,2556,2156,3101
$GC,6994,-0.64,-117.3,432.3,-7.0,336,6998,0.00,2.55,0.00,0.000,4,0.000,0.069,2557,3564,3101
$GC,7006,-0.64,-117.3,433.1,-7.0,336,7012,0.00,2.55,0.00,0.000,6,0.000,0.056,2557,2147,3101
$GC,7322,-0.64,-117.3,454.0,-5.6,352,7326,0.00,2.60,0.00,0.000,4,0.000,0.070,2557,3558,3101
$GC,7362,-0.64,-117.3,456.2,-5.8,354,7366,0.00,2.53,0.00,0.000,6,0.000,0.055,2556,2148,3101
$GC,7688,-0.64,-117.3,467.9,-2.4,370,7693,0.00,2.62,0.00,0.000,4,0.000,0.071,2557,3564,3100
$GC,7773,-0.64,-117.3,469.9,-2.9,374,7777,0.00,2.53,0.00,0.000,6,0.000,0.055,2556,2149,3100
$GC,8100,-0.64,-117.3,479.7,-4.5,390,8104,0.00,2.60,0.00,0.000,4,0.000,0.072,2557,3556,3100
$GC,8178,-0.64,-117.3,484.7,-7.2,393,8184,0.00,2.53,0.00,0.000,6,0.000,0.057,2557,2132,3100
$GC,8493,-0.64,-117.3,511.6,-9.1,409,8494,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2132,3100
$GC,8803,-0.64,-117.3,541.0,-12.6,424,8807,0.00,2.55,0.00,0.000,4,0.000,0.081,2557,762,3100
$GC,8875,-0.64,-117.3,544.6,0.5,427,8880,0.00,2.55,0.00,0.000,6,0.000,0.067,2557,2150,3099
$GC,9191,-0.64,-117.3,562.1,-3.5,442,9196,0.00,2.62,0.00,0.000,4,0.000,0.084,2557,760,3099
$GC,9374,-0.77,-117.3,570.4,-1.6,450,9379,0.12,2.58,0.00,0.000,6,0.059,0.071,2521,2148,3098
$GC,9696,-0.60,-117.3,573.3,-3.7,466,9701,0.20,2.65,0.00,0.000,4,0.100,0.084,2567,3567,3096
$GC,9921,-0.64,-117.3,585.9,-4.8,476,9926,0.00,2.58,0.00,0.000,6,0.000,0.067,2567,2166,3096
$GC,10243,-0.75,-117.3,589.0,-4.1,492,10248,0.15,2.67,0.00,0.000,4,0.059,0.085,2521,3566,3094
$GC,10254,-0.80,-117.3,588.6,-0.7,492,10260,0.00,2.60,0.00,0.000,6,0.000,0.071,2522,2132,3094
$GC,10571,-0.68,-117.3,592.8,-2.0,508,10576,0.15,2.60,0.00,0.000,4,0.106,0.087,2552,757,3093
$GC,10599,-0.57,-117.3,591.8,2.8,509,10604,0.12,2.60,0.00,0.000,6,0.108,0.073,2576,2156,3093
$STATE,10809,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10809,begin apogee
$GC,10816,-0.33,0.0,594.1,6.0,519,10918,0.25,0.00,98.70,1.317,6,0.089,0.000,2626,2097,2620
$STATE,10919,end apogee,CONTROL_FINISHED_OK
$STATE,10919,begin climb
$GC,10922,1.03,117.3,601.1,0.0,524,11028,1.40,2.72,98.65,1.276,4,0.083,0.086,2919,715,2141
$GC,11140,1.03,117.3,597.8,8.2,534,11145,0.00,2.62,0.00,0.000,6,0.000,0.071,2919,2105,2139
$GC,11456,0.87,117.3,570.0,6.1,549,11461,0.15,2.65,0.00,0.000,4,0.099,0.081,2891,3512,2139
$GC,11497,0.93,117.3,563.1,18.0,551,11501,0.00,2.60,0.00,0.000,6,0.000,0.071,2891,2124,2138
$GC,11824,0.98,117.3,525.7,10.1,567,11828,0.00,2.70,0.00,0.000,4,0.000,0.089,2891,689,2138
$GC,11857,0.98,117.3,521.1,13.4,568,11863,0.00,2.65,0.00,0.000,6,0.000,0.073,2891,2104,2138
$GC,12173,1.03,117.3,472.3,13.0,584,12174,0.15,0.00,0.00,0.000,6,0.058,0.000,2931,2104,2137
$GC,12482,0.99,117.3,441.9,7.9,599,12483,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2104,2136
$GC,12792,1.38,398.8,439.9,-3.6,614,13036,0.30,2.75,230.07,1.207,4,0.052,0.079,3002,3509,994
$GC,13069,1.38,398.8,433.5,6.6,627,13074,0.00,2.65,0.00,0.000,6,0.000,0.067,3002,2100,994
$GC,13385,1.29,398.8,400.3,12.7,642,13390,0.12,2.65,0.00,0.000,4,0.097,0.080,2978,683,995
$GC,13448,1.29,398.8,392.1,12.5,645,13452,0.00,2.62,0.00,0.000,6,0.000,0.065,2978,2103,995
$GC,13775,1.29,398.8,344.8,16.7,661,13779,0.00,2.67,0.00,0.000,4,0.000,0.077,2979,688,995
$GC,13837,1.29,398.8,333.4,17.5,664,13841,0.00,2.60,0.00,0.000,6,0.000,0.062,2978,2105,995
$GC,14163,1.29,398.8,284.4,13.0,680,14164,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2106,996
$GC,14472,1.29,398.8,255.9,7.3,695,14477,0.00,2.65,0.00,0.000,4,0.000,0.073,2979,688,997
$GC,14522,1.29,398.8,252.4,6.9,697,14527,0.00,2.58,0.00,0.000,6,0.000,0.058,2979,2102,997
$GC,14838,1.29,398.8,230.0,7.7,712,14842,0.00,2.62,0.00,0.000,4,0.000,0.072,2979,688,997
$GC,14888,1.29,398.8,225.6,8.8,714,14892,0.00,2.58,0.00,0.000,6,0.000,0.056,2979,2109,998
$GC,15203,1.29,398.8,200.4,7.6,729,15205,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2110,998
$GC,15513,1.29,398.8,175.8,8.7,744,15517,0.00,2.65,0.00,0.000,4,0.000,0.070,2978,678,999
$GC,15585,1.29,398.8,168.6,9.3,747,15589,0.00,2.58,0.00,0.000,6,0.000,0.054,2978,2107,999
$GC,15901,1.29,398.8,134.7,11.4,762,15902,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2108,1000
$GC,16210,1.29,398.8,98.6,10.9,777,16215,0.00,2.60,0.00,0.000,4,0.000,0.067,2979,688,1000
$GC,16265,1.29,398.8,93.0,9.9,779,16272,0.00,2.53,0.00,0.000,6,0.000,0.053,2979,2100,1001
$GC,16583,1.29,398.8,68.1,7.7,795,16587,0.00,2.60,0.00,0.000,4,0.000,0.066,2978,686,1001
$GC,16627,1.29,398.8,64.7,7.6,797,16631,0.00,2.53,0.00,0.000,6,0.000,0.051,2978,2101,1001
$GC,16948,1.29,398.8,39.7,8.9,813,16952,0.00,2.60,0.00,0.000,4,0.000,0.066,2979,688,1001
$GC,16992,1.35,398.8,35.5,9.1,815,16997,0.00,2.53,0.00,0.000,6,0.000,0.051,2979,2103,1001
$GC,17315,1.41,398.8,3.3,9.1,831,17317,0.12,0.00,0.00,0.000,6,0.048,0.000,3018,2105,1003
$STATE,17332,end climb,SURFACE_DEPTH_REACHED
$STATE,17332,begin surface coast
$FINISH,-0.1,1.013995
$STATE,17354,end surface coast,CONTROL_FINISHED_OK
$STATE,17354,begin surface
$SM_CCo,17437,0.00,0.000,0,0,1001,397.14
$SM_GC,0.43,11.20,0.00,0.00,0.035,0.000,0.000,426,2181,1001,-10.38,0.88,397.14
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1676
$TCM_TEMP,17.50
$XPDR_PINGS,414
$ALTIM_TOP_PING,18.1,999.0
$ALTIM_BOTTOM_PING,500.6,102.9
$24V_AH,23.8,14.391
$10V_AH,10.1,6.114
$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,25.775,165.225,427.425,0.000,0.000,37.762,26.643,131.966,107.750,0.000,0.000,15.723,1561.164,13243.113,561.510,1888.943,494.839,33.355,1523.743,0.000,1852.730,0.000,29.908
$DEVICE_MAMPS,138.827,88.972,1316.939,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,572.542,616.368,542.892,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44236,833
$CAP_FILE_SIZE,133307,0
$CFSIZE,254472192,248303616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,190608,022128,6152.917,-921.028,42,3.0,61,-9.5