version: 66.03
glider: 5
mission: 3
dive: 24
start: 6 10 108 7 43 3
data:
$ID,5
$MISSION,3
$DIVE,24
$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,-77138.578
$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,15
$R_STBD_OVSHOOT,23
$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
$GPS1,073701,6137.436,-924.299,40,0.9,40,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-55.6
$GPS2,074214,6137.366,-924.157,11,1.3,11,-9.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.180,0.166
$KALMAN_X,-48337.6,2157.0,524.1,-14408.4,-9728.1
$KALMAN_Y,-42764.9,1162.0,-161.6,64839.0,-13018.0
$MHEAD_RNG_PITCHd_Wd,56.8,13375,-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,-146.6,0.0,0.0,0,129,0.00,0.00,-101.35,0.000,2,0.000,0.000,421,2157,3243
$GC,132,-1.22,-146.6,3.5,-3.1,5,155,10.40,2.62,-4.55,0.000,4,0.139,0.077,2427,732,3432
$GC,391,-1.02,-146.6,46.9,-14.7,16,396,0.25,2.55,0.00,0.000,6,0.100,0.051,2477,2149,3432
$GC,709,-0.94,-146.6,94.0,-15.3,31,713,0.00,2.60,0.00,0.000,4,0.000,0.063,2477,733,3433
$GC,765,-0.89,-146.6,101.2,-11.3,33,772,0.12,2.55,0.00,0.000,6,0.097,0.052,2504,2150,3432
$GC,1081,-0.89,-146.6,125.7,-7.7,49,1085,0.00,2.53,0.00,0.000,4,0.000,0.064,2504,3556,3433
$GC,1144,-0.89,-146.6,131.0,-7.5,52,1149,0.00,2.53,0.00,0.000,6,0.000,0.050,2504,2141,3433
$GC,1471,-0.89,-146.6,151.6,-5.9,68,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2121,3433
$GC,1780,-0.89,-146.6,160.5,-3.0,83,1784,0.00,2.60,0.00,0.000,4,0.000,0.065,2504,3558,3433
$GC,1932,-0.89,-146.6,167.1,-4.9,90,1936,0.00,2.50,0.00,0.000,6,0.000,0.049,2504,2147,3433
$GC,2259,-0.89,-146.6,187.9,-7.0,106,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2128,3433
$GC,2569,-0.89,-146.6,208.1,-6.1,121,2573,0.00,2.60,0.00,0.000,4,0.000,0.065,2504,3562,3433
$GC,2636,-0.89,-146.6,212.7,-6.8,124,2640,0.00,2.53,0.00,0.000,6,0.000,0.050,2503,2145,3433
$GC,2957,-0.89,-146.6,229.1,-5.0,140,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2127,3434
$GC,3267,-0.89,-146.6,250.9,-8.6,155,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2127,3433
$GC,3575,-0.89,-146.6,282.2,-11.2,170,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2126,3433
$GC,3885,-0.89,-146.6,315.9,-10.7,185,3889,0.00,2.53,0.00,0.000,4,0.000,0.067,2504,746,3433
$GC,3947,-0.89,-146.6,322.8,-11.6,188,3951,0.00,2.53,0.00,0.000,6,0.000,0.055,2504,2149,3433
$GC,4273,-0.89,-146.6,356.7,-9.6,204,4278,0.00,2.58,0.00,0.000,4,0.000,0.069,2504,3565,3433
$GC,4336,-0.89,-146.6,362.6,-9.0,207,4340,0.00,2.55,0.00,0.000,6,0.000,0.052,2504,2147,3433
$GC,4662,-0.89,-146.6,387.9,-7.7,223,4667,0.00,2.50,0.00,0.000,4,0.000,0.068,2504,747,3433
$GC,4741,-0.89,-146.6,394.8,-9.0,226,4747,0.00,2.53,0.00,0.000,6,0.000,0.055,2504,2150,3433
$GC,5057,-0.89,-146.6,420.9,-7.6,242,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2149,3433
$GC,5366,-0.89,-146.6,444.4,-7.7,257,5370,0.00,2.55,0.00,0.000,4,0.000,0.069,2504,3556,3432
$GC,5439,-0.89,-146.6,450.5,-9.5,260,5443,0.00,2.53,0.00,0.000,6,0.000,0.054,2504,2149,3432
$GC,5755,-0.89,-146.6,477.4,-10.1,275,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2133,3432
$GC,6064,-0.89,-146.6,510.0,-11.2,290,6068,0.00,2.60,0.00,0.000,4,0.000,0.069,2504,3564,3432
$GC,6119,-0.89,-146.6,516.2,-11.5,292,6125,0.00,2.53,0.00,0.000,6,0.000,0.052,2504,2148,3432
$GC,6434,-0.89,-146.6,546.7,-9.2,308,6439,0.00,2.53,0.00,0.000,4,0.000,0.067,2504,749,3432
$GC,6520,-0.94,-146.6,556.2,-12.5,312,6524,0.00,2.53,0.00,0.000,6,0.000,0.056,2504,2149,3432
$GC,6846,-0.94,-146.6,589.8,-10.5,328,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2150,3431
$GC,7156,-0.94,-146.6,625.3,-11.7,343,7161,0.00,2.55,0.00,0.000,4,0.000,0.071,2504,3555,3431
$GC,7219,-0.94,-146.6,632.5,-11.5,346,7224,0.00,2.53,0.00,0.000,6,0.000,0.055,2504,2147,3431
$GC,7546,-0.94,-146.6,666.9,-9.4,362,7550,0.00,2.53,0.00,0.000,4,0.000,0.067,2504,745,3431
$GC,7646,-0.99,-146.6,677.4,-11.2,366,7652,0.00,2.55,0.00,0.000,6,0.000,0.057,2504,2152,3431
$GC,7962,-1.03,-146.6,709.5,-10.2,382,7967,0.12,2.58,0.00,0.000,4,0.056,0.071,2467,3565,3431
$GC,8041,-0.95,-146.6,718.9,-12.9,385,8048,0.12,2.55,0.00,0.000,6,0.095,0.057,2492,2150,3431
$GC,8358,-0.95,-146.6,750.1,-9.3,401,8362,0.00,2.62,0.00,0.000,4,0.000,0.071,2491,3565,3431
$GC,8435,-0.95,-146.6,757.1,-8.0,404,8441,0.00,2.55,0.00,0.000,6,0.000,0.056,2491,2149,3431
$GC,8751,-0.95,-146.6,783.6,-7.8,420,8756,0.00,2.55,0.00,0.000,4,0.000,0.072,2491,745,3430
$GC,8976,-0.95,-146.6,802.5,-9.1,430,8981,0.00,2.58,0.00,0.000,6,0.000,0.061,2491,2153,3431
$GC,9298,-0.95,-146.6,831.6,-8.9,446,9302,0.00,2.65,0.00,0.000,4,0.000,0.078,2491,746,3431
$GC,9556,-1.00,-146.6,854.0,-11.4,457,9562,0.00,2.60,0.00,0.000,6,0.000,0.066,2491,2153,3431
$STATE,9601,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9601,begin apogee
$GC,9607,-0.33,0.0,858.6,10.2,460,9737,0.62,0.00,126.65,1.420,6,0.087,0.000,2623,2154,2832
$STATE,9738,end apogee,CONTROL_FINISHED_OK
$STATE,9738,begin climb
$GC,9741,1.22,146.6,864.1,0.0,466,9873,1.55,2.72,124.32,1.384,4,0.063,0.084,2963,3558,2233
$GC,10063,1.17,208.5,843.8,5.8,481,10125,0.00,2.62,53.38,1.354,6,0.000,0.068,2963,2138,1982
$GC,10439,1.12,224.7,816.9,7.4,499,10460,0.00,2.72,14.80,1.277,4,0.000,0.090,2963,756,1915
$GC,10500,1.10,258.8,812.2,6.8,501,10536,0.12,2.65,30.08,1.348,6,0.098,0.074,2940,2150,1777
$GC,10854,1.10,258.8,784.5,8.2,519,10859,0.00,2.70,0.00,0.000,4,0.000,0.087,2940,757,1777
$GC,10895,1.10,258.8,781.2,9.0,521,10899,0.00,2.62,0.00,0.000,6,0.000,0.071,2940,2152,1777
$GC,11221,1.14,258.8,754.5,8.0,537,11226,0.00,2.67,0.00,0.000,4,0.000,0.081,2941,753,1775
$GC,11250,1.19,258.8,751.9,9.1,538,11255,0.00,2.62,0.00,0.000,6,0.000,0.067,2940,2160,1775
$GC,11566,1.19,258.8,722.1,9.5,553,11567,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2158,1775
$GC,11876,1.24,258.8,695.4,8.8,568,11881,0.12,2.65,0.00,0.000,4,0.055,0.076,2975,757,1774
$GC,11893,1.24,258.8,693.6,9.1,569,11897,0.00,2.58,0.00,0.000,6,0.000,0.063,2975,2160,1774
$GC,12220,1.18,258.8,658.0,11.2,585,12221,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2156,1774
$GC,12529,1.14,258.8,627.5,9.6,600,12534,0.15,2.60,0.00,0.000,4,0.089,0.071,2941,757,1774
$GC,12556,1.14,258.8,625.1,8.1,601,12561,0.00,2.53,0.00,0.000,6,0.000,0.059,2941,2148,1774
$GC,12873,1.23,289.7,603.3,6.9,616,12902,0.12,0.00,26.58,1.220,6,0.053,0.000,2976,2147,1651
$GC,13201,1.23,289.7,571.3,11.1,632,13205,0.00,2.60,0.00,0.000,4,0.000,0.070,2976,756,1651
$GC,13211,1.23,289.7,569.9,11.3,632,13217,0.00,2.55,0.00,0.000,6,0.000,0.058,2976,2150,1651
$GC,13527,1.23,289.7,538.0,11.3,648,13531,0.00,2.60,0.00,0.000,4,0.000,0.070,2976,756,1652
$GC,13537,1.23,289.7,536.4,12.2,648,13543,0.00,2.55,0.00,0.000,6,0.000,0.057,2976,2154,1652
$GC,13853,1.23,289.7,499.3,12.0,664,13857,0.00,2.60,0.00,0.000,4,0.000,0.070,2976,757,1652
$GC,13874,1.23,289.7,496.4,12.9,665,13879,0.00,2.55,0.00,0.000,6,0.000,0.057,2976,2160,1652
$GC,14195,1.23,289.7,456.4,11.3,681,14200,0.00,2.60,0.00,0.000,4,0.000,0.068,2976,753,1653
$GC,14223,1.23,289.7,453.3,11.1,682,14227,0.00,2.55,0.00,0.000,6,0.000,0.056,2976,2155,1654
$GC,14538,1.23,289.7,422.4,9.8,697,14543,0.00,2.58,0.00,0.000,4,0.000,0.067,2976,758,1654
$GC,14549,1.23,289.7,421.1,9.5,697,14555,0.00,2.53,0.00,0.000,6,0.000,0.056,2976,2150,1654
$GC,14865,1.23,289.7,391.9,8.9,713,14869,0.00,2.58,0.00,0.000,4,0.000,0.067,2977,757,1654
$GC,14875,1.23,289.7,390.8,8.8,713,14881,0.00,2.53,0.00,0.000,6,0.000,0.055,2976,2151,1654
$GC,15191,1.23,289.7,366.0,8.1,729,15192,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2150,1655
$GC,15500,1.23,289.7,336.8,9.9,744,15501,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2150,1655
$GC,15809,1.23,289.7,304.0,11.2,759,15814,0.00,2.58,0.00,0.000,4,0.000,0.067,2976,756,1655
$GC,15831,1.23,289.7,301.3,11.5,760,15836,0.00,2.53,0.00,0.000,6,0.000,0.055,2976,2152,1656
$GC,16153,1.23,289.7,263.0,12.1,776,16154,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2152,1656
$GC,16462,1.23,289.7,228.6,11.0,791,16463,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2151,1655
$GC,16771,1.23,289.7,193.8,11.3,806,16776,0.00,2.58,0.00,0.000,4,0.000,0.067,2976,750,1656
$GC,16793,1.23,289.7,191.2,11.4,807,16798,0.00,2.53,0.00,0.000,6,0.000,0.054,2976,2151,1656
$GC,17115,1.23,289.7,160.9,8.6,823,17119,0.00,2.58,0.00,0.000,4,0.000,0.066,2976,754,1656
$GC,17131,1.23,289.7,159.3,8.8,824,17136,0.00,2.50,0.00,0.000,6,0.000,0.054,2976,2150,1656
$GC,17459,1.23,289.7,130.5,8.7,840,17463,0.00,2.58,0.00,0.000,4,0.000,0.065,2977,750,1656
$GC,17491,1.23,289.7,127.2,9.9,841,17498,0.00,2.53,0.00,0.000,6,0.000,0.054,2977,2153,1657
$GC,17809,1.23,289.7,96.9,10.8,857,17810,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2153,1657
$GC,18117,1.23,289.7,62.5,10.5,872,18121,0.00,2.53,0.00,0.000,4,0.000,0.063,2977,3562,1657
$GC,18138,1.23,289.7,60.2,9.8,873,18143,0.00,2.50,0.00,0.000,6,0.000,0.051,2976,2163,1656
$GC,18461,1.23,289.7,29.9,9.2,889,18462,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2162,1657
$STATE,18766,end climb,SURFACE_DEPTH_REACHED
$STATE,18766,begin surface coast
$FINISH,0.2,1.015454
$STATE,18788,end surface coast,CONTROL_FINISHED_OK
$STATE,18788,begin surface
$SM_CCo,18810,7.55,0.686,0,0,1609,300.00
$SM_GC,1.73,0.00,0.00,7.55,0.000,0.000,0.686,420,2151,1609,-10.49,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1675
$TCM_TEMP,17.70
$XPDR_PINGS,690
$ALTIM_TOP_PING,18.9,17.7
$ALTIM_BOTTOM_PING,800.4,68.1
$24V_AH,23.7,8.367
$10V_AH,10.0,2.826
$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,24.700,174.775,375.800,7.550,0.000,37.760,31.278,133.985,179.750,0.000,0.000,10.988,1674.602,14324.208,558.185,2059.156,516.042,33.345,1604.944,0.000,2016.116,0.000,49.144
$DEVICE_MAMPS,138.827,89.739,1420.484,685.698,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,619.620,667.289,506.512,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47263,905
$CAP_FILE_SIZE,140247,0
$CFSIZE,254472192,250781696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,100608,125802,6138.458,-914.300,42,2.0,42,-9.4