version: 66.03
glider: 5
mission: 3
dive: 60
start: 6 19 108 16 30 19
data:
$ID,5
$MISSION,3
$DIVE,60
$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,-77797.273
$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,48
$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
$GPS1,162338,6150.463,-934.261,37,1.2,37,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-57.2
$GPS2,162927,6150.557,-934.298,13,1.6,13,-9.6
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.172,-0.104
$KALMAN_X,-105348.3,4359.3,1420.2,30398.9,-33851.7
$KALMAN_Y,-24784.8,-1099.1,-1245.5,74709.1,15269.5
$MHEAD_RNG_PITCHd_Wd,130.7,27058,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.03,-117.3,0.0,0.0,0,99,0.00,0.00,-71.07,0.000,6,0.000,0.000,424,2163,3099
$GC,102,-1.03,-117.3,1.9,-3.3,3,118,10.62,2.58,0.00,0.000,4,0.140,0.054,2470,733,3099
$GC,372,-0.73,-117.3,34.8,-11.7,14,377,0.32,2.50,0.00,0.000,6,0.091,0.050,2538,2134,3100
$GC,695,-0.62,-117.3,55.6,-5.4,30,699,0.12,2.53,0.00,0.000,4,0.103,0.059,2563,743,3101
$GC,896,-0.62,-117.3,67.1,-6.7,39,900,0.00,2.47,0.00,0.000,6,0.000,0.051,2564,2126,3101
$GC,1217,-0.62,-117.3,81.8,-4.3,55,1222,0.00,2.53,0.00,0.000,4,0.000,0.061,2563,744,3101
$GC,1228,-0.62,-117.3,82.4,-4.5,55,1235,0.00,2.47,0.00,0.000,6,0.000,0.051,2563,2135,3101
$GC,1545,-0.62,-117.3,99.2,-5.5,71,1549,0.00,2.53,0.00,0.000,4,0.000,0.061,2563,743,3102
$GC,1623,-0.62,-117.3,103.2,-4.6,74,1630,0.00,2.42,0.00,0.000,6,0.000,0.051,2563,2109,3102
$GC,1940,-0.62,-117.3,116.9,-4.4,90,1944,0.00,2.58,0.00,0.000,4,0.000,0.061,2563,3558,3102
$GC,2035,-0.62,-117.3,121.5,-5.2,94,2039,0.00,2.53,0.00,0.000,6,0.000,0.047,2563,2129,3102
$GC,2352,-0.62,-117.3,139.0,-5.9,109,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2110,3103
$GC,2660,-0.62,-117.3,155.0,-4.9,124,2664,0.00,2.47,0.00,0.000,4,0.000,0.064,2563,748,3103
$GC,2709,-0.62,-117.3,158.3,-6.8,126,2714,0.00,2.47,0.00,0.000,6,0.000,0.051,2563,2132,3103
$GC,3026,-0.62,-117.3,179.0,-6.9,141,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2131,3103
$GC,3335,-0.62,-117.3,199.7,-5.9,156,3340,0.00,2.53,0.00,0.000,4,0.000,0.064,2563,749,3103
$GC,3396,-0.62,-117.3,203.8,-6.6,158,3402,0.00,2.45,0.00,0.000,6,0.000,0.052,2563,2116,3103
$GC,3712,-0.62,-117.3,218.4,-3.5,174,3716,0.00,2.50,0.00,0.000,4,0.000,0.064,2563,749,3103
$GC,3797,-0.62,-117.3,221.6,-3.9,178,3802,0.00,2.42,0.00,0.000,6,0.000,0.053,2563,2105,3103
$GC,4125,-0.62,-117.3,236.9,-5.3,194,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2106,3102
$GC,4434,-0.62,-117.3,255.4,-6.2,209,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2105,3102
$GC,4744,-0.62,-117.3,275.9,-6.6,224,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2105,3102
$GC,5052,-0.62,-117.3,297.6,-7.2,239,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2105,3102
$GC,5361,-0.62,-117.3,319.4,-7.0,254,5366,0.00,2.62,0.00,0.000,4,0.000,0.067,2563,3563,3101
$GC,5372,-0.62,-117.3,320.2,-6.8,254,5378,0.00,2.60,0.00,0.000,6,0.000,0.053,2563,2105,3101
$GC,5688,-0.62,-117.3,337.0,-5.1,270,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2088,3101
$GC,5997,-0.62,-117.3,353.6,-5.1,285,6002,0.00,2.67,0.00,0.000,4,0.000,0.066,2563,3561,3101
$GC,6047,-0.62,-117.3,356.7,-6.2,287,6052,0.00,2.60,0.00,0.000,6,0.000,0.053,2563,2106,3101
$GC,6364,-0.62,-117.3,375.0,-6.1,302,6368,0.00,2.65,0.00,0.000,4,0.000,0.066,2563,3558,3101
$GC,6481,-0.62,-117.3,383.1,-7.2,307,6486,0.00,2.58,0.00,0.000,6,0.000,0.051,2563,2114,3101
$GC,6797,-0.62,-117.3,407.9,-8.4,322,6801,0.00,2.62,0.00,0.000,4,0.000,0.065,2563,3557,3100
$GC,6824,-0.62,-117.3,410.7,-9.9,323,6829,0.00,2.58,0.00,0.000,6,0.000,0.053,2563,2117,3100
$GC,7140,-0.62,-117.3,441.4,-9.4,338,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2099,3100
$GC,7449,-0.62,-117.3,467.6,-7.5,353,7453,0.00,2.65,0.00,0.000,4,0.000,0.067,2563,3561,3100
$GC,7459,-0.62,-117.3,468.2,-7.0,353,7465,0.00,2.58,0.00,0.000,6,0.000,0.053,2563,2118,3100
$GC,7775,-0.62,-117.3,484.1,-5.3,369,7777,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2101,3100
$GC,8085,-0.67,-117.3,507.2,-8.3,384,8089,0.00,2.65,0.00,0.000,4,0.000,0.067,2563,3556,3100
$GC,8134,-0.67,-117.3,511.8,-9.2,386,8139,0.00,2.53,0.00,0.000,6,0.000,0.052,2563,2130,3100
$GC,8451,-0.67,-117.3,537.0,-7.6,401,8455,0.00,2.62,0.00,0.000,4,0.000,0.068,2563,3555,3099
$GC,8472,-0.67,-117.3,538.7,-7.3,402,8477,0.00,2.53,0.00,0.000,6,0.000,0.055,2563,2144,3099
$GC,8794,-0.67,-117.3,563.2,-7.5,418,8798,0.00,2.62,0.00,0.000,4,0.000,0.069,2563,3563,3099
$GC,8883,-0.67,-117.3,569.8,-6.9,422,8887,0.00,2.47,0.00,0.000,6,0.000,0.054,2563,2176,3099
$GC,9204,-0.67,-117.3,587.0,-4.2,438,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2158,3099
$GC,9513,-0.67,-117.3,593.6,-1.4,453,9517,0.00,2.60,0.00,0.000,4,0.000,0.073,2563,746,3098
$GC,9683,-0.67,-117.3,593.1,-0.0,460,9689,0.00,2.58,0.00,0.000,6,0.000,0.058,2563,2174,3098
$GC,10000,-0.67,-117.3,605.1,-3.4,476,10004,0.00,2.53,0.00,0.000,4,0.000,0.073,2563,3558,3098
$GC,10154,-0.72,-117.3,612.9,-6.7,483,10158,0.00,2.40,0.00,0.000,6,0.000,0.058,2563,2223,3098
$GC,10481,-0.64,-117.3,620.9,-0.9,499,10485,0.00,2.50,0.00,0.000,4,0.000,0.077,2563,3557,3097
$GC,10611,-0.64,-117.3,626.5,-2.8,505,10616,0.00,2.33,0.00,0.000,6,0.000,0.058,2563,2263,3097
$GC,10940,-0.64,-117.3,625.1,5.3,521,10941,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2240,3096
$GC,11248,-0.69,-117.3,633.4,-6.3,536,11252,0.00,2.42,0.00,0.000,4,0.000,0.081,2563,3557,3096
$GC,11321,-0.69,-117.3,640.9,-12.3,539,11325,0.00,2.25,0.00,0.000,6,0.000,0.061,2563,2297,3095
$GC,11649,-0.76,-117.3,650.4,-4.9,555,11654,0.12,2.35,0.00,0.000,4,0.060,0.082,2529,3556,3094
$GC,11908,-0.71,-117.3,674.0,-4.4,566,11914,0.00,2.25,0.00,0.000,6,0.000,0.064,2529,2303,3093
$STATE,12097,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12097,begin apogee
$GC,12105,-0.33,0.0,705.1,17.3,576,12207,0.47,0.00,99.60,1.347,6,0.096,0.000,2625,2100,2620
$STATE,12208,end apogee,CONTROL_FINISHED_OK
$STATE,12208,begin climb
$GC,12211,1.03,117.3,712.0,0.0,581,12318,1.40,2.75,99.30,1.307,4,0.084,0.078,2917,3510,2141
$GC,12453,0.93,117.3,694.0,15.8,592,12457,0.00,2.62,0.00,0.000,6,0.000,0.062,2917,2095,2139
$GC,12769,0.89,117.3,654.6,7.5,607,12774,0.12,2.62,0.00,0.000,4,0.098,0.084,2894,692,2139
$GC,12906,0.93,117.3,639.1,13.2,613,12910,0.00,2.55,0.00,0.000,6,0.000,0.067,2894,2069,2138
$GC,13227,0.93,117.3,611.5,9.1,629,13231,0.00,2.70,0.00,0.000,4,0.000,0.079,2894,3514,2137
$GC,13334,0.93,117.3,601.9,8.8,634,13338,0.00,2.67,0.00,0.000,6,0.000,0.065,2894,2061,2136
$GC,13660,0.93,117.3,567.3,14.1,650,13661,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2050,2136
$GC,13970,1.02,138.4,546.3,5.3,665,13995,0.12,2.62,18.02,1.200,4,0.058,0.078,2930,688,2055
$GC,14046,0.97,138.4,538.8,10.1,668,14051,0.00,2.58,0.00,0.000,6,0.000,0.065,2930,2083,2055
$GC,14362,0.97,138.4,507.2,12.5,683,14367,0.00,2.62,0.00,0.000,4,0.000,0.075,2930,3508,2054
$GC,14510,0.92,138.4,485.8,16.2,689,14517,0.15,2.55,0.00,0.000,6,0.089,0.059,2899,2108,2053
$GC,14827,0.98,138.4,448.6,12.3,705,14831,0.00,2.58,0.00,0.000,4,0.000,0.073,2899,689,2053
$GC,14867,1.03,138.4,443.2,13.9,707,14872,0.12,2.60,0.00,0.000,6,0.054,0.061,2936,2118,2053
$GC,15193,1.03,138.4,398.3,14.0,723,15198,0.00,2.55,0.00,0.000,4,0.000,0.071,2936,3514,2053
$GC,15244,0.99,138.4,391.2,13.1,725,15249,0.00,2.55,0.00,0.000,6,0.000,0.058,2936,2109,2053
$GC,15560,0.99,138.4,355.5,10.4,740,15564,0.00,2.58,0.00,0.000,4,0.000,0.067,2936,3509,2053
$GC,15610,0.94,138.4,350.0,10.2,742,15615,0.15,2.47,0.00,0.000,6,0.085,0.055,2904,2136,2053
$GC,15927,1.05,173.5,328.1,4.8,757,15959,0.10,0.00,29.65,1.052,6,0.056,0.000,2938,2136,1912
$GC,16255,1.36,365.7,320.9,-0.6,773,16422,0.22,2.62,154.40,1.046,4,0.044,0.064,3003,3508,1129
$GC,16478,1.62,525.7,318.1,0.5,783,16614,0.22,2.47,129.23,0.996,6,0.044,0.055,3060,2151,476
$GC,16945,1.46,525.7,283.3,9.1,806,16950,0.17,2.70,0.00,0.000,4,0.087,0.071,3021,684,479
$GC,17029,1.46,525.7,276.4,7.9,810,17034,0.00,2.62,0.00,0.000,6,0.000,0.055,3021,2137,479
$GC,17358,1.41,525.7,252.2,7.5,826,17362,0.00,2.70,0.00,0.000,4,0.000,0.071,3021,689,480
$GC,17424,1.41,525.7,247.2,6.6,829,17429,0.00,2.55,0.00,0.000,6,0.000,0.054,3021,2099,480
$GC,17746,1.36,525.7,223.8,7.6,845,17751,0.12,2.62,0.00,0.000,4,0.086,0.069,2995,690,481
$GC,17797,1.44,547.9,220.5,5.2,847,17822,0.00,2.47,20.10,0.914,6,0.000,0.054,2995,2063,391
$GC,18133,1.44,547.9,200.7,6.2,863,18142,0.00,2.60,3.00,0.486,4,0.000,0.072,2995,688,390
$GC,18183,1.49,547.9,197.2,7.7,865,18188,0.12,2.45,0.00,0.000,6,0.048,0.054,3031,2041,390
$GC,18505,1.42,547.9,163.7,11.7,881,18507,0.12,0.00,0.00,0.000,6,0.087,0.000,3007,2042,392
$GC,18814,1.42,547.9,133.9,8.6,896,18818,0.00,2.53,0.00,0.000,4,0.000,0.069,3006,681,393
$GC,18876,1.42,547.9,128.2,9.3,899,18880,0.00,2.42,0.00,0.000,6,0.000,0.052,3007,2035,394
$GC,19203,1.42,547.9,100.5,9.3,915,19207,0.00,2.50,0.00,0.000,4,0.000,0.069,3006,687,394
$GC,19236,1.42,547.9,96.5,11.8,916,19242,0.00,2.35,0.00,0.000,6,0.000,0.051,3007,2007,394
$GC,19553,1.42,547.9,63.3,9.8,932,19557,0.00,2.45,0.00,0.000,4,0.000,0.068,3007,687,394
$GC,19609,1.47,547.9,57.0,12.0,934,19615,0.00,2.33,0.00,0.000,6,0.000,0.051,3007,1989,394
$GC,19926,1.47,547.9,19.3,12.1,950,19930,0.00,2.40,0.00,0.000,4,0.000,0.067,3007,690,394
$GC,19966,1.53,547.9,14.5,9.8,952,19971,0.12,2.25,0.00,0.000,6,0.048,0.050,3044,1960,394
$STATE,20043,end climb,SURFACE_DEPTH_REACHED
$STATE,20043,begin surface coast
$FINISH,-0.1,1.027162
$STATE,20066,end surface coast,CONTROL_FINISHED_OK
$STATE,20066,begin surface
$SM_CCo,20150,0.00,0.000,0,0,394,546.04
$SM_GC,0.54,11.30,0.00,0.00,0.034,0.000,0.000,421,2178,394,-10.38,0.79,546.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1669
$TCM_TEMP,17.50
$XPDR_PINGS,596
$ALTIM_TOP_PING,19.3,999.0
$ALTIM_BOTTOM_PING,650.4,63.8
$24V_AH,23.8,15.137
$10V_AH,10.1,6.451
$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,26.275,193.100,553.300,0.000,0.000,37.762,29.558,157.782,154.750,0.000,0.000,13.479,1826.351,15062.458,646.191,2382.560,576.331,33.366,1864.666,0.000,2331.836,0.000,39.509
$DEVICE_MAMPS,140.361,83.603,1346.852,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,656.008,709.865,589.614,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50627,957
$CAP_FILE_SIZE,160634,0
$CFSIZE,254472192,248016896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,190608,220740,6159.044,-938.600,55,1.8,55,-9.7