version: 66.03
glider: 5
mission: 3
dive: 58
start: 6 19 108 7 36 25
data:
$ID,5
$MISSION,3
$DIVE,58
$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,-77767.164
$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,30
$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
$GPS1,072202,6152.378,-933.753,42,1.1,42,-9.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-48.7
$GPS2,073533,6152.228,-934.378,12,1.3,12,-9.7
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.158,-0.125
$KALMAN_X,-98205.9,-17.9,-451.1,29636.6,-27635.8
$KALMAN_Y,-23682.7,-1795.7,-826.5,76966.5,17490.5
$MHEAD_RNG_PITCHd_Wd,138.1,29226,-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,-117.3,0.0,0.0,0,126,0.00,0.00,-97.20,0.000,6,0.000,0.000,418,2155,3098
$GC,129,-1.03,-117.3,3.0,-2.9,5,145,10.60,2.55,0.00,0.000,4,0.137,0.058,2468,737,3098
$GC,399,-0.71,-117.3,33.5,-10.9,16,404,0.35,2.53,0.00,0.000,6,0.090,0.049,2542,2149,3098
$GC,721,-0.60,-117.3,55.3,-5.6,32,726,0.12,2.58,0.00,0.000,4,0.097,0.060,2568,737,3098
$GC,867,-0.60,-117.3,66.3,-7.0,38,873,0.00,2.53,0.00,0.000,6,0.000,0.050,2568,2155,3098
$GC,1184,-0.60,-117.3,92.3,-8.6,54,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2154,3099
$GC,1492,-0.60,-117.3,123.4,-11.3,69,1496,0.00,2.53,0.00,0.000,4,0.000,0.062,2568,3562,3099
$GC,1532,-0.60,-117.3,128.3,-12.6,71,1536,0.00,2.50,0.00,0.000,6,0.000,0.048,2568,2158,3099
$GC,1858,-0.60,-117.3,166.6,-12.5,87,1863,0.00,2.55,0.00,0.000,4,0.000,0.061,2568,3554,3099
$GC,1903,-0.60,-117.3,172.3,-12.0,89,1907,0.00,2.45,0.00,0.000,6,0.000,0.047,2568,2172,3099
$GC,2224,-0.60,-117.3,208.1,-11.1,105,2228,0.00,2.55,0.00,0.000,4,0.000,0.062,2568,3564,3099
$GC,2234,-0.60,-117.3,209.3,-11.0,105,2240,0.00,2.45,0.00,0.000,6,0.000,0.049,2568,2186,3099
$GC,2550,-0.60,-117.3,240.8,-9.7,121,2555,0.00,2.50,0.00,0.000,4,0.000,0.062,2569,3554,3099
$GC,2606,-0.60,-117.3,246.3,-9.7,123,2612,0.00,2.42,0.00,0.000,6,0.000,0.048,2568,2191,3099
$GC,2922,-0.60,-117.3,273.7,-7.7,139,2926,0.00,2.50,0.00,0.000,4,0.000,0.064,2568,3554,3099
$GC,2932,-0.60,-117.3,274.6,-7.9,139,2938,0.00,2.45,0.00,0.000,6,0.000,0.051,2568,2182,3099
$GC,3248,-0.60,-117.3,296.7,-6.2,155,3253,0.00,2.53,0.00,0.000,4,0.000,0.064,2568,3557,3099
$GC,3316,-0.60,-117.3,300.5,-5.7,158,3320,0.00,2.40,0.00,0.000,6,0.000,0.049,2568,2206,3099
$GC,3637,-0.60,-117.3,313.0,-5.6,174,3642,0.00,2.62,0.00,0.000,4,0.000,0.065,2568,743,3099
$GC,3700,-0.60,-117.3,316.9,-5.8,177,3704,0.00,2.58,0.00,0.000,6,0.000,0.054,2568,2183,3099
$GC,4027,-0.60,-117.3,334.4,-5.6,193,4031,0.00,2.65,0.00,0.000,4,0.000,0.066,2568,740,3099
$GC,4037,-0.60,-117.3,335.1,-5.3,193,4043,0.00,2.60,0.00,0.000,6,0.000,0.054,2568,2185,3099
$GC,4354,-0.60,-117.3,350.2,-4.0,209,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2185,3098
$GC,4663,-0.60,-117.3,360.3,-2.5,224,4667,0.00,2.65,0.00,0.000,4,0.000,0.066,2568,743,3098
$GC,4673,-0.60,-117.3,360.5,-2.6,224,4679,0.00,2.62,0.00,0.000,6,0.000,0.054,2568,2201,3098
$GC,4990,-0.60,-117.3,369.4,-3.9,240,4994,0.00,2.67,0.00,0.000,4,0.000,0.067,2568,745,3098
$GC,5011,-0.60,-117.3,370.6,-4.8,241,5016,0.00,2.60,0.00,0.000,6,0.000,0.055,2568,2191,3098
$GC,5333,-0.60,-117.3,392.0,-8.2,257,5337,0.00,2.65,0.00,0.000,4,0.000,0.067,2568,748,3098
$GC,5405,-0.60,-117.3,399.0,-10.0,260,5409,0.00,2.60,0.00,0.000,6,0.000,0.055,2568,2191,3098
$GC,5721,-0.60,-117.3,428.3,-8.9,275,5725,0.00,2.67,0.00,0.000,4,0.000,0.068,2568,742,3098
$GC,5765,-0.60,-117.3,432.2,-8.7,277,5769,0.00,2.60,0.00,0.000,6,0.000,0.057,2568,2178,3098
$GC,6086,-0.60,-117.3,449.8,-3.7,293,6090,0.00,2.62,0.00,0.000,4,0.000,0.068,2567,747,3098
$GC,6141,-0.60,-117.3,451.6,-3.3,295,6148,0.00,2.55,0.00,0.000,6,0.000,0.056,2568,2169,3097
$GC,6458,-0.60,-117.3,458.0,-2.0,311,6462,0.00,2.53,0.00,0.000,4,0.000,0.070,2568,3567,3097
$GC,6468,-0.60,-117.3,458.3,-2.2,311,6474,0.00,2.50,0.00,0.000,6,0.000,0.056,2568,2174,3097
$STATE,6678,end dive,NO_VERTICAL_VELOCITY
$STATE,6678,begin apogee
$GC,6685,-0.33,0.0,460.0,0.0,322,6785,0.28,0.00,97.12,1.114,6,0.081,0.000,2624,2075,2620
$STATE,6786,end apogee,CONTROL_FINISHED_OK
$STATE,6786,begin climb
$GC,6789,1.03,117.3,460.5,0.0,327,6895,1.38,2.70,96.82,1.080,4,0.072,0.064,2920,3503,2141
$GC,6923,1.17,204.5,454.8,3.0,333,7003,0.15,2.55,71.55,1.053,6,0.048,0.056,2965,2116,1786
$GC,7325,1.09,204.5,427.4,11.7,353,7330,0.12,2.62,0.00,0.000,4,0.085,0.070,2939,685,1785
$GC,7387,1.09,204.5,420.2,11.6,356,7392,0.00,2.58,0.00,0.000,6,0.000,0.056,2939,2113,1785
$GC,7714,1.09,204.5,380.3,13.4,372,7715,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2112,1785
$GC,8023,1.09,204.5,343.5,10.8,387,8027,0.00,2.55,0.00,0.000,4,0.000,0.066,2939,3509,1784
$GC,8062,1.09,204.5,338.8,12.2,389,8067,0.00,2.58,0.00,0.000,6,0.000,0.056,2939,2091,1785
$GC,8390,1.09,204.5,307.9,7.6,405,8394,0.00,2.62,0.00,0.000,4,0.000,0.064,2939,3513,1783
$GC,8433,1.09,204.5,304.8,7.0,407,8438,0.00,2.55,0.00,0.000,6,0.000,0.055,2938,2111,1783
$GC,8755,1.12,223.0,285.2,5.4,423,8777,0.00,2.62,16.27,0.945,4,0.000,0.068,2939,689,1710
$GC,8783,1.12,223.0,283.4,6.4,424,8787,0.00,2.60,0.00,0.000,6,0.000,0.054,2939,2116,1710
$GC,9103,1.12,223.0,260.9,8.3,440,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2116,1710
$GC,9413,1.12,223.0,239.1,6.7,455,9414,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2116,1709
$GC,9722,1.34,359.4,230.3,1.3,470,9838,0.20,2.58,109.12,0.946,4,0.043,0.061,2999,3506,1154
$GC,9884,1.40,394.6,222.4,4.8,477,9919,0.00,2.53,29.75,0.897,6,0.000,0.054,2999,2122,1011
$GC,10238,1.64,578.6,214.2,-0.3,495,10370,0.22,2.70,123.03,0.907,4,0.041,0.067,3062,691,390
$GC,10446,1.51,578.6,194.9,14.5,504,10455,0.17,2.55,2.78,0.400,6,0.081,0.052,3028,2103,389
$GC,10786,1.44,578.6,144.1,18.4,521,10795,0.00,2.67,2.90,0.428,4,0.000,0.068,3028,690,390
$GC,10880,1.44,578.6,124.9,19.0,525,10889,0.00,2.45,2.22,0.253,6,0.000,0.051,3027,2053,390
$GC,11207,1.37,578.6,62.2,17.7,541,11216,0.15,2.58,2.28,0.268,4,0.083,0.066,2992,684,390
$GC,11257,1.46,578.6,54.9,14.1,543,11262,0.12,2.40,0.00,0.000,6,0.047,0.049,3031,2025,390
$GC,11580,1.42,578.6,3.2,14.5,559,11586,0.12,2.50,0.55,0.130,4,0.081,0.067,3005,679,390
$STATE,11589,end climb,SURFACE_DEPTH_REACHED
$STATE,11589,begin surface coast
$FINISH,0.3,1.027127
$STATE,11599,end surface coast,CONTROL_FINISHED_OK
$STATE,11599,begin surface
$SM_CCo,11684,0.00,0.000,0,0,389,547.26
$SM_GC,0.54,11.20,0.00,0.00,0.035,0.000,0.000,417,2177,389,-10.40,0.79,547.26
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1657
$TCM_TEMP,17.60
$XPDR_PINGS,406
$ALTIM_TOP_PING,18.5,999.0
$24V_AH,23.9,14.781
$10V_AH,10.1,6.266
$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,25.200,133.450,554.400,0.000,0.000,114.835,100.398,334.258,105.000,0.000,0.000,14.749,1070.614,8619.021,635.121,1357.446,810.151,33.365,1392.232,0.000,1327.451,0.000,23.592
$DEVICE_MAMPS,136.526,71.331,1113.684,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,380.730,409.396,358.717,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28643,560
$CAP_FILE_SIZE,106599,0
$CFSIZE,254472192,248217600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,190608,105225,6149.816,-937.683,40,1.4,40,-9.7