version: 66.03
glider: 5
mission: 3
dive: 83
start: 6 23 108 17 42 15
data:
$ID,5
$MISSION,3
$DIVE,83
$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,-78198.859
$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,21
$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
$GPS1,173537,6149.089,-915.687,31,1.1,31,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-56.4
$GPS2,174121,6149.119,-915.784,13,1.3,13,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.169,-0.108
$KALMAN_X,-104558.8,-795.0,-791.3,53541.4,-4010.7
$KALMAN_Y,-11285.5,1396.2,1792.8,52868.4,-1974.5
$MHEAD_RNG_PITCHd_Wd,132.1,15613,-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,-117.3,0.0,0.0,0,118,0.00,0.00,-91.93,0.000,6,0.000,0.000,422,2155,3099
$GC,122,-1.03,-117.3,2.0,-2.0,4,138,10.60,2.50,0.00,0.000,4,0.139,0.058,2468,3547,3099
$GC,178,-0.71,-117.3,10.7,-11.6,5,185,0.35,2.50,0.00,0.000,6,0.088,0.047,2543,2139,3099
$GC,494,-0.63,-117.3,33.3,-6.0,21,498,0.00,2.55,0.00,0.000,4,0.000,0.059,2543,3547,3099
$GC,753,-0.54,-117.3,47.3,-5.3,32,760,0.17,2.50,0.00,0.000,6,0.088,0.048,2580,2135,3099
$GC,1069,-0.54,-117.3,60.2,-4.7,48,1074,0.00,2.58,0.00,0.000,4,0.000,0.060,2580,3546,3100
$GC,1188,-0.54,-117.3,63.8,-3.3,53,1192,0.00,2.47,0.00,0.000,6,0.000,0.048,2580,2145,3100
$GC,1504,-0.54,-117.3,78.3,-5.7,68,1508,0.00,2.53,0.00,0.000,4,0.000,0.064,2580,744,3100
$GC,1514,-0.54,-117.3,79.0,-6.1,68,1521,0.00,2.47,0.00,0.000,6,0.000,0.051,2580,2131,3100
$GC,1831,-0.58,-117.3,99.7,-6.9,84,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2132,3100
$GC,2140,-0.63,-117.3,119.8,-6.7,99,2144,0.00,2.53,0.00,0.000,4,0.000,0.064,2580,752,3100
$GC,2167,-0.68,-117.3,122.0,-7.8,100,2172,0.12,2.45,0.00,0.000,6,0.052,0.051,2542,2123,3100
$GC,2486,-0.60,-117.3,142.7,-5.7,115,2491,0.12,2.53,0.00,0.000,4,0.095,0.063,2567,749,3100
$GC,2549,-0.60,-117.3,146.4,-5.5,118,2553,0.00,2.42,0.00,0.000,6,0.000,0.051,2567,2103,3100
$GC,2877,-0.60,-117.3,161.5,-3.3,134,2881,0.00,2.60,0.00,0.000,4,0.000,0.064,2567,3563,3100
$GC,2889,-0.60,-117.3,161.7,-2.8,134,2895,0.00,2.60,0.00,0.000,6,0.000,0.051,2567,2103,3100
$GC,3205,-0.60,-117.3,176.5,-4.4,150,3209,0.00,2.65,0.00,0.000,4,0.000,0.063,2568,3554,3100
$GC,3272,-0.60,-117.3,180.0,-5.3,153,3276,0.00,2.55,0.00,0.000,6,0.000,0.048,2567,2118,3100
$GC,3593,-0.60,-117.3,197.4,-6.1,169,3597,0.00,2.62,0.00,0.000,4,0.000,0.061,2567,3559,3100
$GC,3603,-0.60,-117.3,197.9,-6.0,169,3609,0.00,2.55,0.00,0.000,6,0.000,0.048,2567,2122,3100
$GC,3919,-0.60,-117.3,212.8,-4.2,185,3924,0.00,2.62,0.00,0.000,4,0.000,0.062,2567,3558,3100
$GC,4050,-0.60,-117.3,218.4,-4.2,191,4054,0.00,2.50,0.00,0.000,6,0.000,0.048,2567,2145,3100
$GC,4377,-0.60,-117.3,232.8,-4.9,207,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2146,3100
$GC,4686,-0.60,-117.3,246.8,-4.5,222,4690,0.00,2.53,0.00,0.000,4,0.000,0.067,2567,748,3100
$GC,4708,-0.60,-117.3,247.8,-4.2,223,4712,0.00,2.50,0.00,0.000,6,0.000,0.052,2567,2139,3100
$GC,5029,-0.60,-117.3,261.4,-4.6,239,5030,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2139,3100
$GC,5338,-0.60,-117.3,276.3,-5.0,254,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2139,3099
$GC,5647,-0.60,-117.3,294.3,-6.2,269,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2139,3099
$GC,5957,-0.60,-117.3,313.2,-6.0,284,5961,0.00,2.58,0.00,0.000,4,0.000,0.067,2567,741,3099
$GC,5967,-0.60,-117.3,314.0,-6.7,284,5973,0.00,2.53,0.00,0.000,6,0.000,0.054,2567,2146,3099
$GC,6283,-0.60,-117.3,332.6,-5.5,300,6287,0.00,2.55,0.00,0.000,4,0.000,0.065,2567,3564,3099
$GC,6295,-0.60,-117.3,333.1,-5.4,300,6301,0.00,2.53,0.00,0.000,6,0.000,0.052,2567,2147,3099
$GC,6611,-0.60,-117.3,347.7,-4.2,316,6613,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2145,3099
$GC,6921,-0.60,-117.3,361.0,-4.4,331,6925,0.00,2.53,0.00,0.000,4,0.000,0.068,2567,746,3099
$GC,6932,-0.60,-117.3,361.6,-4.3,331,6938,0.00,2.50,0.00,0.000,6,0.000,0.053,2568,2138,3099
$GC,7248,-0.60,-117.3,373.3,-4.2,347,7249,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2138,3099
$GC,7557,-0.60,-117.3,389.4,-4.1,362,7561,0.00,2.55,0.00,0.000,4,0.000,0.066,2568,3555,3099
$GC,7567,-0.60,-117.3,389.8,-3.8,362,7573,0.00,2.50,0.00,0.000,6,0.000,0.053,2568,2149,3099
$GC,7884,-0.60,-117.3,403.2,-3.4,378,7888,0.00,2.60,0.00,0.000,4,0.000,0.066,2568,3562,3099
$GC,7991,-0.60,-117.3,408.5,-5.3,383,7995,0.00,2.45,0.00,0.000,6,0.000,0.051,2567,2181,3098
$GC,8318,-0.60,-117.3,426.6,-7.3,399,8323,0.00,2.53,0.00,0.000,4,0.000,0.065,2568,3556,3099
$GC,8329,-0.60,-117.3,427.6,-7.7,399,8335,0.00,2.42,0.00,0.000,6,0.000,0.051,2568,2177,3098
$GC,8645,-0.60,-117.3,449.7,-6.5,415,8646,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2177,3098
$GC,8954,-0.60,-117.3,470.9,-7.3,430,8958,0.00,2.50,0.00,0.000,4,0.000,0.066,2567,3556,3098
$GC,8993,-0.60,-117.3,473.8,-7.6,432,8997,0.00,2.40,0.00,0.000,6,0.000,0.051,2567,2204,3098
$GC,9321,-0.60,-117.3,488.1,-3.1,448,9325,0.00,2.50,0.00,0.000,4,0.000,0.066,2567,3561,3098
$GC,9377,-0.60,-117.3,489.5,-2.3,450,9383,0.00,2.38,0.00,0.000,6,0.000,0.052,2567,2201,3098
$GC,9694,-0.60,-117.3,491.4,-0.7,466,9697,0.00,2.45,0.00,0.000,4,0.000,0.067,2568,3555,3098
$GC,9744,-0.60,-117.3,492.3,-1.2,468,9748,0.00,2.33,0.00,0.000,6,0.000,0.052,2568,2242,3097
$GC,10066,-0.60,-117.3,497.4,-2.5,484,10071,0.00,2.67,0.00,0.000,4,0.000,0.069,2567,762,3098
$GC,10094,-0.60,-117.3,498.0,-2.5,485,10099,0.00,2.60,0.00,0.000,6,0.000,0.058,2567,2209,3098
$GC,10411,-0.65,-117.3,511.7,-4.7,500,10415,0.00,2.65,0.00,0.000,4,0.000,0.071,2568,762,3098
$GC,10438,-0.65,-117.3,512.9,-4.3,501,10443,0.00,2.65,0.00,0.000,6,0.000,0.058,2567,2228,3097
$GC,10755,-0.70,-117.3,529.7,-5.8,516,10760,0.00,2.70,0.00,0.000,4,0.000,0.072,2567,762,3098
$GC,10856,-0.76,-117.3,536.7,-6.7,520,10863,0.15,2.58,0.00,0.000,6,0.051,0.061,2524,2188,3098
$GC,11173,-0.64,-117.3,563.1,-10.2,536,11178,0.15,2.67,0.00,0.000,4,0.088,0.077,2556,762,3098
$GC,11246,-0.64,-117.3,568.9,-9.2,539,11250,0.00,2.60,0.00,0.000,6,0.000,0.064,2556,2185,3097
$GC,11561,-0.64,-117.3,593.7,-6.6,554,11562,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2184,3097
$GC,11871,-0.69,-117.3,621.2,-9.0,569,11876,0.00,2.67,0.00,0.000,4,0.000,0.083,2556,763,3097
$GC,11898,-0.69,-117.3,623.6,-7.8,570,11903,0.00,2.65,0.00,0.000,6,0.000,0.069,2556,2199,3097
$GC,12214,-0.69,-117.3,649.9,-7.1,585,12219,0.00,2.72,0.00,0.000,4,0.000,0.087,2556,761,3095
$GC,12337,-0.69,-117.3,660.3,-8.5,590,12343,0.00,2.62,0.00,0.000,6,0.000,0.072,2556,2181,3095
$GC,12653,-0.69,-117.3,679.0,-8.2,606,12657,0.00,2.70,0.00,0.000,4,0.000,0.088,2556,765,3093
$STATE,12683,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12683,begin apogee
$GC,12693,-0.33,0.0,682.1,10.1,607,12799,0.30,0.00,99.35,1.344,6,0.097,0.000,2618,2108,2620
$STATE,12800,end apogee,CONTROL_FINISHED_OK
$STATE,12800,begin climb
$GC,12803,1.03,117.3,686.1,0.0,613,12909,1.45,2.72,98.82,1.312,4,0.085,0.084,2922,3509,2141
$GC,12940,1.11,167.9,680.2,4.3,619,12990,0.00,2.62,43.17,1.269,6,0.000,0.074,2922,2108,1934
$GC,13321,1.07,167.9,666.4,8.5,638,13325,0.00,2.67,0.00,0.000,4,0.000,0.085,2921,707,1932
$GC,13360,1.07,167.9,662.8,9.9,640,13365,0.00,2.65,0.00,0.000,6,0.000,0.074,2922,2113,1932
$GC,13688,1.03,167.9,624.4,9.5,656,13693,0.00,2.72,0.00,0.000,4,0.000,0.091,2922,706,1931
$GC,13739,1.03,167.9,619.0,9.1,658,13743,0.00,2.62,0.00,0.000,6,0.000,0.074,2922,2098,1931
$GC,14054,1.29,331.7,608.2,0.4,673,14198,0.22,2.72,135.80,1.304,4,0.054,0.083,2981,3508,1266
$GC,14253,1.29,331.7,585.6,11.0,682,14257,0.00,2.65,0.00,0.000,6,0.000,0.071,2981,2108,1267
$GC,14574,1.22,331.7,548.2,11.0,698,14575,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2087,1268
$GC,14883,1.17,331.7,508.9,11.6,713,14888,0.15,2.67,0.00,0.000,4,0.095,0.085,2948,688,1267
$GC,14928,1.23,331.7,504.7,8.0,715,14933,0.00,2.65,0.00,0.000,6,0.000,0.072,2948,2101,1266
$GC,15250,1.28,366.4,487.7,4.8,731,15285,0.12,2.70,30.05,1.231,4,0.060,0.078,2981,3512,1125
$GC,15361,1.31,384.0,480.9,5.4,735,15382,0.00,2.60,16.02,1.175,6,0.000,0.065,2981,2116,1054
$GC,15704,1.31,384.0,450.5,10.5,752,15705,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2107,1054
$GC,16013,1.31,384.0,418.9,9.5,767,16014,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2107,1054
$GC,16322,1.31,384.0,382.9,13.1,782,16323,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2107,1055
$GC,16632,1.31,384.0,345.0,11.7,797,16636,0.00,2.60,0.00,0.000,4,0.000,0.071,2981,688,1055
$GC,16671,1.31,384.0,340.3,12.8,799,16676,0.00,2.62,0.00,0.000,6,0.000,0.057,2981,2133,1056
$GC,16998,1.31,384.0,301.8,11.8,815,17003,0.00,2.67,0.00,0.000,4,0.000,0.072,2982,685,1056
$GC,17038,1.31,384.0,296.7,13.8,817,17043,0.00,2.55,0.00,0.000,6,0.000,0.055,2981,2104,1056
$GC,17366,1.31,384.0,258.5,12.0,833,17367,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2105,1057
$GC,17674,1.31,384.0,218.6,13.9,848,17679,0.00,2.60,0.00,0.000,4,0.000,0.069,2981,677,1058
$GC,17720,1.31,384.0,212.0,14.0,850,17724,0.00,2.53,0.00,0.000,6,0.000,0.054,2982,2084,1058
$GC,18041,1.31,384.0,166.9,13.9,866,18042,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2084,1058
$GC,18352,1.31,384.0,131.1,9.8,881,18356,0.00,2.58,0.00,0.000,4,0.000,0.068,2982,686,1059
$GC,18391,1.31,384.0,127.4,8.9,883,18396,0.00,2.47,0.00,0.000,6,0.000,0.052,2982,2071,1059
$GC,18719,1.31,384.0,93.9,9.2,899,18723,0.00,2.58,0.00,0.000,4,0.000,0.061,2981,3515,1059
$GC,18763,1.38,384.0,89.3,10.2,901,18768,0.00,2.62,0.00,0.000,6,0.000,0.053,2981,2051,1060
$GC,19085,1.38,384.0,52.8,11.5,917,19086,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2051,1060
$GC,19395,1.38,384.0,21.1,9.4,932,19399,0.00,2.65,0.00,0.000,4,0.000,0.058,2982,3511,1061
$GC,19428,1.46,384.0,17.8,9.8,933,19435,0.15,2.60,0.00,0.000,6,0.045,0.051,3027,2054,1060
$STATE,19576,end climb,SURFACE_DEPTH_REACHED
$STATE,19576,begin surface coast
$FINISH,0.1,1.013704
$STATE,19600,end surface coast,CONTROL_FINISHED_OK
$STATE,19600,begin surface
$SM_CCo,19683,0.00,0.000,0,0,1060,382.67
$SM_GC,0.72,11.25,0.00,0.00,0.035,0.000,0.000,422,2165,1060,-10.38,0.40,382.67
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1681
$TCM_TEMP,17.50
$XPDR_PINGS,531
$ALTIM_TOP_PING,19.9,20.0
$ALTIM_BOTTOM_PING,600.4,91.6
$24V_AH,23.8,18.275
$10V_AH,10.1,8.124
$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,25.325,200.900,423.225,0.000,0.000,37.761,32.286,150.863,138.000,0.000,0.000,13.150,1758.712,15021.423,583.970,2096.099,565.246,33.354,1671.694,0.000,2054.990,0.000,36.299
$DEVICE_MAMPS,138.827,91.273,1343.784,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,646.135,698.641,587.571,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47453,942
$CAP_FILE_SIZE,152987,0
$CFSIZE,254472192,246743040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,230608,231137,6153.000,-921.444,38,1.2,43,-9.5