version: 66.03
glider: 5
mission: 3
dive: 21
start: 6 9 108 17 52 57
data:
$ID,5
$MISSION,3
$DIVE,21
$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,412.5
$T_MISSION,440
$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,-77076.422
$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,17
$R_STBD_OVSHOOT,21
$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
$GPS1,174538,6139.511,-927.404,37,1.6,44,-9.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-48.0
$GPS2,175208,6139.456,-927.347,15,2.0,15,-9.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.134,0.205
$KALMAN_X,-45620.3,1901.4,606.4,-19769.3,-16840.2
$KALMAN_Y,-26028.5,623.3,189.4,52160.9,-7762.1
$MHEAD_RNG_PITCHd_Wd,42.7,14642,-14.8,-8.000
$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,25,-1.22,-146.6,0.0,0.0,0,128,0.00,0.00,-97.90,0.000,6,0.000,0.000,423,2164,3429
$GC,131,-1.22,-146.6,4.8,-4.9,5,147,10.38,2.60,0.00,0.000,4,0.138,0.058,2426,735,3431
$GC,401,-0.99,-146.6,59.4,-17.5,16,406,0.28,2.55,0.00,0.000,6,0.092,0.051,2482,2153,3432
$GC,723,-0.94,-146.6,116.3,-19.5,32,727,0.00,2.55,0.00,0.000,4,0.000,0.064,2483,3564,3433
$GC,823,-0.89,-146.6,139.3,-22.1,36,830,0.10,2.53,0.00,0.000,6,0.100,0.048,2503,2142,3432
$GC,1139,-0.89,-146.6,198.4,-17.5,52,1143,0.00,2.50,0.00,0.000,4,0.000,0.063,2504,749,3433
$GC,1217,-0.89,-146.6,212.1,-16.6,55,1223,0.00,2.53,0.00,0.000,6,0.000,0.054,2504,2150,3433
$GC,1533,-0.89,-146.6,256.9,-12.9,71,1537,0.00,2.58,0.00,0.000,4,0.000,0.069,2504,3565,3433
$GC,1621,-0.89,-146.6,268.2,-12.6,75,1626,0.00,2.53,0.00,0.000,6,0.000,0.051,2504,2151,3433
$GC,1943,-0.89,-146.6,302.9,-9.9,91,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2132,3433
$GC,2252,-0.89,-146.6,331.5,-8.6,106,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2133,3433
$GC,2562,-0.89,-146.6,356.4,-7.6,121,2567,0.00,2.60,0.00,0.000,4,0.000,0.070,2504,3556,3433
$GC,2635,-0.89,-146.6,362.6,-8.2,124,2639,0.00,2.53,0.00,0.000,6,0.000,0.052,2503,2148,3433
$GC,2950,-0.89,-146.6,388.9,-8.9,139,2955,0.00,2.55,0.00,0.000,4,0.000,0.068,2503,746,3432
$GC,3001,-0.93,-146.6,393.8,-9.4,141,3005,0.00,2.55,0.00,0.000,6,0.000,0.055,2504,2154,3432
$GC,3318,-0.93,-146.6,425.0,-10.3,156,3322,0.00,2.55,0.00,0.000,4,0.000,0.071,2503,3558,3432
$GC,3440,-0.93,-146.6,439.4,-12.5,161,3446,0.00,2.53,0.00,0.000,6,0.000,0.053,2504,2150,3432
$GC,3756,-0.93,-146.6,480.3,-14.0,177,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2133,3432
$GC,4065,-0.93,-146.6,524.1,-14.3,192,4070,0.00,2.60,0.00,0.000,4,0.000,0.070,2503,3559,3432
$GC,4144,-0.93,-146.6,535.9,-14.6,195,4150,0.00,2.53,0.00,0.000,6,0.000,0.053,2503,2150,3432
$GC,4460,-0.93,-146.6,582.2,-14.9,211,4464,0.00,2.55,0.00,0.000,4,0.000,0.067,2504,744,3431
$GC,4522,-0.98,-146.6,591.4,-15.3,214,4527,0.00,2.55,0.00,0.000,6,0.000,0.057,2504,2156,3431
$GC,4849,-0.98,-146.6,634.4,-12.2,230,4854,0.00,2.58,0.00,0.000,4,0.000,0.071,2504,3567,3431
$GC,4906,-0.98,-146.6,641.5,-12.5,232,4912,0.00,2.55,0.00,0.000,6,0.000,0.054,2504,2150,3431
$GC,5222,-0.98,-146.6,674.5,-8.7,248,5226,0.00,2.55,0.00,0.000,4,0.000,0.068,2504,747,3431
$GC,5311,-1.03,-146.6,683.6,-9.3,252,5316,0.12,2.55,0.00,0.000,6,0.055,0.057,2468,2153,3431
$GC,5633,-0.96,-146.6,721.1,-11.3,268,5637,0.10,2.62,0.00,0.000,4,0.099,0.071,2487,743,3431
$GC,5688,-0.96,-146.6,727.7,-11.5,270,5694,0.00,2.55,0.00,0.000,6,0.000,0.058,2487,2153,3431
$GC,6004,-0.96,-146.6,761.5,-11.1,286,6008,0.00,2.60,0.00,0.000,4,0.000,0.072,2487,747,3431
$GC,6261,-0.96,-146.6,791.1,-11.0,297,6267,0.00,2.55,0.00,0.000,6,0.000,0.060,2488,2150,3431
$GC,6576,-0.96,-146.6,824.7,-12.6,313,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2149,3431
$GC,6886,-0.96,-146.6,863.6,-12.7,328,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2150,3431
$GC,7195,-0.96,-146.6,898.8,-9.3,343,7199,0.00,2.65,0.00,0.000,4,0.000,0.090,2487,3554,3430
$GC,7391,-0.96,-146.6,922.9,-13.1,352,7396,0.00,2.60,0.00,0.000,6,0.000,0.072,2487,2158,3429
$STATE,7410,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7410,begin apogee
$GC,7417,-0.33,0.0,925.2,14.2,353,7549,0.65,0.00,127.28,1.498,6,0.086,0.000,2624,2131,2833
$STATE,7549,end apogee,CONTROL_FINISHED_OK
$STATE,7550,begin climb
$GC,7552,1.22,146.6,930.7,0.0,360,7688,1.50,2.80,125.68,1.466,4,0.043,0.090,2972,3553,2234
$GC,7702,1.07,172.0,923.2,7.1,367,7732,0.20,2.70,23.20,1.370,6,0.098,0.075,2934,2132,2129
$GC,8051,1.36,389.0,918.7,0.1,384,8245,0.25,2.85,183.82,1.454,4,0.055,0.091,2997,3546,1246
$GC,8402,1.36,389.0,872.7,12.1,400,8407,0.00,2.62,0.00,0.000,6,0.000,0.077,2997,2168,1247
$GC,8718,1.29,389.0,831.5,10.1,415,8723,0.00,2.78,0.00,0.000,4,0.000,0.100,2997,739,1246
$GC,8759,1.24,389.0,826.8,11.6,417,8764,0.12,2.70,0.00,0.000,6,0.105,0.080,2973,2149,1246
$GC,9086,1.24,389.0,796.8,10.2,433,9090,0.00,2.72,0.00,0.000,4,0.000,0.091,2973,739,1245
$GC,9130,1.24,389.0,791.8,11.1,435,9134,0.00,2.67,0.00,0.000,6,0.000,0.074,2974,2152,1244
$GC,9451,1.24,389.0,750.9,14.0,451,9455,0.00,2.72,0.00,0.000,4,0.000,0.085,2973,736,1243
$GC,9529,1.24,389.0,736.5,18.4,454,9535,0.00,2.65,0.00,0.000,6,0.000,0.068,2973,2153,1243
$GC,9845,1.28,389.0,674.6,16.5,470,9849,0.00,2.67,0.00,0.000,4,0.000,0.077,2973,736,1243
$GC,9911,1.34,389.0,662.8,18.7,473,9916,0.00,2.62,0.00,0.000,6,0.000,0.064,2973,2151,1243
$GC,10233,1.34,389.0,613.6,13.5,489,10237,0.00,2.65,0.00,0.000,4,0.000,0.074,2973,735,1243
$GC,10266,1.38,389.0,608.9,14.5,490,10273,0.12,2.60,0.00,0.000,6,0.054,0.061,3008,2154,1244
$GC,10582,1.33,389.0,560.7,16.2,506,10586,0.00,2.62,0.00,0.000,4,0.000,0.073,3008,737,1244
$GC,10600,1.26,389.0,557.1,18.9,507,10605,0.17,2.58,0.00,0.000,6,0.084,0.059,2974,2150,1245
$GC,10927,1.30,389.0,505.5,14.5,523,10931,0.00,2.62,0.00,0.000,4,0.000,0.071,2974,736,1245
$GC,10944,1.35,389.0,502.8,14.5,524,10948,0.00,2.58,0.00,0.000,6,0.000,0.058,2974,2151,1245
$GC,11271,1.40,389.0,459.2,13.3,540,11276,0.15,2.65,0.00,0.000,4,0.048,0.070,3014,733,1246
$GC,11293,1.40,389.0,455.5,15.9,541,11297,0.00,2.60,0.00,0.000,6,0.000,0.058,3014,2161,1246
$GC,11614,1.36,389.0,399.6,18.1,557,11618,0.00,2.65,0.00,0.000,4,0.000,0.069,3014,732,1246
$GC,11641,1.30,389.0,394.3,18.4,558,11647,0.17,2.58,0.00,0.000,6,0.085,0.057,2979,2148,1247
$GC,11957,1.34,389.0,350.6,12.8,573,11962,0.00,2.62,0.00,0.000,4,0.000,0.070,2979,736,1247
$GC,12002,1.40,389.0,344.7,12.2,575,12007,0.12,2.58,0.00,0.000,6,0.051,0.056,3016,2153,1248
$GC,12324,1.36,389.0,305.3,11.5,591,12325,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2153,1249
$GC,12633,1.31,389.0,274.3,10.1,606,12638,0.15,2.62,0.00,0.000,4,0.086,0.068,2982,736,1249
$GC,12666,1.35,389.0,270.8,9.5,607,12673,0.00,2.58,0.00,0.000,6,0.000,0.056,2982,2154,1249
$GC,12982,1.35,389.0,245.1,9.4,623,12986,0.00,2.60,0.00,0.000,4,0.000,0.067,2981,736,1250
$GC,12999,1.35,389.0,243.4,9.9,624,13003,0.00,2.55,0.00,0.000,6,0.000,0.055,2982,2151,1250
$GC,13326,1.40,389.0,205.0,12.1,640,13331,0.10,2.62,0.00,0.000,4,0.054,0.067,3014,737,1250
$GC,13366,1.35,389.0,199.5,15.7,642,13370,0.00,2.58,0.00,0.000,6,0.000,0.056,3014,2157,1250
$GC,13692,1.35,389.0,157.2,11.7,658,13696,0.00,2.62,0.00,0.000,4,0.000,0.067,3014,734,1250
$GC,13714,1.31,389.0,154.3,12.5,659,13719,0.15,2.58,0.00,0.000,6,0.086,0.056,2984,2154,1251
$GC,14037,1.36,389.0,124.7,9.1,675,14041,0.00,2.62,0.00,0.000,4,0.000,0.067,2984,736,1251
$GC,14070,1.41,389.0,120.5,11.9,676,14077,0.10,2.55,0.00,0.000,6,0.054,0.054,3016,2151,1250
$GC,14386,1.41,389.0,85.4,10.2,692,14391,0.00,2.62,0.00,0.000,4,0.000,0.067,3017,734,1251
$GC,14398,1.36,389.0,84.0,10.5,692,14404,0.00,2.55,0.00,0.000,6,0.000,0.054,3016,2151,1251
$GC,14714,1.31,389.0,53.3,9.6,708,14719,0.15,2.60,0.00,0.000,4,0.087,0.066,2982,736,1251
$GC,14765,1.38,399.7,49.5,7.6,710,14781,0.00,2.55,11.10,0.768,6,0.000,0.052,2982,2153,1202
$GC,15106,1.51,430.5,23.5,6.9,727,15140,0.17,2.65,25.35,0.801,4,0.044,0.067,3036,739,1075
$GC,15191,1.51,430.5,12.1,10.2,730,15197,0.00,2.55,0.00,0.000,6,0.000,0.052,3036,2151,1075
$STATE,15277,end climb,SURFACE_DEPTH_REACHED
$STATE,15277,begin surface coast
$FINISH,0.1,1.012515
$STATE,15299,end surface coast,CONTROL_FINISHED_OK
$STATE,15299,begin surface
$SM_CCo,15381,0.00,0.000,0,0,1074,431.24
$SM_GC,0.83,11.40,0.00,0.00,0.038,0.000,0.000,422,2155,1074,-10.39,0.25,431.24
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1662
$TCM_TEMP,17.60
$XPDR_PINGS,515
$ALTIM_TOP_PING,19.7,19.5
$ALTIM_BOTTOM_PING,925.2,9.5
$24V_AH,23.6,7.696
$10V_AH,10.0,2.582
$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,26.675,176.975,496.425,0.000,0.000,37.761,26.473,212.505,137.250,0.000,0.000,14.984,1415.505,11328.455,620.567,1844.266,559.961,33.345,1600.263,0.000,1789.172,0.000,57.091
$DEVICE_MAMPS,138.060,100.477,1497.951,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,503.685,537.778,411.276,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38039,736
$CAP_FILE_SIZE,130878,0
$CFSIZE,254472192,250990592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,090608,221031,6138.749,-928.775,37,1.6,37,-9.5