version: 66.03
glider: 5
mission: 3
dive: 61
start: 6 19 108 22 21 27
data:
$ID,5
$MISSION,3
$DIVE,61
$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,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,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,-77810.07
$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,22
$R_STBD_OVSHOOT,37
$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
$GPS1,220740,6159.044,-938.600,55,1.8,55,-9.7
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-52.1
$GPS2,222033,6159.265,-938.836,12,1.4,12,-9.7
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.152,-0.131
$KALMAN_X,-111905.2,2626.8,2816.9,33365.5,-35752.2
$KALMAN_Y,-10233.3,1593.1,1476.2,70805.6,18215.7
$MHEAD_RNG_PITCHd_Wd,140.4,41740,-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,21,begin dive
$GC,24,-1.03,-117.3,0.0,0.0,0,140,0.00,0.00,-113.25,0.000,6,0.000,0.000,421,2165,3100
$GC,143,-1.03,-117.3,1.8,-1.4,5,160,10.62,2.60,0.00,0.000,4,0.139,0.063,2468,746,3098
$GC,364,-0.71,-117.3,28.0,-9.1,14,369,0.35,2.47,0.00,0.000,6,0.087,0.049,2543,2136,3097
$GC,692,-0.63,-117.3,50.8,-6.3,30,696,0.00,2.53,0.00,0.000,4,0.000,0.059,2543,743,3096
$GC,702,-0.54,-117.3,51.5,-6.1,30,709,0.17,2.50,0.00,0.000,6,0.087,0.051,2579,2141,3096
$GC,1019,-0.54,-117.3,69.0,-5.8,46,1023,0.00,2.55,0.00,0.000,4,0.000,0.062,2579,743,3096
$GC,1030,-0.54,-117.3,69.7,-5.8,46,1036,0.00,2.50,0.00,0.000,6,0.000,0.051,2579,2143,3096
$GC,1347,-0.59,-117.3,96.4,-10.4,62,1351,0.00,2.55,0.00,0.000,4,0.000,0.062,2579,743,3096
$GC,1441,-0.59,-117.3,108.3,-12.4,66,1445,0.00,2.45,0.00,0.000,6,0.000,0.051,2579,2116,3096
$GC,1759,-0.64,-117.3,150.7,-14.4,81,1763,0.00,2.58,0.00,0.000,4,0.000,0.062,2579,3563,3097
$GC,1843,-0.64,-117.3,163.4,-14.6,85,1847,0.00,2.55,0.00,0.000,6,0.000,0.047,2579,2125,3096
$GC,2171,-0.68,-117.3,200.4,-9.4,101,2173,0.12,0.00,0.00,0.000,6,0.051,0.000,2541,2110,3097
$GC,2480,-0.61,-117.3,224.1,-6.4,116,2485,0.12,2.60,0.00,0.000,4,0.094,0.062,2567,3554,3097
$GC,2537,-0.61,-117.3,226.9,-5.0,118,2543,0.00,2.53,0.00,0.000,6,0.000,0.048,2566,2131,3097
$GC,2853,-0.61,-117.3,235.2,-2.1,134,2857,0.00,2.60,0.00,0.000,4,0.000,0.062,2567,3556,3097
$GC,2865,-0.61,-117.3,235.4,-2.1,134,2871,0.00,2.58,0.00,0.000,6,0.000,0.049,2567,2114,3096
$GC,3181,-0.61,-117.3,245.7,-4.4,150,3185,0.00,2.65,0.00,0.000,4,0.000,0.063,2567,3564,3096
$GC,3193,-0.61,-117.3,246.2,-4.5,150,3199,0.00,2.55,0.00,0.000,6,0.000,0.051,2567,2130,3096
$GC,3509,-0.61,-117.3,265.0,-6.4,166,3513,0.00,2.60,0.00,0.000,4,0.000,0.065,2567,3558,3096
$GC,3564,-0.61,-117.3,268.4,-6.3,168,3570,0.00,2.53,0.00,0.000,6,0.000,0.050,2567,2143,3096
$GC,3880,-0.61,-117.3,282.0,-3.5,184,3884,0.00,2.58,0.00,0.000,4,0.000,0.064,2566,3557,3096
$GC,3930,-0.61,-117.3,283.9,-4.0,186,3934,0.00,2.50,0.00,0.000,6,0.000,0.049,2567,2148,3096
$GC,4247,-0.61,-117.3,290.6,-1.6,201,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2148,3096
$STATE,4553,end dive,NO_VERTICAL_VELOCITY
$STATE,4553,begin apogee
$GC,4560,-0.33,0.0,292.4,0.0,216,4658,0.28,0.00,94.75,0.978,6,0.078,0.000,2625,2074,2620
$STATE,4658,end apogee,CONTROL_FINISHED_OK
$STATE,4659,begin climb
$GC,4661,1.03,117.3,289.6,0.0,221,4765,1.38,2.65,94.30,0.948,4,0.067,0.061,2923,3505,2140
$GC,4793,1.03,117.3,275.2,11.2,227,4797,0.00,2.53,0.00,0.000,6,0.000,0.051,2923,2121,2140
$GC,5114,1.03,117.3,245.1,8.0,243,5118,0.00,2.60,0.00,0.000,4,0.000,0.069,2923,689,2139
$GC,5163,1.03,117.3,241.2,8.0,245,5168,0.00,2.55,0.00,0.000,6,0.000,0.054,2923,2105,2139
$GC,5480,1.09,153.4,222.2,4.8,260,5514,0.00,2.60,29.62,0.907,4,0.000,0.063,2923,3508,1994
$GC,5599,1.12,172.6,216.1,5.3,265,5621,0.00,2.53,16.27,0.877,6,0.000,0.051,2923,2116,1916
$GC,5937,1.28,273.0,204.3,2.6,282,6020,0.22,0.00,80.10,0.914,6,0.041,0.000,2987,2115,1507
$GC,6327,1.25,297.2,182.1,5.2,301,6353,0.00,2.62,20.85,0.865,4,0.000,0.061,2987,3512,1407
$GC,6398,1.25,301.5,177.7,5.9,304,6410,0.00,2.53,4.82,0.650,6,0.000,0.054,2988,2129,1391
$GC,6720,1.21,301.5,155.7,8.0,320,6721,0.12,0.00,0.00,0.000,6,0.083,0.000,2963,2129,1391
$GC,7029,1.21,305.7,136.6,5.9,335,7036,0.00,0.00,5.35,0.683,6,0.000,0.000,2963,2129,1373
$GC,7340,1.27,342.2,120.3,4.8,350,7375,0.00,2.58,30.30,0.857,4,0.000,0.060,2963,3510,1223
$GC,7410,1.41,373.5,116.8,4.9,352,7443,0.20,2.50,25.83,0.841,6,0.042,0.051,3018,2129,1097
$GC,7755,1.32,373.5,89.6,8.0,369,7760,0.15,2.62,0.00,0.000,4,0.081,0.066,2983,680,1097
$GC,7799,1.32,373.5,85.7,7.1,371,7804,0.00,2.60,0.00,0.000,6,0.000,0.051,2982,2133,1097
$GC,8121,1.32,373.5,56.0,9.4,387,8122,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2138,1097
$GC,8430,1.32,373.5,30.4,9.7,402,8435,0.00,2.67,0.00,0.000,4,0.000,0.066,2983,680,1097
$GC,8530,1.32,373.5,20.4,10.5,406,8538,0.00,2.58,0.00,0.000,6,0.000,0.051,2983,2127,1097
$STATE,8741,end climb,SURFACE_DEPTH_REACHED
$STATE,8741,begin surface coast
$FINISH,-0.0,1.027134
$STATE,8763,end surface coast,CONTROL_FINISHED_OK
$STATE,8763,begin surface
$SM_CCo,8845,0.00,0.000,0,0,1096,373.84
$SM_GC,0.69,11.07,0.00,0.00,0.036,0.000,0.000,420,2146,1096,-10.39,-0.08,373.84
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1659
$TCM_TEMP,17.60
$XPDR_PINGS,274
$ALTIM_TOP_PING,19.9,19.6
$24V_AH,24.0,15.276
$10V_AH,10.1,6.506
$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,24.825,87.200,402.200,0.000,0.000,113.290,150.889,259.499,70.250,0.000,0.000,12.171,810.699,6558.309,531.428,992.252,721.259,33.390,1059.954,0.000,978.032,0.000,12.255
$DEVICE_MAMPS,138.827,85.904,977.925,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,284.219,308.442,382.896,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22270,418
$CAP_FILE_SIZE,78545,0
$CFSIZE,254472192,248061952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,200608,005007,6201.081,-940.964,37,1.1,39,-9.8