version: 66.03
glider: 5
mission: 3
dive: 84
start: 6 23 108 23 18 15
data:
$ID,5
$MISSION,3
$DIVE,84
$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,-78214.125
$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,24
$R_STBD_OVSHOOT,29
$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
$GPS1,231137,6153.000,-921.444,38,1.2,43,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-58.9
$GPS2,231721,6153.153,-921.469,14,1.5,14,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.124,-0.158
$KALMAN_X,-116821.9,-1217.9,872.6,59583.4,-16158.0
$KALMAN_Y,840.4,1008.4,2009.0,48398.3,9900.5
$MHEAD_RNG_PITCHd_Wd,151.3,24313,-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,-117.3,0.0,0.0,0,111,0.00,0.00,-84.62,0.000,6,0.000,0.000,422,2168,3099
$GC,114,-1.03,-117.3,2.3,-2.6,4,131,10.62,2.50,0.00,0.000,4,0.140,0.059,2469,3556,3099
$GC,384,-0.71,-117.3,32.9,-9.0,15,389,0.35,2.50,0.00,0.000,6,0.091,0.045,2543,2148,3100
$GC,706,-0.62,-117.3,51.2,-6.7,31,711,0.10,2.58,0.00,0.000,4,0.100,0.059,2562,3559,3100
$GC,908,-0.62,-117.3,59.6,-5.4,40,913,0.00,2.47,0.00,0.000,6,0.000,0.046,2563,2162,3100
$GC,1230,-0.62,-117.3,75.6,-4.4,56,1234,0.00,2.53,0.00,0.000,4,0.000,0.059,2563,3550,3101
$GC,1274,-0.62,-117.3,78.3,-5.9,58,1278,0.00,2.45,0.00,0.000,6,0.000,0.047,2563,2161,3101
$GC,1596,-0.62,-117.3,94.7,-5.0,74,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2160,3101
$GC,1906,-0.62,-117.3,108.7,-4.2,89,1910,0.00,2.53,0.00,0.000,4,0.000,0.060,2563,3556,3101
$GC,1956,-0.62,-117.3,111.2,-4.9,91,1960,0.00,2.47,0.00,0.000,6,0.000,0.048,2563,2162,3101
$GC,2272,-0.62,-117.3,129.4,-6.2,106,2276,0.00,2.53,0.00,0.000,4,0.000,0.061,2563,3553,3101
$GC,2282,-0.62,-117.3,130.1,-6.2,106,2288,0.00,2.47,0.00,0.000,6,0.000,0.050,2562,2162,3101
$GC,2599,-0.62,-117.3,149.8,-5.8,122,2603,0.00,2.55,0.00,0.000,4,0.000,0.066,2562,747,3101
$GC,2609,-0.62,-117.3,150.5,-5.6,122,2614,0.00,2.53,0.00,0.000,6,0.000,0.051,2563,2157,3101
$GC,2926,-0.62,-117.3,169.1,-5.9,137,2930,0.00,2.60,0.00,0.000,4,0.000,0.065,2562,741,3101
$GC,2958,-0.62,-117.3,171.2,-6.5,138,2964,0.00,2.53,0.00,0.000,6,0.000,0.053,2563,2150,3101
$GC,3274,-0.62,-117.3,191.5,-6.9,154,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2150,3101
$GC,3584,-0.62,-117.3,214.1,-7.1,169,3588,0.00,2.60,0.00,0.000,4,0.000,0.067,2563,741,3101
$GC,3628,-0.62,-117.3,217.7,-7.6,171,3632,0.00,2.50,0.00,0.000,6,0.000,0.053,2563,2136,3101
$GC,3949,-0.62,-117.3,244.0,-8.3,187,3953,0.00,2.55,0.00,0.000,4,0.000,0.066,2562,742,3101
$GC,3959,-0.62,-117.3,244.9,-7.8,187,3965,0.00,2.50,0.00,0.000,6,0.000,0.054,2562,2132,3101
$GC,4275,-0.62,-117.3,271.6,-8.8,203,4279,0.00,2.55,0.00,0.000,4,0.000,0.066,2563,746,3101
$GC,4285,-0.62,-117.3,272.7,-8.8,203,4291,0.00,2.47,0.00,0.000,6,0.000,0.053,2563,2122,3101
$GC,4600,-0.62,-117.3,299.8,-8.5,219,4605,0.00,2.58,0.00,0.000,4,0.000,0.065,2563,3555,3101
$GC,4611,-0.62,-117.3,300.8,-8.4,219,4615,0.00,2.58,0.00,0.000,6,0.000,0.052,2563,2116,3101
$GC,4927,-0.62,-117.3,328.0,-8.4,234,4931,0.00,2.47,0.00,0.000,4,0.000,0.067,2563,746,3101
$GC,4937,-0.62,-117.3,328.9,-8.1,234,4943,0.00,2.47,0.00,0.000,6,0.000,0.053,2562,2122,3101
$GC,5253,-0.62,-117.3,351.5,-6.7,250,5257,0.00,2.53,0.00,0.000,4,0.000,0.067,2563,746,3101
$GC,5263,-0.62,-117.3,352.2,-6.8,250,5270,0.00,2.47,0.00,0.000,6,0.000,0.054,2563,2125,3100
$GC,5579,-0.62,-117.3,371.8,-6.5,266,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2124,3101
$GC,5889,-0.62,-117.3,388.5,-4.5,281,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2125,3100
$GC,6198,-0.62,-117.3,401.2,-4.7,296,6203,0.00,2.53,0.00,0.000,4,0.000,0.068,2563,746,3100
$GC,6209,-0.62,-117.3,401.8,-4.9,296,6215,0.00,2.45,0.00,0.000,6,0.000,0.054,2563,2106,3100
$GC,6526,-0.62,-117.3,417.1,-5.0,312,6530,0.00,2.53,0.00,0.000,4,0.000,0.069,2563,739,3100
$GC,6581,-0.62,-117.3,420.4,-6.2,314,6587,0.00,2.42,0.00,0.000,6,0.000,0.054,2563,2088,3100
$GC,6897,-0.62,-117.3,445.2,-9.3,330,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2088,3100
$GC,7206,-0.62,-117.3,474.3,-10.4,345,7210,0.00,2.65,0.00,0.000,4,0.000,0.067,2563,3557,3100
$GC,7217,-0.62,-117.3,475.4,-10.4,345,7224,0.00,2.60,0.00,0.000,6,0.000,0.054,2563,2096,3100
$GC,7538,-0.62,-117.3,501.2,-6.0,361,7542,0.00,2.70,0.00,0.000,4,0.000,0.068,2562,3561,3100
$GC,7795,-0.62,-117.3,513.7,-4.2,372,7801,0.00,2.55,0.00,0.000,6,0.000,0.051,2563,2098,3100
$GC,8111,-0.68,-117.3,514.2,3.5,388,8116,0.00,2.65,0.00,0.000,4,0.000,0.067,2562,3556,3100
$GC,8282,-0.68,-117.3,505.1,2.2,395,8288,0.00,2.58,0.00,0.000,6,0.000,0.053,2563,2091,3100
$GC,8599,-0.75,-117.3,510.4,-8.3,411,8604,0.12,2.50,0.00,0.000,4,0.055,0.075,2526,747,3100
$GC,8655,-0.63,-117.3,513.8,-6.4,413,8661,0.15,2.47,0.00,0.000,6,0.096,0.061,2559,2098,3099
$GC,8970,-0.63,-117.3,531.7,-7.7,429,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2098,3098
$GC,9280,-0.63,-117.3,542.1,-0.1,444,9284,0.00,2.67,0.00,0.000,4,0.000,0.079,2558,3553,3098
$GC,9338,-0.68,-117.3,544.7,-3.9,446,9344,0.00,2.72,0.00,0.000,6,0.000,0.069,2559,2077,3098
$GC,9654,-0.63,-117.3,567.0,-0.2,462,9658,0.00,2.47,0.00,0.000,4,0.000,0.082,2559,743,3097
$GC,9785,-0.73,-117.3,568.3,-2.2,468,9789,0.00,2.30,0.00,0.000,6,0.000,0.069,2559,1984,3097
$GC,10112,-0.73,-117.3,575.2,-8.3,484,10115,0.00,2.35,0.00,0.000,4,0.000,0.084,2559,747,3095
$STATE,10132,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10132,begin apogee
$GC,10142,-0.33,0.0,577.1,8.3,485,10243,0.32,0.00,98.32,1.266,6,0.095,0.000,2623,2103,2620
$STATE,10244,end apogee,CONTROL_FINISHED_OK
$STATE,10244,begin climb
$GC,10247,1.03,117.3,581.1,0.0,490,10353,1.40,2.78,97.97,1.237,4,0.075,0.089,2921,693,2141
$GC,10606,1.03,117.3,559.7,10.8,506,10611,0.00,2.60,0.00,0.000,6,0.000,0.068,2921,2101,2140
$GC,10923,1.11,166.1,540.2,4.3,521,10969,0.00,2.78,40.75,1.237,4,0.000,0.087,2921,691,1941
$GC,11014,1.26,261.5,537.4,2.7,525,11100,0.22,2.67,78.90,1.224,6,0.050,0.071,2978,2128,1553
$GC,11417,1.27,332.3,509.4,3.6,545,11482,0.00,2.65,59.53,1.209,4,0.000,0.083,2978,3492,1265
$GC,11516,1.34,371.9,504.8,4.6,549,11557,0.00,2.60,34.40,1.177,6,0.000,0.072,2978,2121,1103
$GC,11876,1.34,371.9,477.4,9.4,567,11880,0.00,2.70,0.00,0.000,4,0.000,0.086,2978,684,1103
$GC,11942,1.34,371.9,472.4,6.6,570,11947,0.00,2.65,0.00,0.000,6,0.000,0.070,2978,2100,1103
$GC,12263,1.34,371.9,445.1,9.8,586,12268,0.00,2.65,0.00,0.000,4,0.000,0.080,2978,3516,1101
$GC,12291,1.34,371.9,441.9,10.8,587,12295,0.00,2.67,0.00,0.000,6,0.000,0.065,2978,2077,1101
$GC,12607,1.34,371.9,410.8,9.5,602,12611,0.00,2.58,0.00,0.000,4,0.000,0.077,2978,685,1100
$GC,12662,1.34,371.9,404.8,10.1,604,12668,0.00,2.58,0.00,0.000,6,0.000,0.062,2978,2090,1100
$GC,12977,1.34,371.9,374.2,9.6,620,12982,0.00,2.60,0.00,0.000,4,0.000,0.068,2978,3513,1100
$GC,13011,1.38,371.9,371.1,8.9,621,13017,0.00,2.62,0.00,0.000,6,0.000,0.059,2978,2078,1100
$GC,13327,1.38,371.9,342.9,8.6,637,13332,0.10,2.55,0.00,0.000,4,0.057,0.072,3010,681,1101
$GC,13383,1.32,371.9,336.6,11.5,639,13389,0.12,2.55,0.00,0.000,6,0.088,0.056,2986,2092,1101
$GC,13699,1.32,371.9,305.4,10.1,655,13703,0.00,2.58,0.00,0.000,4,0.000,0.065,2985,3515,1102
$GC,13743,1.37,371.9,300.8,9.5,657,13747,0.00,2.60,0.00,0.000,6,0.000,0.057,2986,2084,1102
$GC,14063,1.37,371.9,263.9,12.4,673,14068,0.00,2.53,0.00,0.000,4,0.000,0.070,2986,688,1103
$GC,14108,1.37,371.9,257.6,14.3,675,14113,0.00,2.53,0.00,0.000,6,0.000,0.054,2986,2090,1103
$GC,14430,1.37,371.9,216.1,12.8,691,14434,0.00,2.55,0.00,0.000,4,0.000,0.063,2986,3515,1103
$GC,14474,1.42,371.9,210.2,13.2,693,14479,0.10,2.60,0.00,0.000,6,0.054,0.056,3017,2080,1104
$GC,14796,1.36,371.9,159.9,15.6,709,14797,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2079,1104
$GC,15106,1.28,371.9,116.1,13.4,724,15111,0.20,2.53,0.00,0.000,4,0.077,0.067,2974,684,1105
$GC,15156,1.34,371.9,110.0,10.9,726,15161,0.00,2.53,0.00,0.000,6,0.000,0.051,2974,2097,1105
$GC,15474,1.34,371.9,75.5,11.7,741,15478,0.00,2.53,0.00,0.000,4,0.000,0.060,2974,3512,1105
$GC,15507,1.44,371.9,71.6,10.3,742,15514,0.17,2.55,0.00,0.000,6,0.044,0.051,3022,2083,1105
$GC,15824,1.34,371.9,34.8,12.4,758,15829,0.15,2.53,0.00,0.000,4,0.085,0.069,2988,690,1106
$GC,15879,1.34,371.9,26.5,13.2,760,15885,0.00,2.50,0.00,0.000,6,0.000,0.051,2988,2104,1106
$STATE,16110,end climb,SURFACE_DEPTH_REACHED
$STATE,16110,begin surface coast
$FINISH,0.1,1.024416
$STATE,16133,end surface coast,CONTROL_FINISHED_OK
$STATE,16133,begin surface
$SM_CCo,16217,0.00,0.000,0,0,1106,371.38
$SM_GC,0.71,11.05,0.00,0.00,0.033,0.000,0.000,416,2163,1106,-10.41,0.37,371.38
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1679
$TCM_TEMP,17.40
$XPDR_PINGS,453
$ALTIM_TOP_PING,17.2,16.8
$ALTIM_BOTTOM_PING,501.2,85.8
$24V_AH,23.8,18.445
$10V_AH,10.1,8.204
$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,25.200,184.025,409.875,0.000,0.000,37.761,31.127,148.026,117.500,0.000,0.000,14.637,1476.477,12128.622,548.858,1878.639,524.989,33.363,1528.329,0.000,1839.483,0.000,29.832
$DEVICE_MAMPS,139.594,88.972,1265.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,529.867,569.731,517.061,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41111,773
$CAP_FILE_SIZE,132813,0
$CFSIZE,254472192,246702080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,240608,034938,6156.486,-925.722,30,0.9,30,-9.6