version: 66.03
glider: 5
mission: 3
dive: 76
start: 6 22 108 1 36 1
data:
$ID,5
$MISSION,3
$DIVE,76
$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,240
$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,-78057.25
$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,42
$R_STBD_OVSHOOT,21
$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
$GPS1,013001,6157.477,-900.100,40,1.5,40,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-63.6
$GPS2,013509,6157.399,-900.081,14,1.3,14,-9.4
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.126,-0.157
$KALMAN_X,-74791.6,-2102.6,-961.5,39236.3,21593.9
$KALMAN_Y,561.2,-826.4,-1948.2,62458.3,8790.8
$MHEAD_RNG_PITCHd_Wd,228.0,31850,-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,-117.3,0.0,0.0,0,96,0.00,0.00,-69.78,0.000,6,0.000,0.000,420,2116,3100
$GC,99,-1.03,-117.3,2.1,-3.4,3,116,10.57,2.60,0.00,0.000,4,0.137,0.058,2468,3561,3100
$GC,122,0.67,-117.3,7.4,-14.6,3,130,1.80,2.50,0.00,0.000,6,0.084,0.049,2845,2167,3102
$GC,449,-0.15,-117.3,21.2,-4.5,19,455,0.80,2.53,0.00,0.000,4,0.060,0.058,2667,3561,3102
$GC,583,-0.50,-117.3,27.8,-4.2,25,588,0.35,2.20,0.00,0.000,6,0.039,0.043,2572,2308,3102
$GC,910,-0.50,-117.3,48.3,-6.4,41,914,0.00,2.83,0.00,0.000,4,0.000,0.064,2572,740,3102
$GC,1004,-0.50,-117.3,54.7,-6.5,45,1009,0.00,2.85,0.00,0.000,6,0.000,0.051,2572,2332,3102
$GC,1321,-0.50,-117.3,72.1,-5.3,60,1326,0.00,2.90,0.00,0.000,4,0.000,0.063,2572,747,3103
$GC,1433,-0.50,-117.3,78.5,-5.7,65,1438,0.00,2.80,0.00,0.000,6,0.000,0.051,2572,2313,3103
$GC,1755,-0.50,-117.3,94.9,-5.3,81,1759,0.00,2.85,0.00,0.000,4,0.000,0.061,2572,747,3103
$GC,1795,-0.50,-117.3,97.1,-5.7,83,1799,0.00,2.78,0.00,0.000,6,0.000,0.051,2572,2301,3103
$GC,2122,-0.50,-117.3,114.6,-5.2,99,2127,0.00,2.83,0.00,0.000,4,0.000,0.063,2572,747,3103
$GC,2140,-0.50,-117.3,115.4,-5.2,100,2144,0.00,2.78,0.00,0.000,6,0.000,0.052,2572,2300,3103
$GC,2467,-0.50,-117.3,132.7,-5.2,116,2472,0.00,2.85,0.00,0.000,4,0.000,0.064,2572,742,3103
$GC,2500,-0.50,-117.3,134.6,-5.9,117,2507,0.00,2.78,0.00,0.000,6,0.000,0.053,2572,2290,3103
$GC,2816,-0.50,-117.3,153.9,-6.6,133,2821,0.00,2.83,0.00,0.000,4,0.000,0.063,2572,741,3103
$GC,2901,-0.50,-117.3,159.9,-7.1,137,2905,0.00,2.75,0.00,0.000,6,0.000,0.054,2572,2278,3103
$GC,3227,-0.50,-117.3,182.2,-6.8,153,3232,0.00,2.80,0.00,0.000,4,0.000,0.066,2572,749,3103
$GC,3295,-0.50,-117.3,187.0,-7.0,156,3300,0.00,2.70,0.00,0.000,6,0.000,0.053,2572,2254,3103
$GC,3616,-0.50,-117.3,206.9,-6.0,172,3620,0.00,2.78,0.00,0.000,4,0.000,0.065,2572,741,3103
$GC,3643,-0.50,-117.3,208.6,-6.2,173,3647,0.00,2.70,0.00,0.000,6,0.000,0.053,2572,2249,3103
$GC,3959,-0.50,-117.3,226.7,-5.7,188,3964,0.00,2.72,0.00,0.000,4,0.000,0.064,2572,747,3103
$GC,3977,-0.50,-117.3,227.7,-5.8,189,3982,0.00,2.67,0.00,0.000,6,0.000,0.054,2572,2245,3103
$GC,4304,-0.50,-117.3,246.7,-5.6,205,4308,0.00,2.75,0.00,0.000,4,0.000,0.066,2571,746,3103
$GC,4354,-0.50,-117.3,249.8,-6.2,207,4358,0.00,2.67,0.00,0.000,6,0.000,0.054,2572,2236,3103
$GC,4670,-0.50,-117.3,267.4,-5.6,222,4674,0.00,2.72,0.00,0.000,4,0.000,0.066,2572,747,3103
$GC,4714,-0.50,-117.3,270.0,-5.8,224,4718,0.00,2.65,0.00,0.000,6,0.000,0.054,2572,2227,3103
$GC,5035,-0.50,-117.3,287.2,-5.3,240,5040,0.00,2.70,0.00,0.000,4,0.000,0.065,2572,746,3103
$GC,5076,-0.50,-117.3,289.2,-5.1,242,5080,0.00,2.65,0.00,0.000,6,0.000,0.054,2572,2224,3103
$GC,5402,-0.50,-117.3,307.0,-5.9,258,5407,0.00,2.67,0.00,0.000,4,0.000,0.066,2572,746,3102
$GC,5413,-0.50,-117.3,307.7,-5.9,258,5419,0.00,2.65,0.00,0.000,6,0.000,0.054,2572,2223,3102
$GC,5729,-0.50,-117.3,328.9,-7.1,274,5733,0.00,2.67,0.00,0.000,4,0.000,0.067,2572,747,3102
$GC,5778,-0.50,-117.3,333.0,-8.8,276,5783,0.00,2.62,0.00,0.000,6,0.000,0.054,2572,2213,3102
$GC,6095,-0.54,-117.3,355.3,-7.0,291,6100,0.00,2.67,0.00,0.000,4,0.000,0.067,2572,747,3102
$GC,6139,-0.54,-117.3,358.6,-7.3,293,6143,0.00,2.62,0.00,0.000,6,0.000,0.054,2572,2209,3102
$GC,6460,-0.59,-117.3,379.4,-6.5,309,6465,0.00,2.67,0.00,0.000,4,0.000,0.067,2572,747,3102
$GC,6477,-0.59,-117.3,380.5,-6.3,310,6482,0.00,2.60,0.00,0.000,6,0.000,0.054,2572,2202,3102
$GC,6805,-0.59,-117.3,402.2,-6.2,326,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2201,3102
$GC,7114,-0.63,-117.3,422.9,-7.7,341,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2202,3101
$GC,7424,-0.68,-117.3,438.4,-3.2,356,7429,0.00,2.65,0.00,0.000,4,0.000,0.067,2572,747,3102
$GC,7442,-0.73,-117.3,439.1,-3.0,357,7447,0.15,2.62,0.00,0.000,6,0.051,0.054,2526,2213,3101
$GC,7772,-0.65,-117.3,456.5,-5.0,373,7774,0.15,0.00,0.00,0.000,6,0.093,0.000,2557,2214,3101
$GC,8078,-0.65,-117.3,469.1,-4.2,388,8082,0.00,2.42,0.00,0.000,4,0.000,0.068,2558,3557,3101
$GC,8106,-0.65,-117.3,470.4,-4.9,389,8110,0.00,2.42,0.00,0.000,6,0.000,0.054,2558,2200,3101
$GC,8422,-0.65,-117.3,490.4,-6.5,404,8426,0.00,2.53,0.00,0.000,4,0.000,0.070,2558,3566,3101
$GC,8529,-0.65,-117.3,496.5,-4.7,409,8534,0.00,2.40,0.00,0.000,6,0.000,0.055,2558,2213,3101
$GC,8857,-0.65,-117.3,510.5,-4.7,425,8861,0.00,2.50,0.00,0.000,4,0.000,0.072,2558,3559,3101
$GC,8970,-0.65,-117.3,516.2,-5.6,430,8974,0.00,2.42,0.00,0.000,6,0.000,0.059,2558,2216,3101
$GC,9292,-0.65,-117.3,531.4,-5.4,446,9296,0.00,2.70,0.00,0.000,4,0.000,0.081,2558,747,3101
$GC,9309,-0.65,-117.3,532.5,-5.8,447,9314,0.00,2.65,0.00,0.000,6,0.000,0.064,2558,2199,3101
$STATE,9550,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9550,begin apogee
$GC,9557,-0.33,0.0,547.5,6.3,459,9659,0.32,0.00,99.20,1.195,6,0.086,0.000,2624,2101,2620
$STATE,9660,end apogee,CONTROL_FINISHED_OK
$STATE,9660,begin climb
$GC,9663,1.03,117.3,550.8,0.0,464,9769,1.38,2.72,97.50,1.170,4,0.072,0.077,2920,3510,2140
$GC,9813,1.04,158.0,544.5,4.6,471,9855,0.00,2.62,34.50,1.133,6,0.000,0.065,2920,2096,1976
$GC,10164,1.04,158.0,522.7,7.0,488,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2096,1975
$GC,10473,1.04,158.0,501.1,7.5,503,10474,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2097,1974
$GC,10782,1.04,158.0,474.9,8.9,518,10787,0.00,2.67,0.00,0.000,4,0.000,0.078,2920,3509,1972
$GC,10838,1.04,158.0,469.8,9.5,520,10844,0.00,2.60,0.00,0.000,6,0.000,0.065,2920,2101,1972
$GC,11155,1.13,214.9,451.0,4.1,536,11209,0.10,2.78,46.83,1.164,4,0.060,0.074,2949,3515,1743
$GC,11244,1.15,222.7,446.7,5.7,540,11260,0.00,2.60,8.05,0.991,6,0.000,0.062,2950,2116,1711
$GC,11570,1.15,222.7,423.7,8.5,556,11571,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2116,1711
$GC,11879,1.15,222.7,399.1,6.8,571,11883,0.00,2.58,0.00,0.000,4,0.000,0.067,2950,3513,1711
$GC,11929,1.15,222.7,395.7,6.4,573,11933,0.00,2.55,0.00,0.000,6,0.000,0.058,2950,2115,1711
$GC,12245,1.15,222.7,369.7,9.2,588,12246,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2115,1711
$GC,12554,1.15,222.7,339.5,9.6,603,12558,0.00,2.55,0.00,0.000,4,0.000,0.064,2950,3512,1711
$GC,12617,1.15,222.7,333.6,9.4,606,12621,0.00,2.50,0.00,0.000,6,0.000,0.055,2950,2128,1711
$GC,12943,1.15,222.7,308.1,6.9,622,12947,0.00,2.62,0.00,0.000,4,0.000,0.071,2950,683,1712
$GC,12976,1.15,222.7,305.5,6.7,623,12982,0.00,2.62,0.00,0.000,6,0.000,0.054,2950,2140,1712
$GC,13291,1.15,222.7,282.9,7.1,639,13295,0.00,2.45,0.00,0.000,4,0.000,0.064,2951,3510,1712
$GC,13338,1.15,222.7,279.6,6.6,641,13342,0.00,2.47,0.00,0.000,6,0.000,0.054,2950,2133,1712
$GC,13664,1.15,222.7,256.5,7.6,657,13665,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2133,1713
$GC,13973,1.15,222.7,232.2,7.6,672,13978,0.00,2.50,0.00,0.000,4,0.000,0.062,2950,3511,1713
$GC,14006,1.15,222.7,229.6,7.6,673,14012,0.00,2.45,0.00,0.000,6,0.000,0.054,2950,2149,1713
$GC,14322,1.15,222.7,206.2,7.6,689,14323,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2149,1714
$GC,14632,1.15,222.7,184.2,7.1,704,14633,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2149,1714
$GC,14941,1.15,222.7,156.8,10.2,719,14945,0.00,2.47,0.00,0.000,4,0.000,0.062,2950,3511,1715
$GC,14982,1.15,222.7,152.4,11.3,721,14987,0.00,2.42,0.00,0.000,6,0.000,0.051,2950,2151,1715
$GC,15310,1.15,222.7,110.1,14.6,737,15314,0.00,2.65,0.00,0.000,4,0.000,0.068,2950,681,1715
$GC,15350,1.15,222.7,104.0,15.4,739,15354,0.00,2.65,0.00,0.000,6,0.000,0.053,2951,2165,1715
$GC,15677,1.15,222.7,65.4,8.8,755,15681,0.00,2.40,0.00,0.000,4,0.000,0.061,2950,3511,1715
$GC,15721,1.15,222.7,62.2,6.5,757,15726,0.00,2.42,0.00,0.000,6,0.000,0.051,2950,2155,1716
$GC,16043,1.30,320.4,52.3,2.7,773,16128,0.15,2.78,77.75,0.831,4,0.044,0.067,3002,689,1314
$GC,16187,1.25,320.4,43.0,7.2,779,16192,0.15,2.65,0.00,0.000,6,0.080,0.052,2972,2163,1314
$GC,16503,1.25,320.4,21.2,7.2,794,16504,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2162,1315
$STATE,16748,end climb,SURFACE_DEPTH_REACHED
$STATE,16748,begin surface coast
$FINISH,-0.1,1.012708
$STATE,16769,end surface coast,CONTROL_FINISHED_OK
$STATE,16770,begin surface
$SM_CCo,16852,0.00,0.000,0,0,1313,320.61
$SM_GC,0.73,11.05,0.00,0.00,0.037,0.000,0.000,427,2165,1313,-10.38,0.40,320.61
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1672
$TCM_TEMP,17.50
$XPDR_PINGS,512
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,500.8,56.6
$24V_AH,23.9,17.105
$10V_AH,10.1,7.465
$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,26.975,184.575,363.825,0.000,0.000,37.761,27.118,129.069,132.250,0.000,0.000,14.589,1519.621,12818.037,499.213,1830.085,493.705,33.364,1438.792,0.000,1793.882,0.000,29.777
$DEVICE_MAMPS,137.293,80.535,1194.986,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,553.556,595.182,573.162,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41163,807
$CAP_FILE_SIZE,131558,0
$CFSIZE,254472192,247263232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,220608,061808,6151.651,-905.686,38,1.0,38,-9.4