version: 66.03
glider: 5
mission: 3
dive: 26
start: 6 10 108 18 0 55
data:
$ID,5
$MISSION,3
$DIVE,26
$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,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,-77169.695
$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,22
$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
$GPS1,175438,6141.559,-907.977,43,1.7,43,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-60.1
$GPS2,180003,6141.556,-907.896,12,1.8,12,-9.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.120,0.186
$KALMAN_X,-35528.7,1038.2,88.3,-11253.5,4470.1
$KALMAN_Y,-44376.3,2223.4,623.1,72307.4,-12059.9
$MHEAD_RNG_PITCHd_Wd,336.6,2915,-11.0,-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,22,begin dive
$GC,26,-0.97,-146.6,0.0,0.0,0,108,0.00,0.00,-80.50,0.000,6,0.000,0.000,416,2157,3431
$GC,111,-0.97,-146.6,4.6,-5.9,4,128,10.70,2.55,0.00,0.000,4,0.138,0.062,2483,3566,3433
$GC,259,-0.74,-146.6,32.3,-12.9,9,266,0.25,2.53,0.00,0.000,6,0.084,0.048,2537,2140,3433
$GC,576,-0.64,-146.6,61.1,-8.1,25,577,0.10,0.00,0.00,0.000,6,0.097,0.000,2557,2121,3434
$GC,885,-0.64,-146.6,81.5,-7.5,40,889,0.00,2.60,0.00,0.000,4,0.000,0.063,2557,3558,3435
$GC,940,-0.64,-146.6,86.2,-8.2,42,946,0.00,2.50,0.00,0.000,6,0.000,0.048,2557,2143,3435
$GC,1256,-0.64,-146.6,106.6,-6.7,58,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2125,3435
$GC,1566,-0.64,-146.6,128.0,-6.2,73,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2125,3435
$GC,1874,-0.64,-146.6,149.3,-7.3,88,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2124,3435
$GC,2183,-0.64,-146.6,171.1,-7.2,103,2187,0.00,2.50,0.00,0.000,4,0.000,0.065,2557,752,3435
$GC,2232,-0.64,-146.6,174.8,-7.4,105,2240,0.00,2.53,0.00,0.000,6,0.000,0.053,2557,2156,3435
$GC,2557,-0.64,-146.6,196.0,-5.9,121,2561,0.00,2.53,0.00,0.000,4,0.000,0.066,2557,3557,3435
$GC,2690,-0.64,-146.6,204.7,-6.4,127,2695,0.00,2.50,0.00,0.000,6,0.000,0.050,2557,2152,3435
$GC,3012,-0.64,-146.6,223.4,-5.4,143,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2134,3435
$GC,3321,-0.64,-146.6,239.9,-5.3,158,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2133,3435
$GC,3630,-0.64,-146.6,260.8,-7.7,173,3634,0.00,2.60,0.00,0.000,4,0.000,0.067,2557,3563,3435
$GC,3730,-0.64,-146.6,270.3,-9.3,177,3736,0.00,2.53,0.00,0.000,6,0.000,0.051,2557,2148,3435
$GC,4046,-0.64,-146.6,298.1,-8.3,193,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2130,3434
$GC,4356,-0.64,-146.6,318.3,-5.9,208,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2126,3434
$GC,4665,-0.64,-146.6,337.5,-6.3,223,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2126,3434
$GC,4974,-0.64,-146.6,358.4,-7.0,238,4978,0.00,2.58,0.00,0.000,4,0.000,0.068,2557,3554,3434
$GC,5085,-0.64,-146.6,367.3,-8.1,243,5089,0.00,2.53,0.00,0.000,6,0.000,0.051,2557,2141,3434
$GC,5406,-0.64,-146.6,394.2,-8.8,259,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2123,3433
$GC,5715,-0.64,-146.6,419.6,-8.1,274,5719,0.00,2.60,0.00,0.000,4,0.000,0.067,2558,3558,3433
$GC,5793,-0.64,-146.6,426.6,-9.3,277,5799,0.00,2.53,0.00,0.000,6,0.000,0.050,2557,2141,3433
$GC,6108,-0.64,-146.6,454.3,-8.9,293,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2123,3433
$GC,6418,-0.64,-146.6,476.6,-5.9,308,6422,0.00,2.62,0.00,0.000,4,0.000,0.067,2557,3564,3433
$GC,6502,-0.64,-146.6,482.2,-7.2,312,6507,0.00,2.53,0.00,0.000,6,0.000,0.051,2557,2145,3433
$GC,6830,-0.64,-146.6,501.4,-4.9,328,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2127,3432
$GC,7138,-0.64,-146.6,520.5,-6.8,343,7140,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2127,3432
$GC,7448,-0.64,-146.6,542.5,-6.8,358,7452,0.00,2.62,0.00,0.000,4,0.000,0.069,2557,3565,3432
$GC,7520,-0.64,-146.6,546.9,-5.8,361,7524,0.00,2.53,0.00,0.000,6,0.000,0.053,2557,2150,3432
$GC,7837,-0.64,-146.6,562.1,-4.3,376,7841,0.00,2.53,0.00,0.000,4,0.000,0.067,2557,744,3432
$GC,7915,-0.70,-146.6,566.5,-6.2,379,7921,0.00,2.55,0.00,0.000,6,0.000,0.058,2557,2152,3432
$GC,8230,-0.70,-146.6,588.6,-8.0,395,8235,0.00,2.58,0.00,0.000,4,0.000,0.072,2557,3563,3432
$GC,8331,-0.70,-146.6,595.6,-6.3,399,8337,0.00,2.55,0.00,0.000,6,0.000,0.054,2557,2143,3432
$GC,8647,-0.70,-146.6,610.5,-3.6,415,8651,0.00,2.55,0.00,0.000,4,0.000,0.071,2558,742,3432
$GC,8754,-0.70,-146.6,614.5,-5.4,420,8759,0.00,2.55,0.00,0.000,6,0.000,0.059,2557,2150,3432
$GC,9082,-0.74,-146.6,636.3,-5.3,436,9087,0.00,2.58,0.00,0.000,4,0.000,0.074,2557,3557,3432
$GC,9138,-0.80,-146.6,639.3,-6.1,438,9145,0.15,2.55,0.00,0.000,6,0.053,0.057,2516,2146,3431
$GC,9455,-0.71,-146.6,663.0,-7.6,454,9459,0.12,2.58,0.00,0.000,4,0.095,0.077,2542,747,3431
$GC,9577,-0.71,-146.6,674.7,-7.9,459,9587,0.00,2.58,0.00,0.000,6,0.000,0.061,2542,2157,3431
$GC,9894,-0.71,-146.6,685.7,-3.2,475,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2156,3431
$GC,10202,-0.71,-146.6,705.0,-6.6,490,10203,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2156,3430
$GC,10512,-0.77,-146.6,738.8,-5.7,505,10517,0.00,2.62,0.00,0.000,4,0.000,0.088,2542,3555,3429
$STATE,10599,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10599,begin apogee
$GC,10609,-0.33,0.0,747.1,20.3,509,10737,0.38,0.00,125.00,1.386,6,0.095,0.000,2620,2169,2833
$STATE,10738,end apogee,CONTROL_FINISHED_OK
$STATE,10738,begin climb
$GC,10741,0.97,146.6,768.7,0.0,515,10873,1.38,2.78,123.95,1.352,4,0.081,0.095,2907,3556,2234
$GC,10966,1.95,658.3,769.6,-8.0,525,11353,0.98,2.67,374.48,1.297,6,0.045,0.073,3135,2131,390
$GC,11669,1.47,658.3,596.1,27.0,560,11679,0.55,2.72,3.65,0.713,4,0.098,0.084,3021,3552,390
$GC,11753,1.41,658.3,588.0,7.8,563,11759,0.00,2.60,0.12,0.149,6,0.000,0.067,3021,2163,391
$GC,12069,1.26,658.3,543.6,16.7,579,12078,0.20,2.70,2.42,0.399,4,0.091,0.076,2977,739,390
$GC,12140,1.26,658.3,533.6,12.6,582,12145,0.00,2.62,0.03,0.258,6,0.000,0.065,2977,2153,390
$GC,12461,1.26,658.3,501.5,8.9,598,12470,0.00,2.70,2.28,0.328,4,0.000,0.074,2977,747,390
$GC,12555,1.26,658.3,489.7,13.0,602,12559,0.00,2.58,0.00,0.000,6,0.000,0.060,2977,2150,390
$GC,12876,1.26,658.3,451.7,10.5,618,12885,0.00,2.67,2.22,0.298,4,0.000,0.071,2977,739,390
$GC,12966,1.26,658.3,442.0,10.3,622,12970,0.00,2.58,0.00,0.000,6,0.000,0.058,2977,2151,390
$GC,13292,1.26,658.3,406.3,11.1,638,13301,0.00,2.67,2.12,0.244,4,0.000,0.071,2977,738,391
$GC,13386,1.26,658.3,394.9,10.8,642,13391,0.00,2.58,0.00,0.000,6,0.000,0.057,2977,2153,391
$GC,13708,1.26,658.3,365.3,9.3,658,13716,0.00,2.67,1.92,0.144,4,0.000,0.069,2977,738,391
$GC,13797,1.26,658.3,357.0,9.5,662,13802,0.00,2.55,0.15,0.142,6,0.000,0.055,2977,2149,392
$GC,14124,1.26,658.3,317.2,14.9,678,14133,0.00,2.67,2.30,0.317,4,0.000,0.070,2977,731,390
$GC,14218,1.26,658.3,307.8,7.8,682,14222,0.00,2.58,0.00,0.000,6,0.000,0.055,2977,2152,390
$GC,14539,1.26,658.3,270.3,12.5,698,14547,0.00,2.67,1.55,0.143,4,0.000,0.067,2977,733,390
$GC,14638,1.26,658.3,258.0,11.8,702,14643,0.00,2.58,0.17,0.140,6,0.000,0.054,2977,2156,391
$GC,14953,1.26,658.3,221.8,12.5,717,14962,0.00,2.65,2.12,0.233,4,0.000,0.069,2977,737,391
$GC,15043,1.26,658.3,212.6,10.3,721,15048,0.00,2.55,0.10,0.141,6,0.000,0.055,2977,2149,391
$GC,15369,1.26,658.3,184.3,8.5,737,15378,0.00,2.65,1.55,0.140,4,0.000,0.067,2978,737,391
$GC,15459,1.26,658.3,174.5,12.2,741,15464,0.00,2.55,0.08,0.149,6,0.000,0.053,2977,2151,391
$GC,15786,1.26,658.3,137.8,11.5,757,15795,0.00,2.65,1.60,0.139,4,0.000,0.067,2977,738,391
$GC,15863,1.26,658.3,129.0,10.8,760,15868,0.00,2.55,0.50,0.139,6,0.000,0.053,2977,2153,391
$GC,16179,1.30,658.3,98.3,9.6,775,16188,0.00,2.65,2.15,0.232,4,0.000,0.066,2977,737,391
$GC,16262,1.36,658.3,90.1,9.7,778,16269,0.00,2.55,0.10,0.140,6,0.000,0.053,2977,2156,391
$GC,16580,1.42,658.3,60.6,8.5,794,16589,0.15,2.65,1.42,0.134,4,0.048,0.066,3026,736,391
$GC,16685,1.32,658.3,47.9,11.2,798,16693,0.20,2.53,0.15,0.135,6,0.077,0.051,2985,2149,391
$GC,17001,1.32,658.3,14.9,10.9,814,17010,0.00,2.65,1.55,0.137,4,0.000,0.064,2985,736,391
$GC,17084,1.38,658.3,6.2,11.6,817,17092,0.00,2.53,0.28,0.132,6,0.000,0.049,2985,2154,391
$STATE,17131,end climb,SURFACE_DEPTH_REACHED
$STATE,17131,begin surface coast
$FINISH,0.1,1.022228
$STATE,17152,end surface coast,CONTROL_FINISHED_OK
$STATE,17152,begin surface
$SM_CCo,17234,0.00,0.000,0,0,390,599.02
$SM_GC,0.86,11.05,0.00,0.00,0.034,0.000,0.000,417,2174,390,-10.40,0.65,599.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1664
$TCM_TEMP,17.80
$XPDR_PINGS,648
$ALTIM_TOP_PING,19.4,999.0
$ALTIM_BOTTOM_PING,700.9,55.1
$24V_AH,23.7,8.841
$10V_AH,10.0,2.992
$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,26.200,155.475,653.975,0.000,0.000,39.016,29.942,139.336,168.250,0.000,0.000,12.344,1540.377,12742.902,714.657,2064.216,495.713,33.348,1805.470,0.000,2017.050,0.000,43.060
$DEVICE_MAMPS,138.060,95.108,1385.969,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,561.709,606.371,501.489,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41102,821
$CAP_FILE_SIZE,134282,0
$CFSIZE,254472192,250667008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,100608,224925,6145.358,-909.997,40,1.7,40,-9.4