version: 66.03
glider: 5
mission: 3
dive: 64
start: 6 20 108 4 27 21
data:
$ID,5
$MISSION,3
$DIVE,64
$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,-77856.289
$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,22
$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
$GPS1,042207,6201.433,-945.330,40,1.2,52,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-58.3
$GPS2,042627,6201.434,-945.516,13,1.0,13,-9.8
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.157,-0.125
$KALMAN_X,-113313.1,1707.4,241.1,32375.2,-72891.1
$KALMAN_Y,-10998.4,-2946.6,2261.9,79411.9,44777.1
$MHEAD_RNG_PITCHd_Wd,138.4,48493,-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,-117.3,0.0,0.0,0,95,0.00,0.00,-69.03,0.000,6,0.000,0.000,418,2128,3099
$GC,98,-1.03,-117.3,2.2,-3.5,3,115,10.65,2.53,0.00,0.000,4,0.140,0.060,2467,743,3101
$GC,291,-0.73,-117.3,26.6,-10.9,10,298,0.35,2.53,0.00,0.000,6,0.091,0.050,2541,2161,3102
$GC,607,-0.64,-117.3,56.2,-10.5,26,611,0.00,2.50,0.00,0.000,4,0.000,0.061,2541,3555,3102
$GC,619,-0.55,-117.3,57.6,-10.9,26,626,0.17,2.47,0.00,0.000,6,0.086,0.048,2578,2152,3102
$GC,935,-0.55,-117.3,95.5,-13.1,42,939,0.00,2.58,0.00,0.000,4,0.000,0.061,2578,3561,3102
$GC,967,-0.55,-117.3,100.0,-13.0,43,974,0.00,2.47,0.00,0.000,6,0.000,0.045,2578,2152,3102
$GC,1285,-0.55,-117.3,142.8,-14.2,59,1289,0.00,2.55,0.00,0.000,4,0.000,0.061,2579,3554,3103
$GC,1330,-0.59,-117.3,149.5,-14.4,61,1338,0.00,2.47,0.00,0.000,6,0.000,0.047,2578,2160,3103
$GC,1660,-0.64,-117.3,192.0,-13.1,77,1665,0.00,2.55,0.00,0.000,4,0.000,0.061,2578,3556,3103
$GC,1755,-0.64,-117.3,204.8,-14.0,81,1759,0.00,2.45,0.00,0.000,6,0.000,0.046,2579,2166,3103
$GC,2072,-0.64,-117.3,237.8,-9.3,96,2076,0.00,2.53,0.00,0.000,4,0.000,0.062,2578,3559,3103
$GC,2082,-0.64,-117.3,238.9,-8.7,96,2088,0.00,2.50,0.00,0.000,6,0.000,0.050,2578,2156,3103
$GC,2399,-0.68,-117.3,254.4,-2.8,112,2404,0.12,2.55,0.00,0.000,4,0.051,0.061,2540,3560,3103
$GC,2427,-0.62,-117.3,254.8,-0.9,113,2432,0.12,2.47,0.00,0.000,6,0.095,0.051,2565,2162,3103
$GC,2743,-0.62,-117.3,244.5,5.7,128,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2162,3103
$GC,3052,-0.62,-117.3,228.4,4.8,143,3057,0.00,2.53,0.00,0.000,4,0.000,0.063,2565,3553,3102
$GC,3063,-0.62,-117.3,228.0,3.4,143,3069,0.00,2.50,0.00,0.000,6,0.000,0.052,2565,2155,3102
$GC,3380,-0.66,-117.3,212.8,4.2,159,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2155,3103
$GC,3689,-0.66,-117.3,219.2,-5.3,174,3693,0.00,2.55,0.00,0.000,4,0.000,0.070,2565,748,3102
$GC,3885,-0.66,-117.3,232.2,-8.3,183,3890,0.00,2.50,0.00,0.000,6,0.000,0.053,2565,2146,3102
$GC,4213,-0.66,-117.3,270.3,-13.3,199,4217,0.00,2.55,0.00,0.000,4,0.000,0.067,2565,747,3101
$GC,4223,-0.66,-117.3,271.8,-13.2,199,4229,0.00,2.50,0.00,0.000,6,0.000,0.053,2565,2141,3101
$GC,4538,-0.66,-117.3,314.1,-13.7,215,4543,0.00,2.55,0.00,0.000,4,0.000,0.068,2565,747,3101
$GC,4549,-0.66,-117.3,315.7,-13.8,215,4556,0.00,2.50,0.00,0.000,6,0.000,0.054,2565,2137,3101
$GC,4865,-0.66,-117.3,352.3,-9.5,231,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2136,3101
$GC,5175,-0.66,-117.3,368.7,-3.4,246,5179,0.00,2.55,0.00,0.000,4,0.000,0.067,2565,739,3101
$GC,5202,-0.66,-117.3,369.6,-3.2,247,5207,0.00,2.50,0.00,0.000,6,0.000,0.054,2565,2131,3101
$GC,5519,-0.66,-117.3,374.3,-0.9,262,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2130,3100
$GC,5828,-0.66,-117.3,377.3,-1.3,277,5832,0.00,2.55,0.00,0.000,4,0.000,0.067,2565,742,3100
$GC,5838,-0.66,-117.3,377.4,-1.2,277,5844,0.00,2.50,0.00,0.000,6,0.000,0.055,2565,2132,3100
$GC,6154,-0.66,-117.3,385.8,-3.9,293,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2131,3100
$GC,6463,-0.66,-117.3,408.8,-10.1,308,6467,0.00,2.58,0.00,0.000,4,0.000,0.068,2565,3554,3100
$GC,6502,-0.66,-117.3,413.3,-11.9,310,6507,0.00,2.53,0.00,0.000,6,0.000,0.054,2565,2140,3100
$GC,6829,-0.66,-117.3,452.7,-12.8,326,6834,0.00,2.60,0.00,0.000,4,0.000,0.067,2565,3556,3100
$GC,6896,-0.66,-117.3,460.8,-11.7,329,6901,0.00,2.47,0.00,0.000,6,0.000,0.052,2565,2164,3100
$GC,7217,-0.66,-117.3,485.5,-6.2,345,7221,0.00,2.58,0.00,0.000,4,0.000,0.067,2565,3562,3099
$GC,7227,-0.66,-117.3,486.1,-6.2,345,7234,0.00,2.47,0.00,0.000,6,0.000,0.053,2565,2158,3099
$GC,7544,-0.66,-117.3,496.7,-1.3,361,7548,0.00,2.55,0.00,0.000,4,0.000,0.069,2565,762,3099
$GC,7554,-0.66,-117.3,496.8,-1.6,361,7560,0.00,2.55,0.00,0.000,6,0.000,0.057,2565,2179,3099
$STATE,7867,end dive,NO_VERTICAL_VELOCITY
$STATE,7867,begin apogee
$GC,7875,-0.33,0.0,500.1,0.0,377,7975,0.30,0.00,97.50,1.132,6,0.081,0.000,2627,2079,2620
$STATE,7976,end apogee,CONTROL_FINISHED_OK
$STATE,7976,begin climb
$GC,7979,1.03,117.3,494.9,0.0,382,8084,1.40,2.72,96.25,1.098,4,0.073,0.066,2924,3511,2141
$GC,8118,1.03,117.3,476.2,12.6,389,8123,0.00,2.58,0.00,0.000,6,0.000,0.057,2924,2113,2141
$GC,8440,1.03,117.3,441.2,7.8,405,8444,0.00,2.60,0.00,0.000,4,0.000,0.067,2924,3510,2140
$GC,8479,1.03,117.3,438.0,8.3,407,8483,0.00,2.55,0.00,0.000,6,0.000,0.058,2924,2113,2140
$GC,8806,1.26,258.1,425.3,1.2,423,8927,0.17,0.00,114.00,1.068,6,0.044,0.000,2979,2108,1567
$GC,9240,1.19,258.1,404.1,6.6,444,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2107,1567
$GC,9546,1.12,258.1,378.9,8.8,459,9551,0.15,2.60,0.00,0.000,4,0.083,0.064,2945,3513,1567
$GC,9591,1.18,258.1,375.3,7.7,461,9595,0.00,2.53,0.00,0.000,6,0.000,0.057,2945,2129,1567
$GC,9912,1.18,258.1,353.4,6.9,477,9916,0.00,2.62,0.00,0.000,4,0.000,0.073,2945,687,1567
$GC,9962,1.18,258.1,349.7,7.5,479,9966,0.00,2.62,0.00,0.000,6,0.000,0.055,2945,2139,1567
$GC,10277,1.18,258.1,324.7,8.3,494,10278,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2139,1566
$GC,10586,1.18,258.1,292.3,11.1,509,10588,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2139,1567
$GC,10896,1.18,258.1,257.2,10.4,524,10900,0.00,2.67,0.00,0.000,4,0.000,0.068,2945,688,1567
$GC,10929,1.18,258.1,253.8,11.0,525,10935,0.00,2.58,0.00,0.000,6,0.000,0.054,2945,2122,1567
$GC,11245,1.18,258.1,220.1,11.1,541,11249,0.00,2.62,0.00,0.000,4,0.000,0.067,2945,688,1567
$GC,11295,1.23,258.1,214.0,12.8,543,11300,0.00,2.53,0.00,0.000,6,0.000,0.054,2945,2094,1567
$GC,11611,1.23,258.1,178.1,10.5,558,11615,0.00,2.55,0.00,0.000,4,0.000,0.064,2945,3512,1567
$GC,11655,1.29,258.1,172.9,12.2,560,11660,0.15,2.55,0.00,0.000,6,0.047,0.053,2990,2093,1566
$GC,11978,1.22,258.1,130.2,13.3,576,11980,0.12,0.00,0.00,0.000,6,0.082,0.000,2965,2092,1567
$GC,12287,1.22,258.1,95.2,10.7,591,12291,0.00,2.58,0.00,0.000,4,0.000,0.060,2965,3509,1567
$GC,12331,1.22,258.1,90.3,10.4,593,12335,0.00,2.50,0.00,0.000,6,0.000,0.051,2965,2115,1567
$GC,12653,1.22,258.1,63.1,6.5,609,12657,0.00,2.58,0.00,0.000,4,0.000,0.067,2965,681,1567
$GC,12686,1.24,269.9,61.0,5.6,610,12702,0.00,2.55,11.07,0.765,6,0.000,0.051,2965,2123,1519
$GC,13019,1.27,286.1,42.9,5.4,627,13041,0.00,2.55,14.25,0.771,4,0.000,0.060,2965,3505,1453
$GC,13069,1.32,286.1,39.1,7.9,629,13074,0.10,2.53,0.00,0.000,6,0.054,0.051,2998,2112,1453
$GC,13391,1.21,286.1,8.6,11.3,645,13396,0.15,2.58,0.00,0.000,4,0.079,0.066,2963,682,1453
$GC,13454,1.21,286.1,3.1,10.8,648,13458,0.00,2.55,0.00,0.000,6,0.000,0.050,2963,2118,1453
$STATE,13461,end climb,SURFACE_DEPTH_REACHED
$STATE,13461,begin surface coast
$FINISH,1.3,1.027130
$STATE,13471,end surface coast,CONTROL_FINISHED_OK
$STATE,13471,begin surface
$SM_CCo,13493,9.07,0.703,0,0,1397,300.00
$SM_GC,1.00,0.00,0.00,9.07,0.000,0.000,0.703,417,2135,1397,-10.50,-0.40,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1672
$TCM_TEMP,17.70
$XPDR_PINGS,471
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,23.9,15.573
$10V_AH,10.1,6.650
$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,25.025,142.625,333.075,9.075,0.000,37.759,32.248,93.888,121.750,0.000,0.000,13.682,1228.019,10236.488,488.874,1410.981,412.122,33.374,1229.480,0.000,1387.926,0.000,28.961
$DEVICE_MAMPS,140.361,72.865,1132.092,703.339,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.215,480.888,419.093,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34879,649
$CAP_FILE_SIZE,106906,0
$CFSIZE,254472192,247918592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,200608,081338,6200.653,-945.802,35,1.6,35,-9.8