version: 66.03
glider: 5
mission: 3
dive: 2
start: 6 6 108 18 55 25
data:
$ID,5
$MISSION,3
$DIVE,2
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$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,100
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,-76677.93
$T_RSLEEP,2
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2832
$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,3
$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
$GPS1,184941,6124.765,-816.665,12,2.4,31,-8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-58.2
$GPS2,185350,6124.739,-816.665,13,2.0,18,-8.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.184,0.189
$KALMAN_X,0.3,0.3,0.3,-201.6,1.5
$KALMAN_Y,-100.4,-100.4,-100.4,24.2,-441.6
$MHEAD_RNG_PITCHd_Wd,324.5,56439,-18.1,-10.000
$D_GRID,799
$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,-1.44,-146.6,0.0,0.0,0,146,0.00,0.00,-118.50,0.000,6,0.000,0.000,428,2127,3430
$GC,149,-1.44,-146.6,4.4,-4.3,6,164,10.05,2.58,0.00,0.000,4,0.134,0.067,2382,3538,3430
$GC,226,-1.23,-146.6,24.1,-19.1,8,234,0.22,2.47,0.00,0.000,6,0.095,0.050,2428,2149,3431
$GC,544,-1.15,-146.6,72.2,-15.0,24,546,0.10,0.00,0.00,0.000,6,0.107,0.000,2447,2131,3431
$GC,852,-1.15,-146.6,112.1,-12.4,39,856,0.00,2.58,0.00,0.000,4,0.000,0.071,2447,3537,3432
$GC,940,-1.15,-146.6,123.7,-12.4,43,945,0.00,2.47,0.00,0.000,6,0.000,0.052,2447,2152,3431
$GC,1262,-1.15,-146.6,162.0,-11.6,59,1266,0.00,2.55,0.00,0.000,4,0.000,0.072,2447,744,3431
$GC,1328,-1.15,-146.6,169.7,-11.2,62,1333,0.00,2.50,0.00,0.000,6,0.000,0.056,2447,2128,3431
$GC,1649,-1.15,-146.6,205.2,-11.5,78,1654,0.00,2.60,0.00,0.000,4,0.000,0.076,2447,3557,3431
$GC,1757,-1.15,-146.6,218.0,-11.7,83,1761,0.00,2.50,0.00,0.000,6,0.000,0.053,2447,2149,3430
$GC,2083,-1.15,-146.6,258.4,-12.7,99,2087,0.00,2.58,0.00,0.000,4,0.000,0.075,2447,742,3430
$GC,2160,-1.15,-146.6,269.2,-13.1,102,2166,0.00,2.55,0.00,0.000,6,0.000,0.058,2447,2153,3430
$STATE,2392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2392,begin apogee
$GC,2398,-0.33,0.0,301.2,13.8,114,2519,0.82,0.00,116.60,0.942,6,0.082,0.000,2624,2152,2832
$STATE,2519,end apogee,CONTROL_FINISHED_OK
$STATE,2519,begin climb
$GC,2522,1.44,146.6,309.2,0.0,120,2644,1.80,0.00,116.78,0.909,6,0.061,0.000,3015,2153,2234
$GC,2946,1.43,189.9,284.6,8.0,141,2987,0.00,2.65,35.62,0.884,4,0.000,0.076,3015,3555,2057
$GC,2994,1.41,222.2,280.3,8.5,143,3028,0.00,2.58,26.52,0.861,6,0.000,0.055,3015,2150,1926
$GC,3351,1.41,222.2,242.2,11.3,161,3355,0.00,2.65,0.00,0.000,4,0.000,0.077,3015,3555,1926
$GC,3423,1.41,222.2,233.0,12.2,164,3427,0.00,2.55,0.00,0.000,6,0.000,0.054,3015,2151,1925
$GC,3739,1.41,222.2,195.3,12.1,179,3743,0.00,2.62,0.00,0.000,4,0.000,0.076,3015,3556,1926
$GC,3800,1.41,222.2,187.5,12.2,182,3805,0.00,2.55,0.00,0.000,6,0.000,0.054,3015,2151,1926
$GC,4127,1.41,222.2,150.6,10.6,198,4132,0.00,2.65,0.00,0.000,4,0.000,0.074,3015,3558,1926
$GC,4206,1.41,224.6,142.3,9.9,201,4215,0.00,2.55,3.62,0.533,6,0.000,0.054,3015,2143,1915
$GC,4544,1.41,224.6,105.5,11.0,218,4548,0.00,2.62,0.00,0.000,4,0.000,0.074,3015,3557,1916
$GC,4577,1.41,224.6,101.3,12.2,219,4583,0.00,2.53,0.00,0.000,6,0.000,0.054,3015,2150,1916
$GC,4894,1.41,224.6,66.0,10.6,235,4898,0.00,2.62,0.00,0.000,4,0.000,0.075,3015,3559,1916
$GC,4904,1.41,224.6,64.6,10.6,235,4910,0.00,2.53,0.00,0.000,6,0.000,0.054,3015,2150,1916
$GC,5222,1.44,240.1,34.5,9.3,251,5244,0.00,2.67,13.68,0.744,4,0.000,0.073,3015,3552,1853
$GC,5380,1.44,240.1,17.3,10.4,258,5384,0.00,2.53,0.00,0.000,6,0.000,0.052,3015,2149,1853
$STATE,5518,end climb,SURFACE_DEPTH_REACHED
$STATE,5518,begin surface coast
$FINISH,0.0,1.026933
$STATE,5540,end surface coast,CONTROL_FINISHED_OK
$STATE,5540,begin surface
$SM_CCo,5562,33.33,0.743,0,0,1609,300.00
$SM_GC,0.86,0.00,0.00,33.33,0.000,0.000,0.743,419,2138,1609,-10.49,-0.31,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1690
$TCM_TEMP,17.60
$XPDR_PINGS,43
$ALTIM_TOP_PING,19.7,19.2
$24V_AH,24.0,4.015
$10V_AH,10.1,1.324
$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,24.325,61.675,312.825,33.325,0.000,0.000,0.000,0.000,12.750,0.000,0.000,18.537,548.106,3861.493,492.487,683.471,132.390,30.183,852.632,0.000,665.215,0.000,13.862
$DEVICE_MAMPS,134.225,77.467,941.876,743.223,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,181.496,193.204,260.300,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12791,266
$CAP_FILE_SIZE,62068,0
$CFSIZE,254472192,252047360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,060608,203001,6125.716,-818.872,35,1.0,41,-8.8