version: 66.03
glider: 5
mission: 3
dive: 90
start: 6 25 108 3 58 55
data:
$ID,5
$MISSION,3
$DIVE,90
$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,-78327.992
$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,23
$R_STBD_OVSHOOT,20
$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
$GPS1,035237,6209.132,-916.543,37,1.0,42,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-61.2
$GPS2,035803,6209.110,-916.535,13,1.0,13,-9.6
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.097,-0.176
$KALMAN_X,-122485.1,958.0,547.6,67660.3,-7171.4
$KALMAN_Y,51935.0,-4042.4,-3439.0,37594.5,47471.6
$MHEAD_RNG_PITCHd_Wd,160.7,52286,-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,-70.62,0.000,6,0.000,0.000,419,2140,3099
$GC,102,-1.03,-117.3,2.1,-3.1,3,119,10.57,2.53,0.00,0.000,4,0.137,0.058,2469,744,3100
$GC,170,-0.72,-117.3,12.4,-10.7,5,175,0.32,2.53,0.00,0.000,6,0.089,0.050,2538,2154,3100
$GC,493,-0.63,-117.3,33.8,-6.3,21,498,0.12,2.53,0.00,0.000,4,0.098,0.060,2563,3561,3101
$GC,504,-0.54,-117.3,34.5,-6.1,21,510,0.00,2.45,0.00,0.000,6,0.000,0.047,2563,2171,3101
$GC,822,-0.54,-117.3,46.9,-3.2,37,826,0.00,2.55,0.00,0.000,4,0.000,0.062,2563,747,3102
$GC,850,-0.54,-117.3,47.7,-2.9,38,854,0.00,2.50,0.00,0.000,6,0.000,0.050,2563,2143,3102
$GC,1166,-0.54,-117.3,52.7,-1.3,53,1171,0.00,2.55,0.00,0.000,4,0.000,0.063,2563,742,3102
$GC,1253,-0.54,-117.3,54.9,-3.3,57,1257,0.00,2.47,0.00,0.000,6,0.000,0.051,2563,2128,3102
$GC,1580,-0.54,-117.3,67.7,-4.8,73,1585,0.00,2.53,0.00,0.000,4,0.000,0.061,2563,745,3103
$GC,1676,-0.54,-117.3,75.2,-8.8,77,1680,0.00,2.45,0.00,0.000,6,0.000,0.051,2563,2114,3103
$GC,1992,-0.54,-117.3,108.6,-12.1,92,1996,0.00,2.50,0.00,0.000,4,0.000,0.063,2563,746,3103
$GC,2024,-0.54,-117.3,112.8,-12.4,93,2031,0.00,2.40,0.00,0.000,6,0.000,0.051,2563,2089,3103
$GC,2342,-0.54,-117.3,143.8,-8.8,109,2347,0.00,2.62,0.00,0.000,4,0.000,0.062,2563,3555,3103
$GC,2353,-0.54,-117.3,145.0,-8.7,109,2359,0.00,2.58,0.00,0.000,6,0.000,0.048,2563,2103,3103
$GC,2669,-0.54,-117.3,166.7,-6.3,125,2673,0.00,2.65,0.00,0.000,4,0.000,0.063,2563,3555,3103
$GC,2741,-0.54,-117.3,171.5,-6.3,128,2745,0.00,2.55,0.00,0.000,6,0.000,0.048,2563,2116,3103
$GC,3057,-0.54,-117.3,187.2,-4.7,143,3061,0.00,2.62,0.00,0.000,4,0.000,0.063,2563,3562,3103
$GC,3112,-0.54,-117.3,190.0,-5.3,145,3119,0.00,2.55,0.00,0.000,6,0.000,0.048,2563,2125,3103
$GC,3429,-0.54,-117.3,204.4,-4.7,161,3434,0.00,2.62,0.00,0.000,4,0.000,0.064,2563,3558,3103
$GC,3452,-0.54,-117.3,205.5,-4.8,162,3456,0.00,2.55,0.00,0.000,6,0.000,0.050,2563,2126,3103
$GC,3773,-0.54,-117.3,222.4,-5.6,178,3777,0.00,2.60,0.00,0.000,4,0.000,0.064,2564,3555,3103
$GC,3784,-0.54,-117.3,223.0,-5.8,178,3790,0.00,2.55,0.00,0.000,6,0.000,0.051,2563,2122,3103
$GC,4099,-0.54,-117.3,242.9,-6.6,194,4104,0.00,2.60,0.00,0.000,4,0.000,0.065,2563,3556,3102
$GC,4117,-0.54,-117.3,244.1,-6.7,195,4121,0.00,2.55,0.00,0.000,6,0.000,0.050,2563,2121,3102
$GC,4445,-0.54,-117.3,264.0,-5.8,211,4449,0.00,2.62,0.00,0.000,4,0.000,0.066,2563,3559,3103
$GC,4466,-0.54,-117.3,265.4,-5.8,212,4471,0.00,2.53,0.00,0.000,6,0.000,0.050,2563,2135,3103
$GC,4788,-0.54,-117.3,282.8,-5.0,228,4792,0.00,2.60,0.00,0.000,4,0.000,0.064,2563,3563,3102
$GC,4816,-0.54,-117.3,284.4,-5.5,229,4820,0.00,2.53,0.00,0.000,6,0.000,0.050,2563,2142,3102
$GC,5132,-0.54,-117.3,298.1,-4.3,244,5136,0.00,2.58,0.00,0.000,4,0.000,0.065,2563,3555,3101
$GC,5143,-0.54,-117.3,298.4,-3.9,244,5149,0.00,2.53,0.00,0.000,6,0.000,0.050,2563,2137,3102
$GC,5459,-0.54,-117.3,312.0,-4.4,260,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2137,3101
$GC,5770,-0.54,-117.3,325.0,-4.2,275,5774,0.00,2.50,0.00,0.000,4,0.000,0.067,2563,750,3101
$GC,5781,-0.54,-117.3,325.5,-4.0,275,5788,0.00,2.47,0.00,0.000,6,0.000,0.053,2563,2131,3101
$GC,6098,-0.54,-117.3,338.0,-3.7,291,6102,0.00,2.50,0.00,0.000,4,0.000,0.067,2563,749,3101
$GC,6142,-0.54,-117.3,339.9,-4.2,293,6147,0.00,2.45,0.00,0.000,6,0.000,0.054,2563,2119,3100
$GC,6464,-0.54,-117.3,351.1,-3.8,309,6465,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2119,3101
$GC,6774,-0.54,-117.3,362.2,-3.2,324,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2119,3100
$GC,7082,-0.54,-117.3,376.1,-5.3,339,7084,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2119,3100
$GC,7391,-0.54,-117.3,396.0,-6.5,354,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2119,3101
$GC,7701,-0.54,-117.3,413.4,-5.3,369,7706,0.00,2.60,0.00,0.000,4,0.000,0.068,2563,3556,3100
$GC,7768,-0.54,-117.3,417.8,-7.0,372,7773,0.00,2.60,0.00,0.000,6,0.000,0.054,2563,2103,3100
$GC,8090,-0.54,-117.3,435.3,-4.7,388,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2085,3100
$GC,8399,-0.54,-117.3,451.2,-5.0,403,8404,0.00,2.67,0.00,0.000,4,0.000,0.068,2563,3556,3100
$GC,8507,-0.54,-117.3,456.8,-5.1,408,8511,0.00,2.55,0.00,0.000,6,0.000,0.053,2563,2125,3100
$GC,8834,-0.54,-117.3,474.8,-5.5,424,8838,0.00,2.50,0.00,0.000,4,0.000,0.074,2564,746,3100
$GC,8845,-0.54,-117.3,475.6,-5.5,424,8851,0.00,2.50,0.00,0.000,6,0.000,0.058,2563,2125,3100
$GC,9161,-0.54,-117.3,492.2,-5.1,440,9165,0.00,2.55,0.00,0.000,4,0.000,0.074,2563,747,3100
$GC,9184,-0.58,-117.3,493.4,-5.4,441,9188,0.00,2.47,0.00,0.000,6,0.000,0.061,2563,2105,3100
$STATE,9378,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9378,begin apogee
$GC,9385,-0.33,0.0,503.7,5.8,451,9486,0.30,0.00,98.35,1.156,6,0.082,0.000,2625,2109,2620
$STATE,9487,end apogee,CONTROL_FINISHED_OK
$STATE,9487,begin climb
$GC,9490,1.03,117.3,506.9,0.0,456,9594,1.38,2.70,96.07,1.129,4,0.068,0.072,2923,3507,2141
$GC,9656,1.03,117.3,498.4,6.6,463,9662,0.00,2.60,0.00,0.000,6,0.000,0.060,2923,2099,2140
$GC,9972,0.98,117.3,479.8,6.2,479,9973,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2094,2140
$GC,10282,1.01,137.6,463.3,5.3,494,10306,0.00,2.70,17.90,1.075,4,0.000,0.077,2923,690,2058
$GC,10347,1.01,137.6,459.7,6.1,497,10351,0.00,2.60,0.00,0.000,6,0.000,0.062,2923,2112,2058
$GC,10673,1.01,137.6,438.5,7.2,513,10678,0.00,2.58,0.00,0.000,4,0.000,0.074,2923,3508,2056
$GC,10740,1.01,137.6,433.3,7.1,516,10745,0.00,2.55,0.00,0.000,6,0.000,0.059,2923,2115,2056
$GC,11062,1.01,137.6,412.6,6.6,532,11066,0.00,2.62,0.00,0.000,4,0.000,0.074,2923,681,2055
$GC,11106,1.01,137.6,409.4,6.9,534,11110,0.00,2.65,0.00,0.000,6,0.000,0.060,2923,2135,2055
$GC,11427,1.10,194.2,392.6,4.1,550,11479,0.00,2.58,46.47,1.101,4,0.000,0.068,2923,3514,1828
$GC,11546,1.13,207.9,386.8,5.5,555,11567,0.10,2.53,12.65,1.010,6,0.056,0.057,2954,2137,1772
$GC,11886,1.08,207.9,364.2,7.2,572,11890,0.00,2.55,0.00,0.000,4,0.000,0.067,2954,3510,1772
$GC,11929,1.08,207.9,360.5,8.1,574,11934,0.00,2.45,0.00,0.000,6,0.000,0.056,2954,2164,1772
$GC,12251,1.04,207.9,333.6,8.4,590,12256,0.15,2.67,0.00,0.000,4,0.084,0.069,2924,691,1772
$GC,12314,1.09,207.9,329.0,7.0,593,12318,0.00,2.67,0.00,0.000,6,0.000,0.057,2924,2164,1772
$GC,12641,1.14,207.9,303.2,8.6,609,12646,0.10,2.45,0.00,0.000,4,0.054,0.064,2957,3516,1772
$GC,12681,1.14,207.9,299.1,10.2,611,12685,0.00,2.45,0.00,0.000,6,0.000,0.054,2957,2153,1773
$GC,13007,1.14,207.9,269.0,8.7,627,13012,0.00,2.65,0.00,0.000,4,0.000,0.070,2957,689,1773
$GC,13064,1.10,207.9,263.9,9.7,629,13070,0.00,2.65,0.00,0.000,6,0.000,0.056,2958,2161,1772
$GC,13379,1.10,207.9,235.6,9.2,645,13383,0.00,2.42,0.00,0.000,4,0.000,0.064,2958,3511,1773
$GC,13452,1.10,207.9,228.9,9.3,648,13456,0.00,2.42,0.00,0.000,6,0.000,0.052,2957,2163,1773
$GC,13773,1.10,207.9,202.9,8.3,664,13777,0.00,2.67,0.00,0.000,4,0.000,0.070,2958,683,1773
$GC,13845,1.10,207.9,196.4,9.3,667,13849,0.00,2.65,0.00,0.000,6,0.000,0.054,2958,2168,1773
$GC,14161,1.10,207.9,170.7,8.6,682,14165,0.00,2.42,0.00,0.000,4,0.000,0.063,2957,3517,1774
$GC,14211,1.10,207.9,166.3,7.8,684,14215,0.00,2.45,0.00,0.000,6,0.000,0.051,2958,2154,1774
$GC,14527,1.10,207.9,142.2,8.0,699,14531,0.00,2.65,0.00,0.000,4,0.000,0.070,2958,691,1774
$GC,14593,1.10,207.9,137.0,7.9,702,14598,0.00,2.65,0.00,0.000,6,0.000,0.053,2958,2171,1774
$GC,14917,1.10,207.9,110.8,6.6,718,14921,0.00,2.40,0.00,0.000,4,0.000,0.064,2958,3510,1775
$GC,14972,1.10,207.9,107.6,6.8,720,14978,0.00,2.42,0.00,0.000,6,0.000,0.050,2958,2156,1774
$GC,15288,1.10,207.9,83.4,7.0,736,15292,0.00,2.65,0.00,0.000,4,0.000,0.070,2958,688,1775
$GC,15332,1.10,207.9,79.9,8.3,738,15337,0.00,2.67,0.00,0.000,6,0.000,0.053,2958,2185,1775
$GC,15654,1.10,207.9,51.7,9.8,754,15655,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2185,1775
$GC,15963,1.10,207.9,25.4,8.2,769,15968,0.00,2.75,0.00,0.000,4,0.000,0.067,2958,683,1775
$GC,16064,1.10,207.9,17.1,9.1,773,16071,0.00,2.62,0.00,0.000,6,0.000,0.051,2958,2165,1775
$STATE,16274,end climb,SURFACE_DEPTH_REACHED
$STATE,16274,begin surface coast
$FINISH,0.1,1.026961
$STATE,16296,end surface coast,CONTROL_FINISHED_OK
$STATE,16297,begin surface
$SM_CCo,16318,52.20,0.788,0,0,1397,300.00
$SM_GC,0.89,0.00,0.00,52.20,0.000,0.000,0.788,421,2165,1397,-10.48,0.37,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1671
$TCM_TEMP,17.30
$XPDR_PINGS,574
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,425.9,87.0
$24V_AH,23.9,19.455
$10V_AH,10.1,8.694
$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,23.950,189.300,271.450,52.200,0.000,37.759,31.428,136.777,147.000,0.000,0.000,13.191,1498.356,12426.850,487.734,1770.407,515.846,33.365,1399.330,0.000,1738.062,0.000,25.016
$DEVICE_MAMPS,137.293,76.700,1155.869,787.709,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,537.675,580.270,549.261,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41114,785
$CAP_FILE_SIZE,131740,0
$CFSIZE,254472192,246308864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,250608,083307,6206.001,-914.174,41,1.0,41,-9.6