version: 66.03
glider: 5
mission: 3
dive: 96
start: 6 26 108 9 51 31
data:
$ID,5
$MISSION,3
$DIVE,96
$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,-78428.672
$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,39
$R_STBD_OVSHOOT,16
$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
$GPS1,094358,6150.339,-915.795,26,2.3,45,-9.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-46.4
$GPS2,095039,6150.317,-916.005,13,1.7,13,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.183,-0.084
$KALMAN_X,-112107.1,-388.6,-450.9,60180.9,6049.3
$KALMAN_Y,35483.3,1433.5,389.9,9762.7,2694.2
$MHEAD_RNG_PITCHd_Wd,254.8,17806,-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,-117.3,0.0,0.0,0,133,0.00,0.00,-107.00,0.000,6,0.000,0.000,421,2143,3099
$GC,137,-1.03,-117.3,2.0,-1.6,5,153,10.70,2.58,0.00,0.000,4,0.143,0.062,2466,3566,3099
$GC,406,-0.71,-117.3,32.5,-9.5,16,411,0.35,2.50,0.00,0.000,6,0.089,0.046,2541,2160,3099
$GC,729,-0.63,-117.3,52.8,-7.0,32,734,0.10,2.58,0.00,0.000,4,0.102,0.060,2561,3564,3099
$GC,975,-0.63,-117.3,65.8,-3.9,43,980,0.00,2.53,0.00,0.000,6,0.000,0.046,2561,2134,3099
$GC,1298,-0.63,-117.3,75.8,-4.8,59,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2129,3099
$GC,1606,-0.63,-117.3,95.1,-6.6,74,1611,0.00,2.62,0.00,0.000,4,0.000,0.061,2561,3571,3100
$GC,1696,-0.63,-117.3,102.0,-8.2,78,1700,0.00,2.53,0.00,0.000,6,0.000,0.048,2561,2149,3099
$GC,2017,-0.63,-117.3,126.2,-7.5,94,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2145,3099
$GC,2328,-0.63,-117.3,149.4,-7.5,109,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2145,3100
$GC,2635,-0.63,-117.3,170.6,-6.4,124,2640,0.00,2.60,0.00,0.000,4,0.000,0.064,2561,3567,3100
$GC,2676,-0.63,-117.3,173.3,-6.9,126,2680,0.00,2.50,0.00,0.000,6,0.000,0.050,2561,2154,3100
$GC,3002,-0.63,-117.3,191.2,-5.2,142,3007,0.00,2.58,0.00,0.000,4,0.000,0.063,2561,3564,3099
$GC,3026,-0.63,-117.3,192.4,-5.4,143,3031,0.00,2.50,0.00,0.000,6,0.000,0.050,2561,2154,3099
$GC,3348,-0.63,-117.3,209.0,-5.2,159,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2154,3099
$GC,3659,-0.63,-117.3,225.6,-5.3,174,3664,0.00,2.58,0.00,0.000,4,0.000,0.064,2561,3568,3099
$GC,3682,-0.63,-117.3,227.1,-5.5,175,3686,0.00,2.53,0.00,0.000,6,0.000,0.051,2561,2151,3099
$GC,4004,-0.63,-117.3,244.6,-5.5,191,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2151,3099
$GC,4313,-0.63,-117.3,262.6,-5.6,206,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2150,3099
$GC,4622,-0.63,-117.3,281.1,-6.1,221,4627,0.00,2.58,0.00,0.000,4,0.000,0.066,2561,3562,3098
$GC,4657,-0.63,-117.3,283.4,-6.5,222,4663,0.00,2.50,0.00,0.000,6,0.000,0.053,2561,2163,3098
$GC,4973,-0.63,-117.3,303.7,-6.5,238,4977,0.00,2.55,0.00,0.000,4,0.000,0.067,2561,747,3098
$GC,5006,-0.63,-117.3,306.1,-7.2,239,5012,0.00,2.55,0.00,0.000,6,0.000,0.054,2561,2163,3098
$GC,5324,-0.63,-117.3,325.9,-6.3,255,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2164,3098
$GC,5630,-0.63,-117.3,344.4,-6.1,270,5635,0.00,2.60,0.00,0.000,4,0.000,0.068,2561,745,3098
$GC,5681,-0.63,-117.3,347.6,-6.1,272,5685,0.00,2.55,0.00,0.000,6,0.000,0.055,2561,2160,3098
$GC,5996,-0.63,-117.3,366.4,-6.2,287,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2158,3097
$GC,6306,-0.63,-117.3,384.6,-5.8,302,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2159,3097
$GC,6615,-0.63,-117.3,402.0,-5.4,317,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2159,3097
$GC,6925,-0.63,-117.3,418.3,-5.2,332,6926,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2160,3097
$GC,7234,-0.63,-117.3,435.0,-5.9,347,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2160,3097
$GC,7543,-0.63,-117.3,454.1,-6.0,362,7547,0.00,2.60,0.00,0.000,4,0.000,0.068,2561,745,3097
$GC,7582,-0.63,-117.3,456.6,-6.7,364,7587,0.00,2.53,0.00,0.000,6,0.000,0.055,2561,2153,3097
$GC,7910,-0.63,-117.3,475.6,-6.2,380,7914,0.00,2.60,0.00,0.000,4,0.000,0.067,2561,739,3097
$GC,7928,-0.63,-117.3,476.9,-6.3,381,7932,0.00,2.55,0.00,0.000,6,0.000,0.056,2561,2160,3097
$GC,8254,-0.63,-117.3,498.3,-6.1,397,8258,0.00,2.53,0.00,0.000,4,0.000,0.067,2561,3557,3097
$GC,8304,-0.63,-117.3,501.7,-6.7,399,8308,0.00,2.50,0.00,0.000,6,0.000,0.053,2561,2149,3096
$GC,8620,-0.63,-117.3,520.4,-5.6,414,8624,0.00,2.53,0.00,0.000,4,0.000,0.066,2561,744,3096
$GC,8647,-0.63,-117.3,522.0,-5.7,415,8652,0.00,2.53,0.00,0.000,6,0.000,0.055,2561,2144,3096
$GC,8963,-0.63,-117.3,537.9,-4.2,430,8968,0.00,2.58,0.00,0.000,4,0.000,0.069,2561,3565,3096
$GC,9117,-0.63,-117.3,543.9,-4.0,437,9121,0.00,2.50,0.00,0.000,6,0.000,0.054,2561,2155,3096
$GC,9443,-0.63,-117.3,554.8,-3.7,453,9447,0.00,2.58,0.00,0.000,4,0.000,0.070,2561,3557,3096
$GC,9465,-0.63,-117.3,555.8,-4.4,454,9470,0.00,2.53,0.00,0.000,6,0.000,0.054,2561,2150,3096
$GC,9787,-0.63,-117.3,572.1,-5.6,470,9788,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2123,3096
$GC,10096,-0.63,-117.3,594.3,-7.1,485,10097,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2124,3096
$GC,10405,-0.63,-117.3,606.0,-2.6,500,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2123,3096
$GC,10715,-0.63,-117.3,616.0,-3.5,515,10716,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2124,3095
$GC,11024,-0.63,-117.3,625.5,-3.2,530,11025,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2124,3095
$GC,11334,-0.67,-117.3,639.3,-4.7,545,11335,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2124,3095
$GC,11642,-0.67,-117.3,653.4,-3.8,560,11644,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2124,3094
$GC,11952,-0.67,-117.3,665.4,-4.4,575,11956,0.00,2.65,0.00,0.000,4,0.000,0.081,2561,3554,3093
$GC,11996,-0.67,-117.3,667.9,-6.2,577,12000,0.00,2.53,0.00,0.000,6,0.000,0.064,2561,2167,3092
$GC,12318,-0.71,-117.3,684.1,-5.2,593,12319,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2149,3092
$STATE,12603,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12603,begin apogee
$GC,12610,-0.33,0.0,700.2,5.2,607,12712,0.32,0.00,99.18,1.341,6,0.087,0.000,2627,2071,2620
$STATE,12713,end apogee,CONTROL_FINISHED_OK
$STATE,12713,begin climb
$GC,12716,1.03,117.3,699.2,0.0,612,12820,1.40,0.00,98.90,1.312,6,0.078,0.000,2923,2082,2141
$GC,13128,1.03,117.3,672.8,6.3,632,13129,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2080,2140
$GC,13438,0.96,117.3,650.9,8.9,647,13443,0.00,2.72,0.00,0.000,4,0.000,0.084,2923,3510,2138
$GC,13578,0.96,117.3,636.2,8.9,653,13582,0.00,2.60,0.00,0.000,6,0.000,0.069,2923,2121,2137
$GC,13894,0.92,117.3,613.2,6.9,668,13896,0.12,0.00,0.00,0.000,6,0.097,0.000,2899,2121,2136
$GC,14203,1.01,147.0,595.6,5.0,683,14234,0.00,2.70,25.10,1.285,4,0.000,0.082,2899,3505,2020
$GC,14274,1.10,155.4,591.9,5.7,686,14289,0.17,2.65,8.88,1.145,6,0.054,0.067,2945,2088,1986
$GC,14619,1.03,155.4,566.2,8.0,703,14623,0.00,2.70,0.00,0.000,4,0.000,0.079,2945,3512,1984
$GC,14704,0.97,155.4,558.5,9.0,707,14709,0.17,2.60,0.00,0.000,6,0.091,0.063,2909,2103,1984
$GC,15030,0.97,155.4,536.2,7.1,723,15032,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2102,1984
$GC,15341,1.01,155.4,512.2,7.7,738,15345,0.00,2.62,0.00,0.000,4,0.000,0.073,2909,3508,1983
$GC,15403,1.07,155.4,507.4,7.7,741,15408,0.10,2.53,0.00,0.000,6,0.060,0.058,2941,2114,1984
$GC,15730,1.07,155.4,476.9,8.9,757,15731,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2114,1984
$GC,16039,1.07,155.4,454.5,6.8,772,16044,0.00,2.60,0.00,0.000,4,0.000,0.067,2941,3515,1984
$GC,16084,1.07,155.4,451.1,7.9,774,16088,0.00,2.53,0.00,0.000,6,0.000,0.056,2941,2122,1984
$GC,16405,1.07,155.4,430.4,6.2,790,16406,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2122,1985
$GC,16714,1.07,155.4,411.1,6.5,805,16718,0.00,2.55,0.00,0.000,4,0.000,0.067,2941,3509,1986
$GC,16776,1.07,155.4,406.4,6.6,808,16780,0.00,2.45,0.00,0.000,6,0.000,0.052,2941,2135,1986
$GC,17103,1.07,155.4,381.4,8.8,824,17104,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2135,1986
$GC,17411,1.07,155.4,350.9,10.2,839,17416,0.00,2.50,0.00,0.000,4,0.000,0.064,2942,3509,1987
$GC,17468,1.07,155.4,345.1,9.7,841,17474,0.00,2.45,0.00,0.000,6,0.000,0.053,2941,2146,1987
$GC,17784,1.07,155.4,313.8,9.5,857,17786,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2146,1988
$GC,18093,1.07,155.4,287.5,7.9,872,18097,0.00,2.50,0.00,0.000,4,0.000,0.064,2941,3510,1988
$GC,18126,1.07,155.4,284.6,9.4,873,18132,0.00,2.45,0.00,0.000,6,0.000,0.052,2941,2145,1988
$GC,18442,1.07,155.4,259.7,7.7,889,18443,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2145,1989
$GC,18752,1.07,155.4,236.7,7.0,904,18755,0.00,2.50,0.00,0.000,4,0.000,0.064,2941,3509,1989
$GC,18812,1.07,155.4,231.9,7.8,906,18818,0.00,2.42,0.00,0.000,6,0.000,0.050,2941,2151,1989
$GC,19128,1.09,166.3,213.1,5.6,922,19141,0.00,0.00,11.27,0.878,6,0.000,0.000,2941,2151,1941
$GC,19437,1.11,177.4,195.1,5.6,937,19453,0.00,2.53,10.70,0.864,4,0.000,0.062,2941,3515,1895
$GC,19492,1.11,177.4,191.7,6.1,938,19498,0.00,2.45,0.00,0.000,6,0.000,0.051,2941,2161,1895
$GC,19808,1.11,177.4,174.5,6.3,954,19809,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2161,1895
$GC,20117,1.11,177.4,145.3,10.1,969,20119,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2161,1895
$GC,20427,1.11,177.4,115.0,8.8,984,20428,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2161,1896
$GC,20736,1.11,177.4,92.1,6.5,999,20737,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2161,1895
$GC,21046,1.21,238.0,76.0,3.9,1014,21096,0.00,0.00,48.53,0.854,6,0.000,0.000,2941,2161,1649
$GC,21399,1.26,238.0,48.0,9.3,1031,21401,0.15,0.00,0.00,0.000,6,0.045,0.000,2986,2160,1648
$GC,21707,1.17,238.0,17.0,9.0,1046,21709,0.17,0.00,0.00,0.000,6,0.078,0.000,2949,2141,1649
$STATE,21951,end climb,SURFACE_DEPTH_REACHED
$STATE,21951,begin surface coast
$FINISH,-0.0,1.015987
$STATE,21994,end surface coast,CONTROL_FINISHED_OK
$STATE,21994,begin surface
$SM_CCo,22016,35.70,0.790,0,0,1396,300.00
$SM_GC,0.44,0.00,0.00,35.70,0.000,0.000,0.790,421,2144,1396,-10.48,-0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1679
$TCM_TEMP,17.40
$XPDR_PINGS,530
$ALTIM_TOP_PING,18.9,999.0
$ALTIM_BOTTOM_PING,600.8,108.8
$24V_AH,23.8,20.315
$10V_AH,10.1,9.221
$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,24.750,132.800,302.550,35.700,0.000,37.761,38.462,185.087,137.750,0.000,0.000,13.151,1908.098,17239.889,501.658,2187.382,607.244,33.368,1564.684,0.000,2153.515,0.000,36.383
$DEVICE_MAMPS,142.662,84.370,1341.483,790.010,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,728.976,785.331,645.512,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53768,1060
$CAP_FILE_SIZE,147793,0
$CFSIZE,254472192,245886976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,260608,160025,6149.964,-925.520,41,1.1,41,-9.6