version: 66.03
glider: 5
mission: 3
dive: 86
start: 6 24 108 9 24 55
data:
$ID,5
$MISSION,3
$DIVE,86
$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,240
$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,-78261.516
$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,28
$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
$GPS1,091807,6159.036,-929.835,39,1.2,44,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-57.1
$GPS2,092402,6159.194,-929.972,13,1.7,30,-9.7
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.118,-0.163
$KALMAN_X,-132697.6,2444.6,584.3,64434.6,-29560.2
$KALMAN_Y,24868.6,-1678.0,762.6,39632.4,30529.9
$MHEAD_RNG_PITCHd_Wd,153.9,37592,-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,-117.3,0.0,0.0,0,139,0.00,0.00,-112.68,0.000,6,0.000,0.000,417,2164,3100
$GC,142,-1.03,-117.3,1.9,-1.3,5,159,10.60,2.50,0.00,0.000,4,0.137,0.059,2470,3558,3099
$GC,283,-0.70,-117.3,19.3,-10.0,10,288,0.35,2.50,0.00,0.000,6,0.089,0.045,2545,2143,3097
$GC,599,-0.61,-117.3,43.0,-8.5,25,604,0.10,2.50,0.00,0.000,4,0.104,0.059,2564,746,3097
$GC,622,-0.57,-117.3,45.0,-8.2,26,626,0.00,2.47,0.00,0.000,6,0.000,0.050,2564,2132,3097
$GC,944,-0.57,-117.3,73.1,-9.4,42,948,0.00,2.55,0.00,0.000,4,0.000,0.061,2564,3559,3098
$GC,955,-0.57,-117.3,74.5,-9.8,42,961,0.00,2.53,0.00,0.000,6,0.000,0.047,2564,2130,3098
$GC,1273,-0.57,-117.3,110.3,-12.0,58,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2126,3098
$GC,1580,-0.57,-117.3,143.4,-10.4,73,1585,0.00,2.60,0.00,0.000,4,0.000,0.061,2564,3557,3098
$GC,1733,-0.57,-117.3,161.0,-12.1,80,1737,0.00,2.47,0.00,0.000,6,0.000,0.046,2564,2155,3098
$GC,2060,-0.57,-117.3,194.5,-10.6,96,2064,0.00,2.55,0.00,0.000,4,0.000,0.061,2564,3555,3098
$GC,2078,-0.57,-117.3,196.5,-11.1,97,2082,0.00,2.50,0.00,0.000,6,0.000,0.048,2564,2149,3098
$GC,2404,-0.57,-117.3,240.7,-12.9,113,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2131,3098
$GC,2713,-0.57,-117.3,281.2,-12.7,128,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2131,3097
$GC,3022,-0.57,-117.3,316.3,-10.8,143,3027,0.00,2.50,0.00,0.000,4,0.000,0.067,2564,746,3097
$GC,3067,-0.57,-117.3,321.4,-11.9,145,3071,0.00,2.50,0.00,0.000,6,0.000,0.053,2564,2151,3097
$GC,3388,-0.57,-117.3,351.9,-8.3,161,3393,0.00,2.58,0.00,0.000,4,0.000,0.067,2564,744,3097
$GC,3399,-0.57,-117.3,352.9,-8.0,161,3405,0.00,2.53,0.00,0.000,6,0.000,0.054,2564,2144,3097
$GC,3715,-0.57,-117.3,369.2,-4.1,177,3720,0.00,2.55,0.00,0.000,4,0.000,0.064,2564,745,3097
$GC,3733,-0.57,-117.3,370.0,-4.3,178,3738,0.00,2.50,0.00,0.000,6,0.000,0.054,2564,2138,3097
$GC,4060,-0.57,-117.3,377.8,-1.5,194,4065,0.00,2.53,0.00,0.000,4,0.000,0.067,2564,751,3097
$GC,4071,-0.57,-117.3,378.0,-1.3,194,4077,0.00,2.50,0.00,0.000,6,0.000,0.054,2564,2140,3097
$GC,4388,-0.57,-117.3,376.4,1.7,210,4392,0.00,2.55,0.00,0.000,4,0.000,0.066,2564,753,3097
$GC,4399,-0.57,-117.3,376.1,2.0,210,4405,0.00,2.47,0.00,0.000,6,0.000,0.054,2564,2135,3097
$GC,4715,-0.57,-117.3,364.9,5.1,226,4719,0.00,2.55,0.00,0.000,4,0.000,0.065,2564,744,3097
$GC,4727,-0.57,-117.3,364.3,5.5,226,4733,0.00,2.50,0.00,0.000,6,0.000,0.054,2564,2134,3096
$GC,5043,-0.57,-117.3,349.7,3.6,242,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2134,3096
$GC,5352,-0.57,-117.3,349.3,-2.8,257,5356,0.00,2.58,0.00,0.000,4,0.000,0.066,2564,3562,3096
$GC,5363,-0.57,-117.3,349.6,-3.2,257,5369,0.00,2.58,0.00,0.000,6,0.000,0.051,2564,2118,3096
$GC,5679,-0.57,-117.3,372.3,-9.7,273,5683,0.00,2.65,0.00,0.000,4,0.000,0.065,2564,3561,3096
$GC,5723,-0.57,-117.3,377.0,-10.8,275,5727,0.00,2.58,0.00,0.000,6,0.000,0.051,2564,2116,3096
$GC,6044,-0.57,-117.3,411.1,-11.7,291,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2116,3096
$GC,6353,-0.57,-117.3,447.6,-11.7,306,6357,0.00,2.47,0.00,0.000,4,0.000,0.066,2564,742,3096
$GC,6381,-0.57,-117.3,451.1,-12.6,307,6385,0.00,2.47,0.00,0.000,6,0.000,0.055,2564,2114,3096
$GC,6700,-0.62,-117.3,475.6,-5.7,322,6704,0.00,2.53,0.00,0.000,4,0.000,0.069,2564,739,3095
$GC,6794,-0.62,-117.3,481.8,-6.3,326,6799,0.00,2.47,0.00,0.000,6,0.000,0.058,2564,2107,3095
$GC,7111,-0.62,-117.3,489.8,-1.8,341,7115,0.00,2.53,0.00,0.000,4,0.000,0.072,2564,739,3096
$GC,7364,-0.62,-117.3,492.1,-1.3,352,7368,0.00,2.38,0.00,0.000,6,0.000,0.059,2564,2042,3095
$GC,7680,-0.68,-117.3,517.5,-12.9,367,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2043,3094
$GC,7991,-0.68,-117.3,550.8,-10.7,382,7996,0.00,2.75,0.00,0.000,4,0.000,0.075,2564,3553,3094
$GC,8238,-0.74,-117.3,569.6,-2.9,393,8244,0.12,2.70,0.00,0.000,6,0.055,0.060,2528,2057,3094
$STATE,8557,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8557,begin apogee
$GC,8564,-0.33,0.0,582.5,5.6,409,8665,0.45,0.00,97.88,1.233,6,0.084,0.000,2623,2108,2620
$STATE,8666,end apogee,CONTROL_FINISHED_OK
$STATE,8666,begin climb
$GC,8669,1.03,117.3,586.7,0.0,414,8776,1.38,2.78,97.40,1.203,4,0.068,0.080,2921,691,2141
$GC,8817,0.94,117.3,575.2,12.3,421,8822,0.00,2.62,0.00,0.000,6,0.000,0.066,2921,2102,2140
$GC,9144,0.94,118.7,549.6,6.0,437,9148,0.00,2.62,0.00,0.000,4,0.000,0.080,2921,3508,2139
$GC,9351,1.08,245.8,540.9,1.7,446,9464,0.00,2.60,105.28,1.201,6,0.000,0.063,2921,2067,1617
$GC,9774,1.17,245.8,513.9,9.3,467,9779,0.12,2.60,0.00,0.000,4,0.055,0.086,2958,716,1616
$GC,9803,1.09,245.8,510.3,13.7,468,9808,0.00,2.60,0.00,0.000,6,0.000,0.067,2957,2109,1616
$GC,10119,1.09,245.8,489.1,6.2,483,10120,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2109,1615
$GC,10428,1.09,245.8,463.2,9.6,498,10432,0.00,2.62,0.00,0.000,4,0.000,0.078,2958,715,1615
$GC,10472,1.04,245.8,458.5,10.3,500,10477,0.15,2.58,0.00,0.000,6,0.087,0.064,2928,2110,1615
$GC,10795,1.08,245.8,432.4,6.3,516,10799,0.00,2.65,0.00,0.000,4,0.000,0.078,2928,705,1615
$GC,10839,1.18,267.1,430.2,5.3,518,10864,0.12,2.55,18.40,1.111,6,0.054,0.062,2965,2094,1531
$GC,11188,1.19,272.6,411.9,5.8,535,11201,0.00,2.62,6.25,0.933,4,0.000,0.070,2965,3511,1507
$GC,11248,1.19,272.6,408.1,6.6,537,11254,0.00,2.58,0.00,0.000,6,0.000,0.061,2965,2110,1507
$GC,11564,1.21,285.1,390.0,5.6,553,11577,0.00,0.00,11.85,1.035,6,0.000,0.000,2964,2090,1457
$GC,11895,1.21,285.1,366.8,7.7,569,11899,0.00,2.60,0.00,0.000,4,0.000,0.066,2965,3511,1457
$GC,11939,1.21,285.1,363.2,7.5,571,11943,0.00,2.58,0.00,0.000,6,0.000,0.058,2965,2098,1457
$GC,12260,1.21,285.1,339.5,7.0,587,12264,0.00,2.58,0.00,0.000,4,0.000,0.070,2965,681,1457
$GC,12304,1.21,285.1,336.2,7.0,589,12308,0.00,2.58,0.00,0.000,6,0.000,0.055,2965,2116,1457
$GC,12625,1.24,306.0,316.8,5.3,605,12649,0.00,2.60,18.33,1.008,4,0.000,0.064,2965,3502,1372
$GC,12692,1.33,329.3,313.2,5.2,608,12718,0.10,2.53,20.52,1.001,6,0.058,0.054,2998,2110,1277
$GC,13043,1.31,353.1,293.9,5.2,625,13069,0.00,2.65,20.92,0.985,4,0.000,0.068,2998,683,1180
$GC,13114,1.38,396.9,290.7,4.5,628,13158,0.00,2.58,36.50,0.996,6,0.000,0.054,2998,2109,1002
$GC,13477,1.43,430.9,274.0,4.8,646,13509,0.00,0.00,29.38,0.973,6,0.000,0.000,2998,2109,862
$GC,13804,1.43,430.9,253.0,7.3,662,13808,0.00,2.62,0.00,0.000,4,0.000,0.071,2998,690,863
$GC,13866,1.43,430.9,248.2,8.0,665,13870,0.00,2.53,0.00,0.000,6,0.000,0.053,2998,2097,863
$GC,14193,1.48,461.0,227.5,5.0,681,14225,0.12,2.67,25.73,0.939,4,0.051,0.066,3035,683,739
$GC,14271,1.42,463.0,222.6,5.9,684,14278,0.15,2.53,0.00,0.000,6,0.084,0.053,3007,2075,739
$GC,14587,1.42,463.0,202.8,8.1,700,14591,0.00,2.58,0.00,0.000,4,0.000,0.061,3006,3513,740
$GC,14619,1.42,463.0,200.1,7.1,701,14625,0.00,2.65,0.00,0.000,6,0.000,0.056,3006,2056,740
$GC,14935,1.42,463.0,174.7,8.0,717,14940,0.00,2.50,0.00,0.000,4,0.000,0.071,3006,681,740
$GC,14991,1.42,463.0,170.3,7.3,719,14997,0.00,2.50,0.00,0.000,6,0.000,0.052,3006,2074,740
$GC,15307,1.42,463.0,144.6,8.0,735,15309,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2074,740
$GC,15616,1.42,463.0,119.7,7.1,750,15621,0.00,2.58,0.00,0.000,4,0.000,0.068,3006,680,740
$GC,15667,1.42,464.5,116.3,5.9,752,15678,0.00,2.45,4.68,0.651,6,0.000,0.051,3006,2051,726
$GC,15990,1.42,464.5,96.4,7.4,768,15991,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2051,726
$GC,16297,1.42,464.5,67.6,9.8,783,16301,0.00,2.53,0.00,0.000,4,0.000,0.068,3006,682,726
$GC,16352,1.42,464.5,61.9,10.2,785,16358,0.00,2.40,0.00,0.000,6,0.000,0.051,3006,2030,726
$GC,16668,1.42,464.5,26.0,11.8,801,16673,0.00,2.47,0.00,0.000,4,0.000,0.069,3006,689,726
$GC,16709,1.42,464.5,21.1,12.0,803,16713,0.00,2.33,0.00,0.000,6,0.000,0.051,3007,2004,726
$STATE,16874,end climb,SURFACE_DEPTH_REACHED
$STATE,16874,begin surface coast
$FINISH,0.1,1.013355
$STATE,16896,end surface coast,CONTROL_FINISHED_OK
$STATE,16896,begin surface
$SM_CCo,16979,0.00,0.000,0,0,725,464.84
$SM_GC,0.80,11.12,0.00,0.00,0.034,0.000,0.000,420,2157,725,-10.40,0.20,464.84
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1666
$TCM_TEMP,17.50
$XPDR_PINGS,532
$ALTIM_TOP_PING,19.6,19.3
$ALTIM_BOTTOM_PING,550.8,40.2
$24V_AH,23.9,18.855
$10V_AH,10.1,8.379
$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,24.900,173.900,493.100,0.000,0.000,37.760,29.452,146.046,137.750,0.000,0.000,30.681,1529.395,12728.755,626.545,1918.363,527.067,33.367,1631.864,0.000,1859.036,0.000,32.928
$DEVICE_MAMPS,137.293,85.904,1233.336,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,555.609,599.872,494.604,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41155,812
$CAP_FILE_SIZE,135402,0
$CFSIZE,254472192,246558720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,240608,140908,6203.612,-928.555,37,1.1,37,-9.7