version: 66.03
glider: 5
mission: 3
dive: 7
start: 6 7 108 12 18 22
data:
$ID,5
$MISSION,3
$DIVE,7
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,-76815.68
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2832
$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
$GPS1,121207,6133.488,-849.763,31,1.3,31,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-60.8
$GPS2,121732,6133.494,-849.819,12,1.8,23,-9.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.253,0.074
$KALMAN_X,-12127.1,360.5,1075.0,-18927.6,-5363.3
$KALMAN_Y,15134.8,-1707.4,-910.6,3499.5,6180.2
$MHEAD_RNG_PITCHd_Wd,295.5,23227,-18.1,-10.000
$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,22,begin dive
$GC,26,-1.44,-146.6,0.0,0.0,0,99,0.00,0.00,-71.07,0.000,6,0.000,0.000,421,2150,3430
$GC,102,-1.44,-146.6,2.9,-5.0,3,118,10.15,2.60,0.00,0.000,4,0.137,0.059,2377,736,3432
$GC,371,-1.24,-146.6,78.1,-27.5,14,376,0.25,2.58,0.00,0.000,6,0.097,0.054,2426,2156,3433
$GC,693,-1.19,-146.6,143.5,-16.0,30,697,0.00,2.58,0.00,0.000,4,0.000,0.071,2426,3560,3433
$GC,759,-1.13,-146.6,153.5,-14.2,33,765,0.12,2.55,0.00,0.000,6,0.101,0.051,2450,2140,3433
$GC,1080,-1.13,-146.6,189.1,-11.1,49,1085,0.00,2.65,0.00,0.000,4,0.000,0.073,2450,3562,3434
$GC,1136,-1.13,-146.6,195.1,-10.8,51,1142,0.00,2.55,0.00,0.000,6,0.000,0.051,2450,2142,3434
$GC,1452,-1.13,-146.6,232.1,-13.2,67,1456,0.00,2.53,0.00,0.000,4,0.000,0.065,2451,747,3434
$GC,1529,-1.13,-146.6,242.8,-13.8,70,1536,0.00,2.55,0.00,0.000,6,0.000,0.056,2451,2154,3434
$GC,1845,-1.13,-146.6,280.8,-11.7,86,1850,0.00,2.60,0.00,0.000,4,0.000,0.075,2450,3565,3435
$GC,1908,-1.13,-146.6,288.2,-11.5,89,1912,0.00,2.55,0.00,0.000,6,0.000,0.054,2450,2149,3434
$GC,2235,-1.13,-146.6,326.2,-11.6,105,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2132,3435
$GC,2543,-1.13,-146.6,360.5,-10.5,120,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2132,3434
$GC,2852,-1.13,-146.6,396.2,-11.7,135,2857,0.00,2.65,0.00,0.000,4,0.000,0.076,2450,3560,3434
$GC,2897,-1.17,-146.6,401.3,-11.3,137,2902,0.00,2.55,0.00,0.000,6,0.000,0.055,2450,2143,3434
$GC,3218,-1.17,-146.6,435.1,-10.2,153,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2126,3434
$GC,3528,-1.17,-146.6,466.1,-10.2,168,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2126,3434
$GC,3837,-1.17,-146.6,498.4,-11.0,183,3842,0.00,2.62,0.00,0.000,4,0.000,0.076,2450,3560,3434
$GC,3932,-1.17,-146.6,511.7,-14.1,187,3937,0.00,2.55,0.00,0.000,6,0.000,0.054,2450,2145,3434
$GC,4249,-1.17,-146.6,551.6,-12.6,202,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2128,3434
$GC,4558,-1.22,-146.6,586.1,-11.0,217,4562,0.00,2.67,0.00,0.000,4,0.000,0.077,2450,3565,3434
$GC,4647,-1.22,-146.6,596.2,-11.4,221,4651,0.00,2.55,0.00,0.000,6,0.000,0.056,2450,2150,3433
$GC,4968,-1.22,-146.6,630.0,-9.4,237,4969,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2133,3433
$GC,5278,-1.26,-146.6,662.5,-13.6,252,5279,0.12,0.00,0.00,0.000,6,0.060,0.000,2418,2133,3433
$STATE,5460,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5460,begin apogee
$GC,5467,-0.33,0.0,688.9,13.6,261,5595,0.98,0.00,124.47,1.254,6,0.085,0.000,2623,2138,2832
$STATE,5596,end apogee,CONTROL_FINISHED_OK
$STATE,5596,begin climb
$GC,5599,1.44,146.6,696.0,0.0,267,5730,1.77,2.78,122.80,1.213,4,0.067,0.085,3012,3557,2234
$GC,5780,1.28,146.6,683.8,10.4,276,5786,0.17,2.65,0.00,0.000,6,0.099,0.066,2980,2146,2233
$GC,6097,1.42,231.9,664.1,6.1,291,6179,0.12,2.80,71.38,1.208,4,0.059,0.088,3013,3557,1885
$GC,6227,1.34,231.9,652.9,11.3,297,6232,0.12,2.62,0.00,0.000,6,0.104,0.066,2991,2151,1885
$GC,6554,1.40,270.7,622.9,8.2,313,6595,0.00,2.72,32.80,1.188,4,0.000,0.082,2991,748,1728
$GC,6658,1.48,293.1,613.5,9.0,317,6685,0.15,2.65,20.02,1.149,6,0.059,0.071,3027,2148,1637
$GC,6996,1.44,293.1,576.2,12.9,334,7001,0.00,2.67,0.00,0.000,4,0.000,0.082,3027,3561,1637
$GC,7007,1.38,293.1,574.1,13.5,334,7014,0.15,2.62,0.00,0.000,6,0.104,0.063,3001,2146,1637
$GC,7323,1.44,293.1,536.7,11.8,350,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2133,1636
$GC,7633,1.50,293.1,500.9,11.4,365,7634,0.12,0.00,0.00,0.000,6,0.058,0.000,3032,2131,1636
$GC,7941,1.50,293.1,458.8,13.8,380,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2131,1636
$GC,8251,1.50,293.1,414.9,14.4,395,8255,0.00,2.65,0.00,0.000,4,0.000,0.074,3032,3561,1636
$GC,8269,1.45,293.1,412.3,14.6,396,8273,0.00,2.58,0.00,0.000,6,0.000,0.056,3032,2143,1636
$GC,8595,1.45,293.1,366.1,13.3,412,8596,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2128,1637
$GC,8904,1.45,293.1,325.1,13.2,427,8905,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2128,1637
$GC,9213,1.45,293.1,286.0,12.4,442,9218,0.00,2.65,0.00,0.000,4,0.000,0.071,3032,3562,1637
$GC,9237,1.45,293.1,283.0,12.8,443,9241,0.00,2.55,0.00,0.000,6,0.000,0.055,3032,2148,1637
$GC,9557,1.45,293.1,241.9,13.3,459,9559,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2135,1637
$GC,9867,1.45,293.1,199.3,14.1,474,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2135,1638
$GC,10176,1.45,293.1,159.7,12.2,489,10180,0.00,2.62,0.00,0.000,4,0.000,0.070,3032,3562,1638
$GC,10186,1.45,293.1,158.1,13.0,489,10192,0.00,2.55,0.00,0.000,6,0.000,0.054,3032,2147,1638
$GC,10503,1.45,293.1,116.9,12.6,505,10504,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2132,1638
$GC,10812,1.45,293.1,78.6,12.6,520,10813,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2132,1639
$GC,11121,1.45,293.1,38.0,13.7,535,11125,0.00,2.55,0.00,0.000,4,0.000,0.067,3032,744,1639
$GC,11183,1.45,293.1,29.6,12.9,538,11188,0.00,2.55,0.00,0.000,6,0.000,0.055,3032,2155,1639
$STATE,11404,end climb,SURFACE_DEPTH_REACHED
$STATE,11404,begin surface coast
$FINISH,0.1,1.026961
$STATE,11426,end surface coast,CONTROL_FINISHED_OK
$STATE,11426,begin surface
$SM_CCo,11448,4.12,0.542,0,0,1609,300.00
$SM_GC,1.67,0.00,0.00,4.12,0.000,0.000,0.542,419,2171,1609,-10.49,0.59,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1682
$TCM_TEMP,16.50
$XPDR_PINGS,366
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,677.6,18.6
$24V_AH,23.7,4.925
$10V_AH,10.1,1.645
$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,25.575,83.550,371.475,4.125,0.000,37.760,36.906,132.413,97.500,0.000,0.000,23.489,1017.093,8677.792,457.377,1219.372,410.836,33.345,1084.464,0.000,1180.262,0.000,40.988
$DEVICE_MAMPS,137.293,88.205,1254.045,542.269,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,376.251,401.167,313.571,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28547,550
$CAP_FILE_SIZE,84862,0
$CFSIZE,254472192,251772928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,070608,153031,6132.063,-851.081,33,1.2,37,-9.1