version: 66.03
glider: 5
mission: 3
dive: 9
start: 6 7 108 18 47 43
data:
$ID,5
$MISSION,3
$DIVE,9
$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,330
$T_MISSION,360
$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,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,-76873.133
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,18
$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,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
$GPS1,184151,6131.466,-851.214,38,2.1,57,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-57.0
$GPS2,184653,6131.453,-851.186,14,1.9,22,-9.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.204,0.167
$KALMAN_X,-4535.0,3024.1,-29.1,-29276.7,645.2
$KALMAN_Y,5295.7,-3179.5,-928.0,10990.4,92.6
$MHEAD_RNG_PITCHd_Wd,318.5,24812,-18.1,-10.000
$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,21,begin dive
$GC,24,-1.44,-146.6,0.0,0.0,0,99,0.00,0.00,-72.60,0.000,6,0.000,0.000,419,2122,3430
$GC,102,-1.44,-146.6,2.2,-3.2,3,118,10.18,2.53,0.00,0.000,4,0.137,0.058,2376,739,3432
$GC,371,-1.24,-146.6,61.5,-19.1,14,376,0.28,2.55,0.00,0.000,6,0.097,0.054,2430,2150,3433
$GC,693,-1.18,-146.6,114.2,-16.1,30,697,0.00,2.60,0.00,0.000,4,0.000,0.064,2429,741,3433
$GC,832,-1.18,-146.6,137.0,-15.7,36,836,0.00,2.55,0.00,0.000,6,0.000,0.054,2430,2151,3434
$GC,1148,-1.13,-146.6,186.8,-16.1,51,1153,0.10,2.55,0.00,0.000,4,0.104,0.070,2449,3558,3434
$GC,1234,-1.13,-146.6,200.4,-16.6,55,1238,0.00,2.53,0.00,0.000,6,0.000,0.052,2449,2149,3434
$GC,1560,-1.13,-146.6,249.5,-14.5,71,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2132,3434
$GC,1870,-1.13,-146.6,293.1,-14.1,86,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2132,3434
$GC,2179,-1.13,-146.6,337.3,-14.6,101,2183,0.00,2.65,0.00,0.000,4,0.000,0.074,2449,3564,3433
$GC,2269,-1.13,-146.6,350.0,-14.0,105,2273,0.00,2.55,0.00,0.000,6,0.000,0.053,2449,2146,3434
$GC,2590,-1.13,-146.6,393.1,-13.4,121,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2128,3434
$GC,2899,-1.13,-146.6,434.3,-13.4,136,2903,0.00,2.65,0.00,0.000,4,0.000,0.074,2449,3561,3434
$GC,2961,-1.13,-146.6,442.7,-12.7,139,2965,0.00,2.53,0.00,0.000,6,0.000,0.054,2449,2149,3434
$GC,3287,-1.13,-146.6,482.3,-11.9,155,3292,0.00,2.65,0.00,0.000,4,0.000,0.074,2449,3565,3433
$GC,3353,-1.13,-146.6,491.1,-12.7,158,3358,0.00,2.55,0.00,0.000,6,0.000,0.055,2449,2149,3433
$GC,3675,-1.13,-146.6,532.3,-12.8,174,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2131,3434
$GC,3984,-1.13,-146.6,568.5,-11.6,189,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2128,3433
$STATE,4291,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4291,begin apogee
$GC,4297,-0.33,0.0,601.6,10.2,204,4424,0.82,0.00,123.53,1.190,6,0.083,0.000,2624,2129,2832
$STATE,4425,end apogee,CONTROL_FINISHED_OK
$STATE,4425,begin climb
$GC,4428,1.44,146.6,603.5,0.0,210,4556,1.77,0.00,122.15,1.164,6,0.065,0.000,3008,2128,2234
$GC,4869,1.37,152.8,564.5,9.7,232,4878,0.00,0.00,6.70,0.905,6,0.000,0.000,3008,2125,2209
$GC,5175,1.30,161.5,533.9,9.6,247,5189,0.12,2.72,8.90,0.959,4,0.097,0.075,2985,3558,2173
$GC,5212,1.37,205.3,530.6,8.0,248,5260,0.00,2.60,37.15,1.087,6,0.000,0.057,2985,2125,1995
$GC,5568,1.37,205.3,496.6,10.1,266,5573,0.00,2.67,0.00,0.000,4,0.000,0.074,2985,3558,1994
$GC,5614,1.37,205.3,491.7,10.5,268,5618,0.00,2.55,0.00,0.000,6,0.000,0.056,2985,2161,1994
$GC,5935,1.39,218.3,459.0,9.4,284,5956,0.00,2.70,11.75,0.988,4,0.000,0.071,2985,3557,1942
$GC,5973,1.42,234.0,455.3,9.3,285,5993,0.10,2.58,14.57,1.005,6,0.058,0.055,3014,2144,1877
$GC,6309,1.42,234.0,415.7,12.6,302,6314,0.00,2.65,0.00,0.000,4,0.000,0.072,3014,3558,1877
$GC,6336,1.42,234.0,412.2,13.1,303,6341,0.00,2.55,0.00,0.000,6,0.000,0.055,3014,2149,1877
$GC,6652,1.42,234.0,372.9,12.3,318,6656,0.00,2.65,0.00,0.000,4,0.000,0.071,3014,3561,1877
$GC,6673,1.42,234.0,370.1,12.6,319,6678,0.00,2.55,0.00,0.000,6,0.000,0.054,3014,2149,1877
$GC,6995,1.42,234.0,334.5,10.8,335,6999,0.00,2.65,0.00,0.000,4,0.000,0.071,3014,3566,1877
$GC,7012,1.42,234.0,332.7,10.3,336,7016,0.00,2.55,0.00,0.000,6,0.000,0.054,3014,2149,1877
$GC,7338,1.42,234.0,298.1,10.4,352,7339,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2135,1877
$GC,7648,1.43,241.1,267.8,9.7,367,7662,0.00,2.65,7.28,0.818,4,0.000,0.069,3014,3551,1849
$GC,7674,1.43,241.1,264.9,10.5,368,7678,0.00,2.55,0.00,0.000,6,0.000,0.053,3014,2146,1849
$GC,7995,1.43,241.1,232.1,10.4,384,7999,0.00,2.62,0.00,0.000,4,0.000,0.069,3014,3558,1849
$GC,8016,1.43,241.1,229.6,11.7,385,8020,0.00,2.55,0.00,0.000,6,0.000,0.053,3014,2143,1849
$GC,8337,1.43,241.1,195.6,10.3,401,8341,0.00,2.62,0.00,0.000,4,0.000,0.069,3014,3560,1849
$GC,8358,1.43,241.1,193.3,10.2,402,8363,0.00,2.55,0.00,0.000,6,0.000,0.054,3014,2146,1849
$GC,8680,1.43,241.1,158.8,10.9,418,8684,0.00,2.62,0.00,0.000,4,0.000,0.068,3014,3559,1849
$GC,8690,1.43,241.1,157.6,10.7,418,8696,0.00,2.55,0.00,0.000,6,0.000,0.053,3014,2145,1849
$GC,9006,1.43,241.1,123.8,10.5,434,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2145,1849
$GC,9315,1.43,241.1,86.2,11.8,449,9319,0.00,2.62,0.00,0.000,4,0.000,0.067,3014,3562,1849
$GC,9332,1.43,241.1,84.1,11.9,450,9337,0.00,2.55,0.00,0.000,6,0.000,0.052,3014,2142,1849
$GC,9660,1.46,261.9,49.3,9.1,466,9683,0.00,2.70,17.85,0.782,4,0.000,0.065,3014,3559,1764
$GC,9723,1.57,327.6,44.3,7.0,468,9780,0.12,2.55,51.58,0.798,6,0.053,0.051,3049,2145,1496
$STATE,10094,end climb,SURFACE_DEPTH_REACHED
$STATE,10094,begin surface coast
$FINISH,-0.0,1.027030
$STATE,10117,end surface coast,CONTROL_FINISHED_OK
$STATE,10117,begin surface
$SM_CCo,10200,0.00,0.000,0,0,1494,328.21
$SM_GC,0.82,11.50,0.00,0.00,0.040,0.000,0.000,425,2120,1494,-10.38,-0.85,328.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1674
$TCM_TEMP,17.60
$XPDR_PINGS,319
$ALTIM_TOP_PING,20.0,999.0
$ALTIM_BOTTOM_PING,600.0,10.7
$24V_AH,23.8,5.202
$10V_AH,10.1,1.753
$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,25.000,93.450,401.450,0.000,0.000,37.763,35.604,117.370,85.000,0.000,0.000,22.187,926.228,7602.601,486.325,1111.820,378.396,33.354,1071.628,0.000,1077.422,0.000,38.175
$DEVICE_MAMPS,137.293,75.166,1190.384,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,334.151,356.883,313.530,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25385,488
$CAP_FILE_SIZE,78499,0
$CFSIZE,254472192,251682816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,070608,213901,6131.846,-850.847,42,1.3,42,-9.1