version: 66.03
glider: 5
mission: 3
dive: 57
start: 6 19 108 2 28 14
data:
$ID,5
$MISSION,3
$DIVE,57
$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,-77751.789
$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,18
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,022128,6152.917,-921.028,42,3.0,61,-9.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-50.2
$GPS2,022720,6152.896,-921.315,15,1.2,15,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.189,-0.068
$KALMAN_X,-78384.8,-1586.5,-81.2,22613.7,-10529.7
$KALMAN_Y,-27402.0,221.7,1006.4,77984.7,12586.1
$MHEAD_RNG_PITCHd_Wd,119.2,23823,-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,21,begin dive
$GC,24,-1.03,-117.3,0.0,0.0,0,114,0.00,0.00,-87.82,0.000,6,0.000,0.000,426,2178,3098
$GC,117,-1.03,-117.3,2.2,-2.7,4,134,10.60,2.60,0.00,0.000,4,0.140,0.058,2468,737,3099
$GC,288,-0.72,-117.3,23.8,-9.8,10,295,0.35,2.50,0.00,0.000,6,0.088,0.049,2544,2139,3099
$GC,606,-0.64,-117.3,46.2,-6.1,26,610,0.00,2.55,0.00,0.000,4,0.000,0.060,2544,732,3100
$GC,639,-0.55,-117.3,48.4,-6.1,27,646,0.17,2.55,0.00,0.000,6,0.091,0.051,2580,2163,3100
$GC,955,-0.55,-117.3,61.7,-5.3,43,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2161,3100
$GC,1266,-0.55,-117.3,80.3,-6.2,58,1270,0.00,2.50,0.00,0.000,4,0.000,0.061,2580,3558,3100
$GC,1276,-0.55,-117.3,81.0,-5.8,58,1283,0.00,2.50,0.00,0.000,6,0.000,0.048,2580,2143,3100
$GC,1595,-0.60,-117.3,98.1,-5.2,74,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2131,3101
$GC,1902,-0.65,-117.3,109.8,-2.7,89,1907,0.00,2.50,0.00,0.000,4,0.000,0.061,2580,747,3101
$GC,1914,-0.69,-117.3,109.9,-1.7,89,1921,0.15,2.50,0.00,0.000,6,0.050,0.050,2537,2151,3101
$GC,2231,-0.61,-117.3,120.8,-3.3,105,2236,0.15,2.53,0.00,0.000,4,0.089,0.062,2572,3556,3101
$GC,2259,-0.61,-117.3,121.7,-1.8,106,2263,0.00,2.47,0.00,0.000,6,0.000,0.048,2572,2156,3101
$GC,2577,-0.61,-117.3,127.7,-1.4,121,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2138,3101
$GC,2884,-0.61,-117.3,132.1,-1.2,136,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2138,3101
$GC,3194,-0.61,-117.3,137.5,-2.8,151,3198,0.00,2.50,0.00,0.000,4,0.000,0.063,2572,750,3101
$GC,3234,-0.61,-117.3,138.8,-3.7,153,3238,0.00,2.47,0.00,0.000,6,0.000,0.051,2573,2148,3101
$GC,3561,-0.61,-117.3,149.3,-3.8,169,3565,0.00,2.55,0.00,0.000,4,0.000,0.063,2572,751,3101
$GC,3579,-0.61,-117.3,149.9,-3.5,170,3584,0.00,2.47,0.00,0.000,6,0.000,0.052,2572,2136,3101
$GC,3912,-0.61,-117.3,166.0,-5.1,186,3916,0.00,2.55,0.00,0.000,4,0.000,0.063,2572,742,3101
$GC,3951,-0.61,-117.3,168.2,-5.8,188,3956,0.00,2.50,0.00,0.000,6,0.000,0.053,2572,2138,3101
$GC,4279,-0.61,-117.3,191.6,-8.0,204,4283,0.00,2.53,0.00,0.000,4,0.000,0.064,2572,750,3101
$GC,4289,-0.61,-117.3,192.5,-7.6,204,4295,0.00,2.47,0.00,0.000,6,0.000,0.053,2572,2131,3101
$GC,4605,-0.61,-117.3,225.2,-11.5,220,4609,0.00,2.58,0.00,0.000,4,0.000,0.064,2572,3564,3101
$GC,4632,-0.61,-117.3,228.9,-13.1,221,4636,0.00,2.55,0.00,0.000,6,0.000,0.050,2572,2131,3101
$GC,4949,-0.61,-117.3,276.1,-15.9,236,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2113,3101
$GC,5259,-0.65,-117.3,326.6,-16.1,251,5263,0.00,2.50,0.00,0.000,4,0.000,0.065,2572,742,3101
$GC,5349,-0.70,-117.3,340.6,-15.7,255,5354,0.12,2.47,0.00,0.000,6,0.053,0.054,2534,2116,3100
$GC,5673,-0.62,-117.3,382.8,-10.5,271,5678,0.15,2.62,0.00,0.000,4,0.093,0.067,2565,3565,3100
$GC,5751,-0.62,-117.3,391.0,-8.8,274,5757,0.00,2.58,0.00,0.000,6,0.000,0.052,2565,2125,3100
$GC,6067,-0.62,-117.3,401.8,-0.2,290,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2107,3100
$GC,6376,-0.62,-117.3,387.5,7.2,305,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2107,3100
$GC,6685,-0.62,-117.3,352.4,12.7,320,6690,0.00,2.62,0.00,0.000,4,0.000,0.067,2565,3556,3100
$GC,6696,-0.62,-117.3,350.8,12.7,320,6703,0.00,2.58,0.00,0.000,6,0.000,0.054,2566,2120,3100
$GC,7013,-0.62,-117.3,315.0,8.7,336,7017,0.00,2.65,0.00,0.000,4,0.000,0.068,2566,3562,3099
$GC,7024,-0.62,-117.3,314.0,7.9,336,7030,0.00,2.58,0.00,0.000,6,0.000,0.054,2565,2122,3099
$GC,7339,-0.62,-117.3,318.2,-7.5,352,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2121,3098
$GC,7649,-0.62,-117.3,363.9,-17.7,367,7653,0.00,2.50,0.00,0.000,4,0.000,0.072,2565,746,3098
$GC,7766,-0.62,-117.3,387.7,-21.7,372,7771,0.00,2.42,0.00,0.000,6,0.000,0.055,2565,2088,3098
$GC,8088,-0.62,-117.3,446.4,-16.3,388,8092,0.00,2.67,0.00,0.000,4,0.000,0.071,2565,3557,3098
$GC,8246,-0.62,-117.3,467.9,-12.9,395,8251,0.00,2.65,0.00,0.000,6,0.000,0.055,2565,2080,3098
$GC,8568,-0.66,-117.3,496.5,-7.4,411,8573,0.00,2.75,0.00,0.000,4,0.000,0.071,2566,3563,3098
$GC,8685,-0.66,-117.3,504.3,-6.4,416,8690,0.00,2.60,0.00,0.000,6,0.000,0.056,2565,2114,3098
$GC,9003,-0.71,-117.3,519.3,-5.4,431,9007,0.00,2.47,0.00,0.000,4,0.000,0.071,2565,744,3098
$GC,9047,-0.75,-117.3,522.5,-7.3,433,9052,0.15,2.45,0.00,0.000,6,0.051,0.058,2523,2095,3097
$GC,9371,-0.67,-117.3,552.2,-10.1,449,9376,0.15,2.67,0.00,0.000,4,0.092,0.074,2558,3556,3097
$GC,9484,-0.67,-117.3,563.9,-10.0,454,9488,0.00,2.65,0.00,0.000,6,0.000,0.061,2557,2095,3097
$GC,9805,-0.67,-117.3,592.5,-8.4,470,9809,0.00,2.75,0.00,0.000,4,0.000,0.079,2558,3556,3097
$GC,9844,-0.67,-117.3,595.9,-8.3,472,9849,0.00,2.65,0.00,0.000,6,0.000,0.064,2558,2102,3097
$GC,10171,-0.67,-117.3,620.9,-6.2,488,10175,0.00,2.75,0.00,0.000,4,0.000,0.082,2558,3555,3096
$GC,10192,-0.67,-117.3,622.8,-7.9,489,10196,0.00,2.65,0.00,0.000,6,0.000,0.068,2557,2115,3096
$GC,10513,-0.67,-117.3,643.3,-7.8,505,10517,0.00,2.72,0.00,0.000,4,0.000,0.082,2558,3555,3095
$STATE,10554,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10554,begin apogee
$GC,10564,-0.33,0.0,646.3,6.2,507,10666,0.30,0.00,99.07,1.305,6,0.095,0.000,2621,2076,2620
$STATE,10666,end apogee,CONTROL_FINISHED_OK
$STATE,10666,begin climb
$GC,10670,1.03,117.3,650.1,0.0,512,10776,1.42,2.78,98.57,1.274,4,0.078,0.083,2922,3503,2141
$GC,11031,1.25,257.3,638.9,1.2,528,11154,0.22,2.62,116.28,1.262,6,0.050,0.067,2980,2074,1571
$GC,11464,1.13,257.3,585.6,17.2,549,11469,0.15,2.72,0.00,0.000,4,0.097,0.086,2948,3509,1571
$GC,11611,1.13,257.3,569.1,12.1,555,11618,0.00,2.55,0.00,0.000,6,0.000,0.070,2948,2151,1571
$GC,11927,1.13,257.3,524.7,14.1,571,11932,0.00,2.75,0.00,0.000,4,0.000,0.092,2948,711,1570
$GC,11967,1.13,257.3,518.9,14.6,573,11972,0.00,2.62,0.00,0.000,6,0.000,0.072,2948,2109,1570
$GC,12293,1.13,257.3,478.0,10.0,589,12298,0.00,2.62,0.00,0.000,4,0.000,0.082,2948,3511,1568
$GC,12322,1.13,257.3,475.3,10.1,590,12327,0.00,2.60,0.00,0.000,6,0.000,0.070,2948,2122,1568
$GC,12638,1.13,257.3,449.9,6.4,605,12643,0.00,2.67,0.00,0.000,4,0.000,0.082,2948,688,1567
$GC,12666,1.13,258.2,448.2,6.0,606,12671,0.00,2.62,0.00,0.000,6,0.000,0.067,2948,2105,1566
$GC,12982,1.13,258.2,430.4,6.6,621,12984,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2111,1566
$GC,13292,1.19,290.5,411.9,4.9,636,13327,0.00,2.75,28.00,1.148,4,0.000,0.077,2948,693,1435
$GC,13385,1.19,293.1,406.4,5.9,640,13394,0.00,2.60,3.90,0.751,6,0.000,0.062,2948,2101,1425
$GC,13713,1.29,352.3,389.1,4.0,656,13768,0.12,2.72,49.60,1.132,4,0.054,0.074,2984,679,1183
$GC,13805,1.26,376.4,384.8,5.2,659,13832,0.00,2.58,21.42,1.084,6,0.000,0.060,2984,2074,1085
$GC,14144,1.27,410.6,368.8,4.8,675,14179,0.00,2.67,29.88,1.078,4,0.000,0.076,2984,683,945
$GC,14207,1.34,449.6,365.7,4.7,677,14247,0.00,2.53,33.38,1.060,6,0.000,0.058,2984,2078,785
$GC,14577,1.34,449.6,343.0,6.6,695,14581,0.00,2.60,0.00,0.000,4,0.000,0.074,2984,680,787
$GC,14626,1.34,449.6,338.5,7.9,697,14631,0.00,2.42,0.00,0.000,6,0.000,0.056,2984,2021,786
$GC,14942,1.34,449.6,310.5,10.2,712,14946,0.00,2.50,0.00,0.000,4,0.000,0.071,2984,683,787
$GC,14966,1.34,449.6,308.2,10.5,713,14970,0.00,2.40,0.00,0.000,6,0.000,0.054,2984,2005,787
$GC,15286,1.34,449.6,274.0,9.6,729,15288,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2025,787
$GC,15596,1.34,449.6,248.9,8.0,744,15600,0.00,2.47,0.00,0.000,4,0.000,0.071,2984,679,788
$GC,15623,1.34,449.6,246.3,9.5,745,15627,0.00,2.38,0.00,0.000,6,0.000,0.054,2984,1994,788
$GC,15939,1.34,449.6,210.7,13.0,760,15940,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1997,788
$GC,16248,1.34,449.6,173.3,11.4,775,16251,0.00,2.42,0.00,0.000,4,0.000,0.071,2984,687,789
$GC,16275,1.34,449.6,169.4,14.2,776,16279,0.00,2.33,0.00,0.000,6,0.000,0.053,2984,1983,789
$GC,16597,1.34,449.6,123.1,16.5,792,16602,0.00,2.70,0.00,0.000,4,0.000,0.061,2984,3492,790
$GC,16638,1.42,449.6,116.7,13.8,794,16643,0.10,2.67,0.00,0.000,6,0.057,0.054,3018,1999,790
$GC,16966,1.33,449.6,61.2,16.5,810,16968,0.15,0.00,0.00,0.000,6,0.085,0.000,2989,1999,790
$GC,17275,1.33,449.6,20.1,12.9,825,17282,0.00,2.38,0.00,0.000,4,0.000,0.069,2989,687,790
$GC,17316,1.33,449.6,16.4,7.0,826,17322,0.00,2.28,0.00,0.000,6,0.000,0.051,2989,1962,790
$STATE,17444,end climb,SURFACE_DEPTH_REACHED
$STATE,17444,begin surface coast
$FINISH,0.0,1.027137
$STATE,17467,end surface coast,CONTROL_FINISHED_OK
$STATE,17467,begin surface
$SM_CCo,17550,0.00,0.000,0,0,790,448.90
$SM_GC,0.59,11.15,0.00,0.00,0.038,0.000,0.000,418,2163,790,-10.40,0.40,448.90
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1677
$TCM_TEMP,17.40
$XPDR_PINGS,531
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,575.4,80.8
$24V_AH,23.8,14.585
$10V_AH,10.1,6.200
$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,25.625,185.350,480.100,0.000,0.000,37.761,30.823,156.095,137.750,0.000,0.000,15.301,1585.322,13199.939,591.262,1968.533,557.175,33.356,1623.167,0.000,1925.039,0.000,34.713
$DEVICE_MAMPS,139.594,92.040,1304.667,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,572.125,618.270,591.334,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44249,834
$CAP_FILE_SIZE,140823,0
$CFSIZE,254472192,248229888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,190608,072202,6152.378,-933.753,42,1.1,42,-9.7