version: 66.03
glider: 5
mission: 3
dive: 59
start: 6 19 108 10 58 24
data:
$ID,5
$MISSION,3
$DIVE,59
$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,-77783.172
$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,19
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,105225,6149.816,-937.683,40,1.4,40,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-50.0
$GPS2,105732,6149.737,-937.734,10,1.5,15,-9.7
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.184,-0.081
$KALMAN_X,-109999.4,2337.1,3039.6,32497.5,-61183.3
$KALMAN_Y,-24968.8,-2413.9,-1536.9,75011.3,20859.5
$MHEAD_RNG_PITCHd_Wd,123.3,28519,-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,-117.3,0.0,0.0,0,140,0.00,0.00,-114.22,0.000,6,0.000,0.000,417,2170,3099
$GC,144,-1.03,-117.3,1.7,-1.2,5,160,10.62,2.55,0.00,0.000,4,0.138,0.054,2469,739,3098
$GC,331,-0.73,-117.3,24.3,-9.9,12,336,0.32,2.53,0.00,0.000,6,0.087,0.050,2539,2160,3095
$GC,647,-0.64,-117.3,49.6,-7.7,27,652,0.10,2.58,0.00,0.000,4,0.102,0.058,2559,740,3095
$GC,737,-0.64,-117.3,55.5,-6.6,31,741,0.00,2.53,0.00,0.000,6,0.000,0.051,2559,2148,3095
$GC,1058,-0.64,-117.3,74.9,-5.8,47,1062,0.00,2.58,0.00,0.000,4,0.000,0.061,2559,739,3095
$GC,1079,-0.64,-117.3,77.0,-8.7,48,1084,0.00,2.53,0.00,0.000,6,0.000,0.051,2559,2149,3095
$GC,1401,-0.64,-117.3,107.1,-10.4,64,1406,0.00,2.58,0.00,0.000,4,0.000,0.061,2559,739,3095
$GC,1456,-0.64,-117.3,113.4,-10.8,66,1463,0.00,2.47,0.00,0.000,6,0.000,0.051,2559,2132,3095
$GC,1772,-0.64,-117.3,147.6,-10.5,82,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2132,3095
$GC,2081,-0.64,-117.3,183.9,-13.4,97,2086,0.00,2.53,0.00,0.000,4,0.000,0.061,2559,740,3095
$GC,2121,-0.64,-117.3,189.0,-12.7,99,2126,0.00,2.47,0.00,0.000,6,0.000,0.051,2559,2129,3095
$GC,2449,-0.64,-117.3,215.0,-5.8,115,2453,0.00,2.55,0.00,0.000,4,0.000,0.062,2559,3556,3095
$GC,2467,-0.64,-117.3,215.9,-5.8,116,2471,0.00,2.55,0.00,0.000,6,0.000,0.048,2559,2125,3095
$GC,2794,-0.64,-117.3,230.4,-4.4,132,2798,0.00,2.62,0.00,0.000,4,0.000,0.063,2559,3559,3095
$GC,2804,-0.64,-117.3,231.1,-5.0,132,2810,0.00,2.53,0.00,0.000,6,0.000,0.049,2559,2138,3095
$GC,3121,-0.64,-117.3,251.0,-6.4,148,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2135,3095
$GC,3429,-0.64,-117.3,272.2,-6.1,163,3433,0.00,2.47,0.00,0.000,4,0.000,0.066,2559,748,3095
$GC,3469,-0.64,-117.3,274.4,-5.6,165,3474,0.00,2.47,0.00,0.000,6,0.000,0.052,2559,2134,3095
$GC,3796,-0.64,-117.3,294.2,-8.0,181,3801,0.00,2.55,0.00,0.000,4,0.000,0.064,2559,744,3095
$GC,3859,-0.64,-117.3,298.5,-6.7,184,3863,0.00,2.45,0.00,0.000,6,0.000,0.053,2559,2121,3095
$GC,4186,-0.64,-117.3,315.6,-4.9,200,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2120,3095
$GC,4495,-0.64,-117.3,332.2,-7.7,215,4499,0.00,2.50,0.00,0.000,4,0.000,0.067,2559,747,3095
$GC,4505,-0.64,-117.3,333.0,-7.8,215,4511,0.00,2.47,0.00,0.000,6,0.000,0.053,2559,2126,3095
$GC,4821,-0.64,-117.3,358.2,-7.8,231,4825,0.00,2.53,0.00,0.000,4,0.000,0.067,2559,744,3094
$GC,4860,-0.64,-117.3,361.1,-7.7,233,4865,0.00,2.47,0.00,0.000,6,0.000,0.054,2559,2124,3095
$GC,5188,-0.64,-117.3,374.1,-3.0,249,5192,0.00,2.60,0.00,0.000,4,0.000,0.067,2559,3564,3094
$GC,5282,-0.64,-117.3,377.2,-3.1,253,5286,0.00,2.55,0.00,0.000,6,0.000,0.052,2559,2130,3094
$GC,5598,-0.64,-117.3,385.3,-3.2,268,5603,0.00,2.62,0.00,0.000,4,0.000,0.067,2559,3556,3094
$GC,5621,-0.64,-117.3,385.8,-2.2,269,5625,0.00,2.53,0.00,0.000,6,0.000,0.053,2559,2147,3094
$GC,5942,-0.64,-117.3,401.4,-5.7,285,5947,0.00,2.60,0.00,0.000,4,0.000,0.067,2559,3556,3094
$GC,6009,-0.64,-117.3,406.3,-8.2,288,6014,0.00,2.50,0.00,0.000,6,0.000,0.052,2559,2159,3093
$GC,6331,-0.64,-117.3,431.0,-6.8,304,6335,0.00,2.58,0.00,0.000,4,0.000,0.066,2559,3562,3093
$GC,6364,-0.64,-117.3,432.8,-5.4,305,6371,0.00,2.47,0.00,0.000,6,0.000,0.053,2559,2158,3093
$GC,6680,-0.64,-117.3,455.0,-6.8,321,6684,0.00,2.55,0.00,0.000,4,0.000,0.068,2559,762,3093
$GC,6697,-0.64,-117.3,456.2,-6.7,322,6701,0.00,2.53,0.00,0.000,6,0.000,0.055,2559,2169,3093
$GC,7024,-0.64,-117.3,477.9,-7.8,338,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2169,3093
$GC,7333,-0.64,-117.3,494.4,-4.6,353,7337,0.00,2.58,0.00,0.000,4,0.000,0.069,2559,762,3093
$GC,7388,-0.64,-117.3,496.6,-4.0,355,7395,0.00,2.55,0.00,0.000,6,0.000,0.057,2559,2190,3093
$GC,7705,-0.64,-117.3,510.4,-4.8,371,7709,0.00,2.62,0.00,0.000,4,0.000,0.068,2559,756,3092
$GC,7760,-0.64,-117.3,513.5,-6.7,373,7766,0.00,2.55,0.00,0.000,6,0.000,0.055,2559,2179,3093
$GC,8076,-0.64,-117.3,532.9,-5.8,389,8081,0.00,2.60,0.00,0.000,4,0.000,0.069,2559,759,3092
$GC,8134,-0.64,-117.3,536.3,-6.7,391,8140,0.00,2.55,0.00,0.000,6,0.000,0.057,2559,2175,3092
$GC,8450,-0.64,-117.3,556.1,-5.7,407,8454,0.00,2.60,0.00,0.000,4,0.000,0.070,2559,759,3092
$GC,8522,-0.64,-117.3,560.9,-3.3,410,8526,0.00,2.47,0.00,0.000,6,0.000,0.055,2558,2140,3092
$GC,8839,-0.64,-117.3,577.6,-4.7,425,8843,0.00,2.58,0.00,0.000,4,0.000,0.069,2559,3560,3091
$GC,8923,-0.64,-117.3,583.6,-8.3,429,8927,0.00,2.45,0.00,0.000,6,0.000,0.054,2559,2188,3091
$GC,9250,-0.68,-117.3,604.5,-4.7,445,9255,0.00,2.53,0.00,0.000,4,0.000,0.068,2559,3555,3091
$GC,9358,-0.68,-117.3,608.9,-3.5,450,9362,0.00,2.45,0.00,0.000,6,0.000,0.054,2559,2186,3091
$GC,9685,-0.68,-117.3,614.5,-1.4,466,9690,0.00,2.60,0.00,0.000,4,0.000,0.069,2559,747,3091
$GC,9771,-0.68,-117.3,616.1,-2.1,470,9775,0.00,2.58,0.00,0.000,6,0.000,0.058,2559,2174,3091
$GC,10098,-0.68,-117.3,635.7,-7.9,486,10102,0.00,2.62,0.00,0.000,4,0.000,0.073,2559,747,3090
$GC,10176,-0.68,-117.3,643.0,-9.1,489,10182,0.00,2.55,0.00,0.000,6,0.000,0.059,2559,2153,3090
$GC,10491,-0.68,-117.3,671.3,-7.1,505,10496,0.00,2.60,0.00,0.000,4,0.000,0.074,2559,747,3090
$GC,10592,-0.68,-117.3,679.5,-9.3,509,10598,0.00,2.53,0.00,0.000,6,0.000,0.061,2559,2136,3090
$GC,10908,-0.68,-117.3,696.3,-4.1,525,10913,0.00,2.58,0.00,0.000,4,0.000,0.074,2558,746,3090
$GC,10999,-0.77,-117.3,697.9,-1.4,529,11003,0.12,2.50,0.00,0.000,6,0.057,0.061,2524,2122,3090
$STATE,11131,end dive,NO_VERTICAL_VELOCITY
$STATE,11132,begin apogee
$GC,11138,-0.33,0.0,697.0,0.0,536,11239,0.47,0.00,98.10,1.289,6,0.085,0.000,2623,2121,2620
$STATE,11240,end apogee,CONTROL_FINISHED_OK
$STATE,11240,begin climb
$GC,11243,1.03,117.3,694.5,0.0,541,11350,1.40,2.75,98.43,1.256,4,0.071,0.075,2923,688,2141
$GC,11407,0.97,117.3,677.4,13.3,549,11411,0.00,2.62,0.00,0.000,6,0.000,0.061,2923,2105,2141
$GC,11734,0.98,149.1,650.9,4.9,565,11769,0.00,2.75,27.52,1.196,4,0.000,0.075,2923,688,2012
$GC,11803,0.99,155.2,647.3,5.8,568,11819,0.00,2.58,7.10,1.002,6,0.000,0.062,2923,2079,1987
$GC,12129,1.01,168.5,630.6,5.5,584,12150,0.00,2.72,12.40,1.131,4,0.000,0.071,2923,3508,1932
$GC,12207,1.01,168.5,624.9,7.3,587,12211,0.00,2.62,0.00,0.000,6,0.000,0.060,2923,2087,1931
$GC,12523,1.01,168.5,598.6,9.7,602,12527,0.00,2.67,0.00,0.000,4,0.000,0.070,2923,3514,1930
$GC,12595,1.01,168.5,591.0,11.0,605,12599,0.00,2.58,0.00,0.000,6,0.000,0.058,2923,2108,1930
$GC,12911,1.01,168.5,556.6,10.9,620,12912,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2093,1930
$GC,13220,1.03,181.4,531.3,5.6,635,13234,0.00,0.00,11.88,1.098,6,0.000,0.000,2923,2092,1880
$GC,13529,1.04,189.6,515.7,5.7,650,13543,0.00,2.62,8.80,1.035,4,0.000,0.067,2924,3508,1846
$GC,13607,1.04,189.6,510.6,6.4,653,13611,0.00,2.53,0.00,0.000,6,0.000,0.055,2923,2121,1846
$GC,13922,1.04,189.6,486.6,8.3,668,13927,0.00,2.55,0.00,0.000,4,0.000,0.066,2923,3510,1845
$GC,13962,1.04,189.6,483.1,9.2,670,13967,0.00,2.45,0.00,0.000,6,0.000,0.054,2923,2154,1845
$GC,14290,1.04,189.6,452.5,10.7,686,14291,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2137,1845
$GC,14599,1.04,189.6,414.3,13.1,701,14603,0.00,2.50,0.00,0.000,4,0.000,0.065,2924,3509,1845
$GC,14648,1.04,189.6,407.2,14.0,703,14653,0.00,2.42,0.00,0.000,6,0.000,0.054,2923,2166,1845
$GC,14964,1.04,189.6,374.6,8.0,718,14969,0.00,2.67,0.00,0.000,4,0.000,0.071,2923,685,1845
$GC,15009,1.04,189.6,371.0,8.0,720,15014,0.00,2.67,0.00,0.000,6,0.000,0.056,2923,2170,1846
$GC,15332,1.16,265.5,356.6,3.4,736,15401,0.12,2.55,61.55,1.056,4,0.049,0.064,2964,3512,1536
$GC,15418,1.16,265.5,351.1,6.9,740,15422,0.00,2.47,0.00,0.000,6,0.000,0.054,2964,2161,1536
$GC,15739,1.16,265.5,328.8,6.4,756,15744,0.00,2.67,0.00,0.000,4,0.000,0.069,2965,684,1537
$GC,15796,1.11,265.5,324.6,7.7,758,15802,0.10,2.67,0.00,0.000,6,0.089,0.054,2943,2166,1537
$GC,16111,1.11,265.5,293.7,10.6,774,16116,0.00,2.72,0.00,0.000,4,0.000,0.067,2943,690,1537
$GC,16138,1.11,265.5,290.5,10.8,775,16143,0.00,2.62,0.00,0.000,6,0.000,0.055,2943,2142,1537
$GC,16455,1.16,265.5,261.9,8.0,790,16459,0.00,2.47,0.00,0.000,4,0.000,0.064,2943,3515,1537
$GC,16495,1.23,265.5,257.9,10.3,792,16500,0.12,2.50,0.00,0.000,6,0.049,0.054,2981,2130,1538
$GC,16822,1.16,265.5,220.5,11.2,808,16824,0.15,0.00,0.00,0.000,6,0.077,0.000,2950,2131,1537
$GC,17131,1.16,265.5,197.2,6.8,823,17135,0.00,2.60,0.00,0.000,4,0.000,0.068,2950,690,1539
$GC,17158,1.16,265.5,195.3,6.5,824,17162,0.00,2.62,0.00,0.000,6,0.000,0.054,2949,2150,1539
$GC,17473,1.16,265.5,173.6,8.5,839,17478,0.00,2.70,0.00,0.000,4,0.000,0.069,2950,686,1538
$GC,17514,1.16,265.5,170.1,10.2,841,17519,0.00,2.58,0.00,0.000,6,0.000,0.053,2949,2129,1539
$GC,17842,1.16,265.5,133.0,11.7,857,17847,0.00,2.65,0.00,0.000,4,0.000,0.066,2949,684,1539
$GC,17870,1.16,265.5,129.5,12.1,858,17875,0.00,2.55,0.00,0.000,6,0.000,0.052,2949,2110,1539
$GC,18187,1.16,265.5,101.5,7.4,873,18188,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2110,1539
$GC,18496,1.20,265.5,75.1,7.6,888,18497,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2110,1539
$GC,18805,1.25,265.5,49.7,8.6,903,18810,0.10,2.62,0.00,0.000,4,0.054,0.066,2984,679,1539
$GC,18839,1.20,265.5,46.1,10.8,904,18846,0.12,2.55,0.00,0.000,6,0.081,0.051,2959,2117,1540
$GC,19155,1.20,265.5,18.0,7.7,920,19160,0.00,2.47,0.00,0.000,4,0.000,0.061,2959,3505,1540
$GC,19184,1.25,265.5,15.7,7.7,921,19188,0.00,2.53,0.00,0.000,6,0.000,0.053,2959,2098,1540
$STATE,19373,end climb,SURFACE_DEPTH_REACHED
$STATE,19373,begin surface coast
$FINISH,0.3,1.027100
$STATE,19396,end surface coast,CONTROL_FINISHED_OK
$STATE,19396,begin surface
$SM_CCo,19418,20.02,0.760,0,0,1397,300.00
$SM_GC,0.64,0.00,0.00,20.02,0.000,0.000,0.760,424,2164,1397,-10.47,0.59,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1692
$TCM_TEMP,17.50
$XPDR_PINGS,678
$ALTIM_TOP_PING,19.6,20.9
$24V_AH,23.8,14.929
$10V_AH,10.1,6.355
$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,24.725,220.525,325.775,20.025,0.000,39.016,41.840,114.845,175.250,0.000,0.000,15.382,1768.892,14763.456,560.750,2128.160,530.459,33.370,1659.949,0.000,2082.976,0.000,38.086
$DEVICE_MAMPS,138.060,75.166,1288.560,760.097,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,637.858,685.544,548.374,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47442,931
$CAP_FILE_SIZE,155309,0
$CFSIZE,254472192,248098816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,190608,162338,6150.463,-934.261,37,1.2,37,-9.6