version: 66.03
glider: 5
mission: 3
dive: 77
start: 6 22 108 6 27 44
data:
$ID,5
$MISSION,3
$DIVE,77
$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,-78071.398
$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,19
$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
$GPS1,061808,6151.651,-905.686,38,1.0,38,-9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-60.7
$GPS2,062651,6151.563,-905.895,13,1.0,13,-9.4
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.149,-0.135
$KALMAN_X,-79192.3,-995.9,-1669.5,38105.8,12714.4
$KALMAN_Y,-8050.9,-91.6,-1614.3,59195.4,-3838.7
$MHEAD_RNG_PITCHd_Wd,237.1,20071,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.03,-117.3,0.0,0.0,0,100,0.00,0.00,-73.93,0.000,6,0.000,0.000,427,2168,3099
$GC,103,-1.03,-117.3,1.8,-2.6,3,120,10.60,2.58,0.00,0.000,4,0.140,0.058,2468,742,3101
$GC,159,-0.71,-117.3,10.4,-10.8,4,167,0.35,2.53,0.00,0.000,6,0.088,0.050,2542,2155,3101
$GC,476,-0.62,-117.3,33.6,-7.0,20,481,0.12,2.58,0.00,0.000,4,0.095,0.060,2568,742,3102
$GC,728,-0.62,-117.3,51.5,-6.4,31,733,0.00,2.55,0.00,0.000,6,0.000,0.051,2568,2174,3103
$GC,1045,-0.62,-117.3,67.7,-5.2,46,1049,0.00,2.62,0.00,0.000,4,0.000,0.062,2568,738,3102
$GC,1072,-0.62,-117.3,69.3,-5.9,47,1077,0.00,2.53,0.00,0.000,6,0.000,0.050,2568,2156,3103
$GC,1389,-0.62,-117.3,87.3,-6.2,62,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2156,3103
$GC,1699,-0.62,-117.3,105.4,-5.5,77,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2155,3103
$GC,2007,-0.62,-117.3,123.9,-6.5,92,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2156,3103
$GC,2316,-0.62,-117.3,145.6,-7.2,107,2320,0.00,2.58,0.00,0.000,4,0.000,0.063,2568,743,3103
$GC,2349,-0.62,-117.3,148.1,-8.0,108,2355,0.00,2.55,0.00,0.000,6,0.000,0.052,2568,2166,3103
$GC,2665,-0.62,-117.3,174.2,-8.5,124,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2166,3103
$GC,2974,-0.62,-117.3,198.0,-7.2,139,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2166,3103
$GC,3284,-0.62,-117.3,216.9,-5.7,154,3288,0.00,2.60,0.00,0.000,4,0.000,0.065,2568,743,3102
$GC,3317,-0.62,-117.3,218.8,-5.8,155,3323,0.00,2.55,0.00,0.000,6,0.000,0.053,2568,2170,3103
$GC,3633,-0.62,-117.3,234.5,-5.0,171,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2170,3102
$GC,3943,-0.62,-117.3,249.8,-5.1,186,3948,0.00,2.62,0.00,0.000,4,0.000,0.065,2568,737,3102
$GC,4004,-0.62,-117.3,253.5,-6.1,188,4010,0.00,2.55,0.00,0.000,6,0.000,0.053,2568,2162,3102
$GC,4320,-0.62,-117.3,271.9,-6.1,204,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2162,3102
$GC,4629,-0.62,-117.3,293.0,-7.4,219,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2162,3101
$GC,4938,-0.62,-117.3,317.0,-8.0,234,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2162,3101
$GC,5247,-0.62,-117.3,340.7,-7.4,249,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2162,3101
$GC,5557,-0.62,-117.3,361.0,-6.1,264,5561,0.00,2.58,0.00,0.000,4,0.000,0.067,2568,742,3101
$GC,5591,-0.62,-117.3,363.1,-6.1,265,5597,0.00,2.53,0.00,0.000,6,0.000,0.054,2568,2148,3101
$GC,5907,-0.62,-117.3,379.4,-4.6,281,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2148,3101
$GC,6216,-0.62,-117.3,394.3,-5.1,296,6221,0.00,2.58,0.00,0.000,4,0.000,0.067,2568,742,3101
$GC,6234,-0.62,-117.3,395.2,-5.3,297,6238,0.00,2.53,0.00,0.000,6,0.000,0.054,2568,2154,3101
$GC,6561,-0.62,-117.3,411.6,-4.9,313,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2153,3100
$GC,6870,-0.62,-117.3,426.5,-4.6,328,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2153,3100
$GC,7179,-0.62,-117.3,441.7,-5.2,343,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2153,3100
$GC,7489,-0.62,-117.3,458.5,-5.8,358,7493,0.00,2.60,0.00,0.000,4,0.000,0.067,2568,738,3100
$GC,7506,-0.62,-117.3,459.4,-5.8,359,7510,0.00,2.53,0.00,0.000,6,0.000,0.054,2568,2149,3100
$GC,7833,-0.62,-117.3,477.6,-5.4,375,7837,0.00,2.58,0.00,0.000,4,0.000,0.068,2568,741,3100
$GC,7865,-0.62,-117.3,479.6,-6.2,376,7871,0.00,2.53,0.00,0.000,6,0.000,0.055,2568,2145,3100
$GC,8182,-0.66,-117.3,499.7,-6.0,392,8190,0.00,2.58,0.00,0.000,4,0.000,0.068,2568,738,3100
$GC,8240,-0.66,-117.3,503.3,-5.7,394,8245,0.00,2.53,0.00,0.000,6,0.000,0.055,2568,2140,3100
$GC,8557,-0.66,-117.3,515.4,-3.4,409,8561,0.00,2.58,0.00,0.000,4,0.000,0.069,2567,740,3100
$GC,8664,-0.66,-117.3,520.0,-4.2,414,8668,0.00,2.45,0.00,0.000,6,0.000,0.055,2567,2113,3100
$GC,8991,-0.72,-117.3,537.3,-5.0,430,8996,0.12,2.53,0.00,0.000,4,0.053,0.069,2531,743,3100
$GC,9064,-0.64,-117.3,540.9,-4.5,433,9069,0.12,2.42,0.00,0.000,6,0.097,0.056,2555,2090,3100
$GC,9380,-0.64,-117.3,549.2,-3.0,448,9385,0.00,2.65,0.00,0.000,4,0.000,0.070,2556,3554,3100
$GC,9448,-0.64,-117.3,552.5,-5.0,451,9452,0.00,2.60,0.00,0.000,6,0.000,0.057,2556,2108,3100
$GC,9769,-0.64,-117.3,570.5,-5.6,467,9774,0.00,2.67,0.00,0.000,4,0.000,0.072,2556,3555,3100
$GC,9967,-0.64,-117.3,582.1,-6.1,476,9971,0.00,2.58,0.00,0.000,6,0.000,0.060,2556,2132,3100
$GC,10294,-0.64,-117.3,597.7,-4.8,492,10298,0.00,2.67,0.00,0.000,4,0.000,0.077,2556,3557,3099
$GC,10383,-0.64,-117.3,602.2,-5.1,496,10387,0.00,2.58,0.00,0.000,6,0.000,0.062,2556,2144,3099
$GC,10704,-0.64,-117.3,614.7,-4.0,512,10709,0.00,2.67,0.00,0.000,4,0.000,0.082,2556,3556,3098
$GC,10748,-0.64,-117.3,616.8,-4.7,514,10753,0.00,2.58,0.00,0.000,6,0.000,0.067,2556,2154,3098
$GC,11070,-0.64,-117.3,629.5,-4.0,530,11071,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2138,3097
$GC,11379,-0.64,-117.3,645.1,-5.0,545,11380,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2138,3096
$STATE,11604,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11604,begin apogee
$GC,11611,-0.33,0.0,656.5,4.7,556,11714,0.32,0.00,99.93,1.322,6,0.091,0.000,2623,2077,2620
$STATE,11715,end apogee,CONTROL_FINISHED_OK
$STATE,11715,begin climb
$GC,11718,1.03,117.3,659.7,0.0,561,11828,1.42,2.70,98.88,1.292,4,0.076,0.086,2922,718,2141
$GC,11874,0.97,117.3,653.2,6.8,569,11878,0.00,2.60,0.00,0.000,6,0.000,0.071,2922,2100,2141
$GC,12201,0.99,130.2,632.1,5.6,585,12222,0.00,2.75,12.15,1.170,4,0.000,0.084,2922,3511,2088
$GC,12291,0.99,130.2,626.3,7.0,589,12295,0.00,2.60,0.00,0.000,6,0.000,0.071,2922,2127,2088
$GC,12618,0.95,130.2,602.4,7.6,605,12619,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2127,2087
$GC,12926,0.95,130.2,580.5,7.2,620,12931,0.00,2.65,0.00,0.000,4,0.000,0.084,2922,3512,2086
$GC,12994,0.89,130.2,575.3,8.3,623,12999,0.15,2.60,0.00,0.000,6,0.095,0.071,2893,2122,2086
$GC,13316,1.00,162.7,556.1,4.9,639,13350,0.12,2.75,27.90,1.264,4,0.060,0.082,2927,3512,1956
$GC,13384,1.00,162.7,551.8,6.0,642,13389,0.00,2.62,0.00,0.000,6,0.000,0.071,2928,2122,1956
$GC,13706,1.00,162.7,530.8,7.5,658,13710,0.00,2.67,0.00,0.000,4,0.000,0.083,2927,3517,1954
$GC,13772,1.00,162.7,525.0,9.3,661,13776,0.00,2.55,0.00,0.000,6,0.000,0.068,2927,2141,1954
$GC,14093,1.00,162.7,500.1,7.5,677,14097,0.00,2.70,0.00,0.000,4,0.000,0.083,2927,689,1953
$GC,14142,1.00,162.7,495.9,7.8,679,14147,0.00,2.70,0.00,0.000,6,0.000,0.069,2928,2148,1953
$GC,14458,1.00,162.7,472.5,7.5,694,14459,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2148,1952
$GC,14768,1.00,162.7,451.5,6.3,709,14772,0.00,2.50,0.00,0.000,4,0.000,0.072,2927,3519,1952
$GC,14823,1.00,162.7,447.7,6.5,711,14829,0.00,2.50,0.00,0.000,6,0.000,0.062,2928,2150,1951
$GC,15138,1.00,162.7,427.9,6.2,727,15140,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2151,1952
$GC,15448,1.00,162.7,408.0,7.0,742,15449,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2151,1953
$GC,15757,1.00,162.7,385.0,7.4,757,15761,0.00,2.50,0.00,0.000,4,0.000,0.066,2928,3515,1954
$GC,15807,1.00,162.7,381.0,8.0,759,15811,0.00,2.42,0.00,0.000,6,0.000,0.054,2927,2165,1954
$GC,16128,1.00,162.7,360.5,6.1,775,16129,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2166,1955
$GC,16437,1.04,183.5,344.4,5.3,790,16462,0.00,2.55,18.75,1.022,4,0.000,0.062,2928,3510,1871
$GC,16491,1.04,183.5,341.2,6.2,792,16495,0.00,2.42,0.00,0.000,6,0.000,0.051,2928,2172,1871
$GC,16806,1.04,183.5,320.1,7.6,807,16811,0.00,2.67,0.00,0.000,4,0.000,0.068,2928,691,1871
$GC,16840,1.04,183.5,317.3,9.0,808,16846,0.00,2.67,0.00,0.000,6,0.000,0.054,2928,2179,1871
$GC,17155,1.04,183.5,294.4,6.6,824,17156,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2179,1871
$GC,17465,1.04,183.5,269.7,8.7,839,17466,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2179,1872
$GC,17774,1.04,183.5,241.9,8.8,854,17775,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2179,1873
$GC,18083,1.04,183.5,216.5,7.9,869,18087,0.00,2.70,0.00,0.000,4,0.000,0.067,2928,691,1873
$GC,18127,1.04,183.5,212.4,10.0,871,18132,0.00,2.67,0.00,0.000,6,0.000,0.054,2928,2184,1873
$GC,18448,1.04,183.5,188.7,7.0,887,18449,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2184,1874
$GC,18757,1.04,183.5,169.6,6.0,902,18758,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2184,1874
$GC,19067,1.09,185.3,150.9,5.9,917,19076,0.00,2.75,4.03,0.618,4,0.000,0.066,2928,683,1864
$GC,19113,1.13,185.3,148.0,6.4,919,19117,0.00,2.67,0.00,0.000,6,0.000,0.053,2928,2173,1864
$GC,19441,1.20,199.8,128.6,5.5,935,19460,0.15,0.00,13.10,0.838,6,0.046,0.000,2974,2172,1804
$GC,19771,1.14,199.8,101.8,8.5,951,19773,0.12,0.00,0.00,0.000,6,0.083,0.000,2947,2173,1804
$GC,20078,1.14,199.8,78.0,7.9,966,20083,0.00,2.72,0.00,0.000,4,0.000,0.065,2947,684,1804
$GC,20119,1.14,199.8,74.5,9.1,968,20123,0.00,2.65,0.00,0.000,6,0.000,0.052,2947,2164,1804
$GC,20446,1.14,199.8,49.5,7.3,984,20450,0.00,2.42,0.00,0.000,4,0.000,0.061,2947,3519,1804
$GC,20490,1.14,199.8,46.0,8.1,986,20494,0.00,2.42,0.00,0.000,6,0.000,0.050,2947,2161,1804
$GC,20817,1.14,199.8,24.2,7.3,1002,20821,0.00,2.47,0.00,0.000,4,0.000,0.060,2947,3519,1805
$GC,20850,1.14,199.8,21.6,7.7,1003,20856,0.00,2.40,0.00,0.000,6,0.000,0.050,2947,2170,1805
$STATE,21122,end climb,SURFACE_DEPTH_REACHED
$STATE,21122,begin surface coast
$FINISH,0.3,1.027097
$STATE,21144,end surface coast,CONTROL_FINISHED_OK
$STATE,21144,begin surface
$SM_CCo,21166,57.55,0.793,0,0,1396,300.00
$SM_GC,0.62,0.00,0.00,57.55,0.000,0.000,0.793,420,2159,1396,-10.49,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1672
$TCM_TEMP,17.50
$XPDR_PINGS,566
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,625.3,40.8
$24V_AH,23.8,17.251
$10V_AH,10.1,7.561
$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,24.575,165.475,274.725,57.550,0.000,75.524,56.808,204.048,147.000,0.000,0.000,13.521,1858.851,16549.773,503.066,2155.947,682.237,33.373,1568.156,0.000,2119.756,0.000,37.843
$DEVICE_MAMPS,140.361,94.341,1322.308,793.078,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,699.979,754.723,640.178,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50478,1018
$CAP_FILE_SIZE,152423,0
$CFSIZE,254472192,247169024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,220608,122238,6147.624,-913.405,30,1.4,30,-9.4