version: 66.03
glider: 5
mission: 3
dive: 55
start: 6 18 108 16 56 12
data:
$ID,5
$MISSION,3
$DIVE,55
$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,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,-77719.508
$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,21
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,164208,6143.824,-902.951,34,1.2,35,-9.3
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-54.9
$GPS2,165520,6144.004,-903.117,14,1.3,14,-9.3
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.053,0.194
$KALMAN_X,-68024.6,261.3,2349.9,23973.6,-8964.9
$KALMAN_Y,-48090.9,1243.3,2677.7,79496.0,-12153.9
$MHEAD_RNG_PITCHd_Wd,24.5,8883,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.03,-117.3,0.0,0.0,0,96,0.00,0.00,-70.32,0.000,6,0.000,0.000,421,2145,3099
$GC,99,-1.03,-117.3,2.2,-3.6,3,116,10.68,2.55,0.00,0.000,4,0.140,0.058,2469,737,3100
$GC,245,-0.74,-117.3,24.3,-10.9,8,252,0.32,2.50,0.00,0.000,6,0.087,0.051,2539,2136,3102
$GC,562,-0.65,-117.3,48.3,-7.2,24,566,0.00,2.58,0.00,0.000,4,0.000,0.063,2538,3565,3103
$GC,761,-0.54,-117.3,63.9,-8.7,33,767,0.20,2.53,0.00,0.000,6,0.087,0.049,2580,2143,3103
$GC,1088,-0.54,-117.3,85.5,-6.3,49,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2124,3103
$GC,1398,-0.54,-117.3,106.7,-6.8,64,1402,0.00,2.60,0.00,0.000,4,0.000,0.062,2581,3560,3103
$GC,1492,-0.54,-117.3,113.6,-7.3,68,1497,0.00,2.50,0.00,0.000,6,0.000,0.047,2580,2149,3103
$GC,1809,-0.59,-117.3,127.8,-3.2,83,1813,0.00,2.50,0.00,0.000,4,0.000,0.065,2581,751,3103
$GC,1980,-0.59,-117.3,133.8,-3.5,90,1986,0.00,2.50,0.00,0.000,6,0.000,0.051,2580,2151,3103
$GC,2297,-0.66,-117.3,147.2,-4.4,106,2302,0.12,2.58,0.00,0.000,4,0.051,0.063,2544,747,3103
$GC,2452,-0.59,-117.3,156.5,-5.9,113,2457,0.12,2.53,0.00,0.000,6,0.093,0.051,2569,2157,3103
$GC,2779,-0.59,-117.3,172.5,-4.5,129,2783,0.00,2.50,0.00,0.000,4,0.000,0.064,2569,3556,3103
$GC,2980,-0.59,-117.3,182.9,-4.9,138,2985,0.00,2.50,0.00,0.000,6,0.000,0.048,2569,2150,3103
$GC,3302,-0.59,-117.3,200.0,-6.1,154,3309,0.00,2.53,0.00,0.000,4,0.000,0.066,2569,747,3103
$GC,3410,-0.59,-117.3,207.1,-6.5,158,3416,0.00,2.53,0.00,0.000,6,0.000,0.053,2569,2153,3103
$GC,3727,-0.59,-117.3,225.0,-5.5,174,3731,0.00,2.53,0.00,0.000,4,0.000,0.065,2569,3557,3103
$GC,3840,-0.59,-117.3,232.4,-6.2,179,3844,0.00,2.50,0.00,0.000,6,0.000,0.050,2570,2151,3103
$GC,4161,-0.59,-117.3,251.2,-6.1,195,4166,0.00,2.53,0.00,0.000,4,0.000,0.067,2569,752,3103
$GC,4285,-0.59,-117.3,259.6,-6.8,200,4291,0.00,2.50,0.00,0.000,6,0.000,0.052,2569,2152,3103
$GC,4601,-0.59,-117.3,279.2,-6.2,216,4605,0.00,2.53,0.00,0.000,4,0.000,0.067,2569,3557,3102
$GC,4673,-0.59,-117.3,284.0,-6.4,219,4677,0.00,2.53,0.00,0.000,6,0.000,0.051,2569,2145,3102
$GC,4989,-0.59,-117.3,298.3,-3.9,234,4993,0.00,2.53,0.00,0.000,4,0.000,0.068,2569,746,3102
$GC,5084,-0.59,-117.3,302.5,-4.5,238,5088,0.00,2.53,0.00,0.000,6,0.000,0.054,2569,2151,3102
$GC,5400,-0.59,-117.3,313.2,-3.2,253,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2151,3102
$GC,5709,-0.59,-117.3,325.8,-4.3,268,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2150,3102
$GC,6018,-0.59,-117.3,339.2,-4.4,283,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2151,3101
$GC,6330,-0.59,-117.3,350.4,-3.3,298,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2150,3101
$GC,6637,-0.59,-117.3,358.4,-2.6,313,6641,0.00,2.55,0.00,0.000,4,0.000,0.069,2569,3556,3101
$GC,6722,-0.59,-117.3,361.4,-3.5,317,6726,0.00,2.53,0.00,0.000,6,0.000,0.053,2569,2147,3101
$GC,7048,-0.59,-117.3,374.2,-4.8,333,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2147,3100
$GC,7357,-0.59,-117.3,393.0,-6.9,348,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2130,3100
$GC,7667,-0.59,-117.3,421.8,-10.4,363,7671,0.00,2.55,0.00,0.000,4,0.000,0.070,2569,742,3100
$GC,7739,-0.59,-117.3,429.8,-10.8,366,7743,0.00,2.55,0.00,0.000,6,0.000,0.057,2569,2155,3100
$GC,8055,-0.59,-117.3,454.8,-6.5,381,8059,0.00,2.55,0.00,0.000,4,0.000,0.070,2570,3562,3100
$GC,8167,-0.59,-117.3,461.3,-5.7,386,8171,0.00,2.55,0.00,0.000,6,0.000,0.054,2569,2142,3100
$GC,8488,-0.59,-117.3,477.2,-5.1,402,8492,0.00,2.50,0.00,0.000,4,0.000,0.067,2569,747,3100
$GC,8747,-0.63,-117.3,489.3,-3.1,413,8753,0.00,2.55,0.00,0.000,6,0.000,0.056,2569,2160,3099
$GC,9064,-0.69,-117.3,497.9,-2.5,429,9069,0.00,2.58,0.00,0.000,4,0.000,0.067,2569,748,3099
$GC,9160,-0.73,-117.3,499.2,-0.6,433,9165,0.12,2.55,0.00,0.000,6,0.055,0.057,2533,2160,3099
$GC,9477,-0.67,-117.3,508.1,-3.9,448,9481,0.00,2.55,0.00,0.000,4,0.000,0.071,2533,3554,3099
$GC,9735,-0.60,-117.3,515.3,-1.7,459,9741,0.17,2.55,0.00,0.000,6,0.092,0.057,2569,2142,3099
$STATE,9903,end dive,NO_VERTICAL_VELOCITY
$STATE,9903,begin apogee
$GC,9910,-0.33,0.0,515.1,0.0,468,10011,0.28,0.00,98.53,1.175,6,0.084,0.000,2625,2118,2620
$STATE,10012,end apogee,CONTROL_FINISHED_OK
$STATE,10012,begin climb
$GC,10015,1.03,117.3,515.0,0.0,473,10121,1.38,2.67,96.85,1.144,4,0.070,0.073,2921,3502,2140
$GC,10173,1.10,192.5,507.7,3.4,480,10245,0.00,2.60,62.47,1.117,6,0.000,0.062,2921,2099,1835
$GC,10554,1.14,219.6,493.8,5.1,499,10581,0.12,0.00,23.80,1.089,6,0.056,0.000,2958,2078,1724
$GC,10884,1.11,237.5,471.8,5.4,515,10903,0.00,0.00,16.05,1.076,6,0.000,0.000,2958,2079,1651
$GC,11213,1.06,237.5,451.4,6.1,531,11218,0.15,2.60,0.00,0.000,4,0.085,0.076,2924,690,1650
$GC,11224,1.06,237.5,450.5,6.1,531,11230,0.00,2.60,0.00,0.000,6,0.000,0.062,2924,2103,1650
$GC,11540,1.21,303.3,439.8,3.7,547,11600,0.17,0.00,54.70,1.136,6,0.048,0.000,2974,2103,1383
$GC,11909,1.16,303.3,413.6,8.4,565,11914,0.00,2.62,0.00,0.000,4,0.000,0.073,2974,692,1383
$GC,11931,1.11,303.3,411.6,8.5,566,11936,0.15,2.58,0.00,0.000,6,0.083,0.059,2941,2101,1383
$GC,12253,1.16,303.3,390.4,7.9,582,12257,0.00,2.65,0.00,0.000,4,0.000,0.071,2942,682,1383
$GC,12263,1.22,303.3,389.5,7.7,582,12270,0.10,2.58,0.00,0.000,6,0.056,0.057,2973,2102,1383
$GC,12579,1.17,303.3,355.0,11.7,598,12583,0.00,2.60,0.00,0.000,4,0.000,0.071,2973,690,1383
$GC,12590,1.13,303.3,353.6,11.7,598,12596,0.15,2.55,0.00,0.000,6,0.081,0.057,2941,2100,1383
$GC,12906,1.19,303.3,321.4,11.0,614,12910,0.00,2.60,0.00,0.000,4,0.000,0.071,2941,690,1383
$GC,12923,1.25,303.3,319.3,11.5,615,12928,0.15,2.55,0.00,0.000,6,0.048,0.055,2983,2104,1383
$GC,13251,1.18,303.3,266.9,17.3,631,13256,0.15,2.62,0.00,0.000,4,0.081,0.068,2948,688,1384
$GC,13262,1.13,303.3,264.8,16.8,631,13268,0.00,2.55,0.00,0.000,6,0.000,0.055,2949,2100,1384
$GC,13578,1.19,303.3,219.0,14.3,647,13582,0.00,2.60,0.00,0.000,4,0.000,0.068,2948,692,1384
$GC,13588,1.23,303.3,217.3,14.4,647,13594,0.00,2.55,0.00,0.000,6,0.000,0.055,2948,2106,1384
$GC,13904,1.29,303.3,173.2,13.1,663,13906,0.15,0.00,0.00,0.000,6,0.048,0.000,2993,2106,1384
$GC,14214,1.20,303.3,136.2,11.1,678,14219,0.15,2.62,0.00,0.000,4,0.083,0.067,2958,681,1384
$GC,14232,1.16,303.3,134.3,10.3,679,14237,0.00,2.55,0.00,0.000,6,0.000,0.054,2958,2100,1384
$GC,14560,1.16,303.3,110.1,7.3,695,14564,0.00,2.60,0.00,0.000,4,0.000,0.066,2958,686,1384
$GC,14577,1.16,303.3,108.7,7.8,696,14582,0.00,2.53,0.00,0.000,6,0.000,0.054,2958,2101,1384
$GC,14905,1.16,303.3,84.0,9.2,712,14909,0.00,2.60,0.00,0.000,4,0.000,0.067,2958,688,1384
$GC,14937,1.16,303.3,80.4,10.0,713,14944,0.00,2.53,0.00,0.000,6,0.000,0.053,2958,2101,1385
$GC,15255,1.20,303.3,51.1,8.7,729,15257,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2101,1385
$GC,15563,1.25,303.3,24.4,8.0,744,15564,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2101,1385
$STATE,15829,end climb,SURFACE_DEPTH_REACHED
$STATE,15829,begin surface coast
$FINISH,-0.0,1.027118
$STATE,15850,end surface coast,CONTROL_FINISHED_OK
$STATE,15850,begin surface
$SM_CCo,15932,0.00,0.000,0,0,1384,303.19
$SM_GC,0.80,10.93,0.00,0.00,0.035,0.000,0.000,421,2181,1384,-10.39,0.88,303.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1671
$TCM_TEMP,17.40
$XPDR_PINGS,531
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,23.9,14.216
$10V_AH,10.1,6.032
$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,25.775,143.150,352.400,0.000,0.000,113.283,182.132,234.407,136.750,0.000,0.000,14.354,1451.676,12081.369,494.945,1859.756,825.732,33.350,1413.753,0.000,1825.257,0.000,26.829
$DEVICE_MAMPS,140.361,78.234,1175.044,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,518.660,558.789,530.921,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38037,758
$CAP_FILE_SIZE,127280,0
$CFSIZE,254472192,248373248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,180608,212308,6151.687,-906.904,48,1.3,48,-9.4