version: 66.03
glider: 5
mission: 3
dive: 63
start: 6 20 108 2 19 15
data:
$ID,5
$MISSION,3
$DIVE,63
$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,-77841.984
$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,23
$R_STBD_OVSHOOT,45
$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
$GPS1,021408,6201.505,-942.327,30,1.4,31,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-57.9
$GPS2,021821,6201.515,-942.507,14,1.4,14,-9.8
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.139,-0.145
$KALMAN_X,-115919.9,1234.9,2364.5,35963.9,-112786.1
$KALMAN_Y,-2106.8,-3659.2,-2422.3,76138.0,108527.5
$MHEAD_RNG_PITCHd_Wd,146.0,47007,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.03,-117.3,0.0,0.0,0,96,0.00,0.00,-69.62,0.000,6,0.000,0.000,422,2155,3099
$GC,99,-1.03,-117.3,2.0,-3.1,3,116,10.65,2.58,0.00,0.000,4,0.140,0.056,2468,743,3100
$GC,366,-0.72,-117.3,34.3,-11.0,14,372,0.35,2.47,0.00,0.000,6,0.085,0.049,2544,2128,3100
$GC,695,-0.64,-117.3,61.9,-8.7,30,700,0.00,2.53,0.00,0.000,4,0.000,0.061,2544,746,3100
$GC,714,-0.56,-117.3,63.4,-8.4,31,719,0.17,2.50,0.00,0.000,6,0.086,0.051,2580,2151,3100
$GC,1041,-0.56,-117.3,84.6,-5.7,47,1045,0.00,2.53,0.00,0.000,4,0.000,0.062,2580,3556,3100
$GC,1052,-0.56,-117.3,85.4,-6.1,47,1059,0.00,2.47,0.00,0.000,6,0.000,0.048,2580,2159,3100
$GC,1369,-0.56,-117.3,103.5,-5.4,63,1373,0.00,2.55,0.00,0.000,4,0.000,0.061,2580,3556,3101
$GC,1391,-0.56,-117.3,104.8,-5.5,64,1395,0.00,2.50,0.00,0.000,6,0.000,0.048,2580,2154,3101
$GC,1713,-0.56,-117.3,118.8,-4.0,80,1717,0.00,2.53,0.00,0.000,4,0.000,0.064,2580,746,3100
$GC,1724,-0.60,-117.3,119.4,-4.9,80,1730,0.00,2.50,0.00,0.000,6,0.000,0.050,2581,2152,3100
$GC,2043,-0.64,-117.3,137.8,-5.5,96,2047,0.00,2.58,0.00,0.000,4,0.000,0.064,2580,744,3101
$GC,2107,-0.70,-117.3,140.9,-5.2,99,2112,0.15,2.50,0.00,0.000,6,0.049,0.051,2538,2146,3101
$GC,2435,-0.62,-117.3,160.9,-6.2,115,2439,0.12,2.58,0.00,0.000,4,0.093,0.062,2563,740,3101
$GC,2552,-0.62,-117.3,167.3,-5.2,120,2556,0.00,2.45,0.00,0.000,6,0.000,0.051,2563,2113,3100
$GC,2868,-0.62,-117.3,188.9,-7.0,135,2872,0.00,2.47,0.00,0.000,4,0.000,0.062,2563,746,3100
$GC,2895,-0.62,-117.3,190.8,-7.3,136,2899,0.00,2.40,0.00,0.000,6,0.000,0.051,2563,2098,3100
$GC,3211,-0.62,-117.3,213.4,-6.6,151,3215,0.00,2.47,0.00,0.000,4,0.000,0.064,2563,746,3100
$GC,3239,-0.62,-117.3,215.4,-7.1,152,3243,0.00,2.40,0.00,0.000,6,0.000,0.052,2563,2084,3101
$GC,3555,-0.62,-117.3,235.2,-5.2,167,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2083,3100
$GC,3864,-0.62,-117.3,244.3,-2.1,182,3868,0.00,2.65,0.00,0.000,4,0.000,0.064,2563,3560,3100
$GC,3886,-0.62,-117.3,244.7,-1.9,183,3890,0.00,2.62,0.00,0.000,6,0.000,0.051,2563,2086,3100
$STATE,4121,end dive,NO_VERTICAL_VELOCITY
$STATE,4121,begin apogee
$GC,4128,-0.33,0.0,246.6,0.0,195,4226,0.30,0.00,94.85,0.939,6,0.077,0.000,2626,2085,2620
$STATE,4226,end apogee,CONTROL_FINISHED_OK
$STATE,4226,begin climb
$GC,4229,1.03,117.3,243.9,0.0,200,4332,1.38,2.60,93.22,0.907,4,0.076,0.067,2920,689,2140
$GC,4368,1.03,117.3,227.9,12.8,206,4373,0.00,2.55,0.00,0.000,6,0.000,0.051,2920,2100,2140
$GC,4684,1.03,117.3,192.7,10.8,221,4689,0.00,2.55,0.00,0.000,4,0.000,0.064,2920,3513,2140
$GC,4792,1.03,117.3,181.1,10.1,226,4797,0.00,2.53,0.00,0.000,6,0.000,0.052,2920,2113,2139
$GC,5120,1.03,117.3,147.2,9.5,242,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2112,2139
$GC,5430,1.03,117.3,121.0,9.4,257,5435,0.00,2.58,0.00,0.000,4,0.000,0.061,2920,3515,2139
$GC,5509,1.03,117.3,112.5,10.6,260,5515,0.00,2.50,0.00,0.000,6,0.000,0.051,2921,2122,2139
$GC,5825,1.03,117.3,85.1,8.6,276,5829,0.00,2.60,0.00,0.000,4,0.000,0.067,2921,683,2139
$GC,5902,1.03,117.3,79.0,7.8,279,5909,0.00,2.58,0.00,0.000,6,0.000,0.052,2921,2125,2139
$GC,6219,1.03,117.3,58.0,6.9,295,6223,0.00,2.47,0.00,0.000,4,0.000,0.061,2920,3508,2139
$GC,6341,1.03,117.3,48.6,6.8,300,6348,0.00,2.47,0.00,0.000,6,0.000,0.050,2921,2122,2138
$GC,6658,1.05,127.6,30.3,5.6,316,6672,0.00,2.62,9.27,0.720,4,0.000,0.066,2920,685,2099
$GC,6712,1.05,127.6,26.8,6.7,318,6716,0.00,2.62,0.00,0.000,6,0.000,0.051,2921,2153,2099
$GC,7029,1.13,179.3,10.7,4.2,333,7075,0.10,2.50,40.90,0.783,4,0.052,0.061,2956,3513,1888
$GC,7143,1.13,179.3,3.6,10.2,338,7147,0.00,2.45,0.00,0.000,6,0.000,0.049,2956,2146,1888
$STATE,7167,end climb,SURFACE_DEPTH_REACHED
$STATE,7167,begin surface coast
$FINISH,0.1,1.027113
$STATE,7189,end surface coast,CONTROL_FINISHED_OK
$STATE,7190,begin surface
$SM_CCo,7212,68.60,0.769,0,0,1396,300.00
$SM_GC,0.58,0.00,0.00,68.60,0.000,0.000,0.769,418,2124,1396,-10.50,-0.76,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1651
$TCM_TEMP,17.70
$XPDR_PINGS,223
$ALTIM_TOP_PING,19.1,999.0
$24V_AH,24.0,15.447
$10V_AH,10.1,6.585
$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,24.200,85.900,238.250,68.600,0.000,37.759,29.179,91.697,57.000,0.000,0.000,14.533,705.179,5209.361,403.247,907.607,325.791,33.394,875.635,0.000,893.830,0.000,9.055
$DEVICE_MAMPS,140.361,67.496,938.808,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,232.234,252.915,401.950,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16011,340
$CAP_FILE_SIZE,64653,0
$CFSIZE,254472192,248016896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,200608,042207,6201.433,-945.330,40,1.2,52,-9.8