version: 66.03
glider: 5
mission: 3
dive: 87
start: 6 24 108 14 15 49
data:
$ID,5
$MISSION,3
$DIVE,87
$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,-78279.227
$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,20
$R_STBD_OVSHOOT,30
$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
$GPS1,140908,6203.612,-928.555,37,1.1,37,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-59.8
$GPS2,141457,6203.682,-928.523,17,1.3,17,-9.7
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.089,-0.180
$KALMAN_X,-132672.4,931.9,2795.8,64950.4,-26357.9
$KALMAN_Y,38384.3,-990.7,-1843.6,36360.5,42527.1
$MHEAD_RNG_PITCHd_Wd,163.3,44739,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.03,-117.3,0.0,0.0,0,128,0.00,0.00,-97.97,0.000,6,0.000,0.000,420,2164,3100
$GC,131,-1.03,-117.3,3.0,-2.7,5,147,10.62,2.50,0.00,0.000,4,0.140,0.058,2469,3557,3099
$GC,309,-0.71,-117.3,23.3,-10.2,12,314,0.35,2.53,0.00,0.000,6,0.089,0.047,2544,2138,3099
$GC,637,-0.64,-117.3,44.7,-6.1,28,641,0.00,2.55,0.00,0.000,4,0.000,0.059,2544,3549,3100
$GC,648,-0.56,-117.3,45.3,-5.7,28,655,0.15,2.50,0.00,0.000,6,0.091,0.048,2575,2138,3099
$GC,965,-0.56,-117.3,59.6,-4.8,44,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2121,3100
$GC,1274,-0.56,-117.3,74.5,-5.2,59,1278,0.00,2.50,0.00,0.000,4,0.000,0.064,2575,746,3100
$GC,1302,-0.56,-117.3,75.8,-4.6,60,1306,0.00,2.47,0.00,0.000,6,0.000,0.050,2575,2132,3100
$GC,1619,-0.56,-117.3,93.5,-6.5,75,1624,0.00,2.53,0.00,0.000,4,0.000,0.063,2575,749,3100
$GC,1660,-0.56,-117.3,96.3,-6.8,77,1664,0.00,2.47,0.00,0.000,6,0.000,0.051,2576,2136,3100
$GC,1987,-0.56,-117.3,116.1,-5.9,93,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2136,3100
$GC,2296,-0.56,-117.3,132.9,-5.5,108,2300,0.00,2.55,0.00,0.000,4,0.000,0.062,2575,3562,3100
$GC,2314,-0.56,-117.3,133.9,-5.5,109,2318,0.00,2.55,0.00,0.000,6,0.000,0.049,2575,2131,3100
$GC,2641,-0.56,-117.3,151.2,-4.9,125,2645,0.00,2.58,0.00,0.000,4,0.000,0.061,2575,3557,3100
$GC,2720,-0.56,-117.3,155.6,-6.1,128,2726,0.00,2.50,0.00,0.000,6,0.000,0.048,2575,2147,3100
$GC,3036,-0.60,-117.3,177.3,-7.7,144,3040,0.00,2.55,0.00,0.000,4,0.000,0.062,2575,3557,3100
$GC,3046,-0.60,-117.3,178.3,-7.9,144,3053,0.00,2.50,0.00,0.000,6,0.000,0.050,2575,2150,3100
$GC,3362,-0.60,-117.3,205.8,-9.1,160,3367,0.00,2.55,0.00,0.000,4,0.000,0.063,2575,3557,3100
$GC,3373,-0.60,-117.3,207.0,-9.1,160,3380,0.00,2.53,0.00,0.000,6,0.000,0.050,2575,2143,3100
$GC,3690,-0.64,-117.3,238.0,-10.0,176,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2143,3099
$GC,3999,-0.64,-117.3,267.5,-9.1,191,4003,0.00,2.58,0.00,0.000,4,0.000,0.064,2575,3561,3099
$GC,4009,-0.64,-117.3,268.5,-9.1,191,4015,0.00,2.50,0.00,0.000,6,0.000,0.050,2575,2151,3099
$GC,4325,-0.69,-117.3,296.8,-9.1,207,4327,0.12,0.00,0.00,0.000,6,0.052,0.000,2538,2150,3099
$GC,4634,-0.62,-117.3,327.2,-10.4,222,4639,0.12,2.58,0.00,0.000,4,0.094,0.064,2564,3562,3099
$GC,4645,-0.56,-117.3,328.6,-10.5,222,4652,0.00,2.50,0.00,0.000,6,0.000,0.051,2564,2159,3099
$GC,4961,-0.56,-117.3,363.8,-11.5,238,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2155,3099
$GC,5270,-0.56,-117.3,398.8,-11.2,253,5275,0.00,2.55,0.00,0.000,4,0.000,0.064,2564,3565,3099
$GC,5288,-0.56,-117.3,400.7,-11.1,254,5292,0.00,2.53,0.00,0.000,6,0.000,0.051,2563,2145,3098
$GC,5614,-0.56,-117.3,438.2,-11.5,270,5619,0.00,2.50,0.00,0.000,4,0.000,0.065,2564,748,3098
$GC,5625,-0.56,-117.3,439.6,-11.4,270,5632,0.00,2.50,0.00,0.000,6,0.000,0.054,2564,2140,3098
$GC,5941,-0.56,-117.3,472.3,-9.2,286,5945,0.00,2.55,0.00,0.000,4,0.000,0.065,2564,749,3098
$GC,5987,-0.56,-117.3,476.4,-8.1,288,5991,0.00,2.47,0.00,0.000,6,0.000,0.054,2564,2128,3098
$GC,6308,-0.56,-117.3,492.0,-3.6,304,6312,0.00,2.55,0.00,0.000,4,0.000,0.067,2563,744,3098
$GC,6341,-0.56,-117.3,493.6,-5.0,305,6347,0.00,2.47,0.00,0.000,6,0.000,0.054,2564,2123,3098
$GC,6658,-0.56,-117.3,508.9,-5.3,321,6662,0.00,2.53,0.00,0.000,4,0.000,0.068,2563,744,3098
$GC,6698,-0.56,-117.3,511.8,-7.1,323,6702,0.00,2.45,0.00,0.000,6,0.000,0.055,2564,2107,3098
$GC,7025,-0.56,-117.3,533.4,-4.5,339,7029,0.00,2.50,0.00,0.000,4,0.000,0.071,2564,748,3098
$GC,7283,-0.56,-117.3,528.4,6.9,350,7289,0.00,2.38,0.00,0.000,6,0.000,0.059,2564,2060,3098
$GC,7599,-0.56,-117.3,532.6,-10.3,366,7603,0.00,2.45,0.00,0.000,4,0.000,0.074,2563,744,3098
$GC,7677,-0.56,-117.3,543.2,-15.2,369,7681,0.00,2.42,0.00,0.000,6,0.000,0.061,2564,2072,3098
$STATE,7948,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7948,begin apogee
$GC,7955,-0.33,0.0,574.9,10.5,382,8056,0.30,0.00,98.28,1.216,6,0.087,0.000,2624,2073,2620
$STATE,8057,end apogee,CONTROL_FINISHED_OK
$STATE,8057,begin climb
$GC,8060,1.03,117.3,581.3,0.0,387,8166,1.40,2.70,96.95,1.186,4,0.073,0.081,2923,694,2141
$GC,8234,0.96,117.3,572.7,8.9,395,8238,0.00,2.60,0.00,0.000,6,0.000,0.064,2924,2096,2141
$GC,8556,0.91,117.3,553.5,7.3,411,8561,0.12,2.62,0.00,0.000,4,0.091,0.076,2899,3507,2139
$GC,8650,0.91,117.3,544.2,8.9,415,8655,0.00,2.58,0.00,0.000,6,0.000,0.063,2899,2114,2138
$GC,8967,0.96,117.3,517.5,6.9,430,8971,0.00,2.60,0.00,0.000,4,0.000,0.076,2899,3508,2137
$GC,9011,0.98,132.1,515.3,5.5,432,9030,0.00,2.58,13.30,1.105,6,0.000,0.063,2899,2114,2080
$GC,9361,1.16,214.8,506.0,3.2,449,9436,0.20,2.70,67.95,1.196,4,0.048,0.076,2957,693,1744
$GC,9520,1.06,214.8,495.9,6.3,456,9526,0.12,2.65,0.00,0.000,6,0.094,0.064,2932,2125,1743
$GC,9836,1.06,214.8,475.9,7.5,471,9841,0.00,2.55,0.00,0.000,4,0.000,0.074,2932,3512,1742
$GC,9888,1.11,214.8,472.1,6.9,473,9892,0.00,2.55,0.00,0.000,6,0.000,0.062,2932,2123,1742
$GC,10203,1.11,214.8,442.7,12.1,488,10204,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2123,1741
$GC,10513,1.11,214.8,399.8,13.4,503,10517,0.00,2.60,0.00,0.000,4,0.000,0.071,2932,3513,1741
$GC,10585,1.17,214.8,390.3,13.3,506,10589,0.00,2.53,0.00,0.000,6,0.000,0.058,2932,2127,1741
$GC,10901,1.17,214.8,358.5,8.3,521,10905,0.00,2.62,0.00,0.000,4,0.000,0.072,2932,684,1740
$GC,10956,1.17,214.8,354.0,7.8,523,10963,0.00,2.62,0.00,0.000,6,0.000,0.058,2932,2137,1740
$GC,11272,1.44,387.2,345.0,0.1,539,11421,0.32,2.60,138.65,1.069,4,0.041,0.066,3019,3506,1040
$GC,11467,1.58,503.4,340.1,2.0,548,11569,0.12,2.53,94.93,1.019,6,0.051,0.055,3054,2132,567
$GC,11891,1.46,503.4,313.2,7.0,569,11896,0.20,2.65,0.00,0.000,4,0.083,0.070,3012,683,569
$GC,11960,1.52,544.2,309.5,4.6,572,12000,0.00,2.62,35.40,0.973,6,0.000,0.054,3012,2134,401
$GC,12324,1.61,599.6,293.7,4.1,590,12335,0.15,2.72,5.22,0.749,4,0.047,0.070,3058,684,389
$GC,12403,1.53,599.6,287.4,8.0,593,12410,0.15,2.55,0.00,0.000,6,0.087,0.054,3030,2093,390
$GC,12720,1.48,599.6,264.1,7.9,609,12724,0.00,0.00,2.70,0.428,6,0.000,0.000,3030,2094,389
$GC,13029,1.43,599.6,237.8,8.2,624,13033,0.00,2.60,0.00,0.000,4,0.000,0.070,3029,684,391
$GC,13107,1.43,599.6,230.7,8.2,627,13113,0.00,2.50,0.00,0.000,6,0.000,0.052,3029,2075,390
$GC,13423,1.39,599.6,198.6,10.3,643,13432,0.15,2.62,2.15,0.242,4,0.083,0.061,2995,3507,390
$GC,13456,1.49,599.6,195.8,7.3,644,13461,0.15,2.62,0.03,0.296,6,0.050,0.054,3039,2056,390
$GC,13774,1.42,599.6,156.0,13.5,659,13780,0.15,2.47,0.50,0.144,4,0.084,0.070,3005,689,390
$GC,13848,1.48,599.6,146.7,11.7,662,13853,0.00,2.45,0.03,0.258,6,0.000,0.053,3005,2054,390
$GC,14166,1.48,599.6,110.4,10.7,677,14170,0.00,2.53,0.08,0.171,4,0.000,0.068,3005,691,391
$GC,14238,1.48,599.6,102.7,10.4,680,14243,0.00,2.38,0.12,0.157,6,0.000,0.053,3005,2014,391
$GC,14554,1.48,599.6,68.3,10.0,695,14562,0.00,2.53,1.55,0.140,4,0.000,0.068,3005,683,391
$GC,14615,1.53,599.6,61.4,11.2,697,14622,0.12,2.30,0.12,0.155,6,0.049,0.051,3043,1974,391
$GC,14934,1.45,599.6,16.8,14.6,713,14943,0.15,2.75,2.12,0.221,4,0.084,0.059,3009,3505,390
$GC,14984,1.60,599.6,10.5,9.2,715,14989,0.17,2.75,0.00,0.000,6,0.042,0.053,3061,1979,390
$STATE,15055,end climb,SURFACE_DEPTH_REACHED
$STATE,15055,begin surface coast
$FINISH,0.1,1.013006
$STATE,15077,end surface coast,CONTROL_FINISHED_OK
$STATE,15077,begin surface
$SM_CCo,15161,0.00,0.000,0,0,390,547.02
$SM_GC,0.73,11.45,0.00,0.00,0.038,0.000,0.000,420,2177,390,-10.40,0.76,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1692
$TCM_TEMP,16.40
$XPDR_PINGS,495
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,525.5,57.3
$24V_AH,23.9,19.057
$10V_AH,10.1,8.456
$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,26.825,168.350,560.075,0.000,0.000,37.762,33.985,149.535,128.500,0.000,0.000,17.089,1377.898,11191.158,654.631,1760.618,523.045,33.369,1606.206,0.000,1716.566,0.000,34.327
$DEVICE_MAMPS,139.594,80.535,1216.462,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,491.614,531.688,499.578,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37970,720
$CAP_FILE_SIZE,129110,0
$CFSIZE,254472192,246509568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,240608,182937,6205.155,-926.658,31,0.9,31,-9.7