version: 66.03
glider: 5
mission: 3
dive: 68
start: 6 20 108 20 21 48
data:
$ID,5
$MISSION,3
$DIVE,68
$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,240
$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,-77937
$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,21
$R_STBD_OVSHOOT,30
$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
$GPS1,201537,6206.576,-921.823,34,1.2,34,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-50.2
$GPS2,202056,6206.672,-921.655,10,1.2,15,-9.6
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.019,-0.200
$KALMAN_X,-96033.7,-421.3,2982.2,35648.9,1349.9
$KALMAN_Y,5322.0,-1101.6,-1959.8,75170.2,39916.1
$MHEAD_RNG_PITCHd_Wd,184.3,48458,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.03,-117.3,0.0,0.0,0,145,0.00,0.00,-113.60,0.000,6,0.000,0.000,423,2180,3098
$GC,149,-1.03,-117.3,3.2,-3.1,6,165,10.65,2.60,0.00,0.000,4,0.141,0.058,2469,735,3097
$GC,171,0.74,-117.3,9.0,-22.8,6,180,1.85,2.53,0.00,0.000,6,0.081,0.050,2859,2144,3097
$GC,498,-0.14,-117.3,29.1,-5.1,22,504,0.85,2.55,0.00,0.000,4,0.061,0.060,2670,737,3097
$GC,632,-0.51,-117.3,36.5,-5.3,28,637,0.38,2.22,0.00,0.000,6,0.039,0.048,2569,1986,3097
$GC,959,-0.51,-117.3,58.4,-7.1,44,963,0.00,2.80,0.00,0.000,4,0.000,0.061,2569,3554,3097
$GC,970,-0.51,-117.3,59.2,-7.5,44,977,0.00,2.80,0.00,0.000,6,0.000,0.050,2569,1977,3097
$GC,1287,-0.51,-117.3,80.8,-6.2,60,1291,0.00,2.88,0.00,0.000,4,0.000,0.059,2569,3562,3097
$GC,1395,-0.51,-117.3,87.0,-5.4,65,1399,0.00,2.80,0.00,0.000,6,0.000,0.048,2569,1989,3097
$GC,1722,-0.51,-117.3,102.8,-4.9,81,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1988,3097
$GC,2031,-0.51,-117.3,116.5,-4.3,96,2036,0.00,2.85,0.00,0.000,4,0.000,0.061,2569,3555,3097
$GC,2095,-0.51,-117.3,119.6,-5.3,99,2099,0.00,2.80,0.00,0.000,6,0.000,0.049,2569,1984,3097
$GC,2421,-0.51,-117.3,138.4,-6.6,115,2426,0.00,2.88,0.00,0.000,4,0.000,0.061,2569,3565,3097
$GC,2454,-0.51,-117.3,141.0,-8.1,116,2461,0.00,2.78,0.00,0.000,6,0.000,0.050,2570,1997,3098
$GC,2770,-0.51,-117.3,167.9,-9.3,132,2775,0.00,2.83,0.00,0.000,4,0.000,0.061,2569,3555,3097
$GC,2929,-0.51,-117.3,183.3,-9.8,139,2933,0.00,2.75,0.00,0.000,6,0.000,0.049,2569,2006,3097
$GC,3249,-0.51,-117.3,213.9,-9.5,155,3254,0.00,2.83,0.00,0.000,4,0.000,0.063,2569,3558,3098
$GC,3259,-0.51,-117.3,214.9,-9.1,155,3266,0.00,2.78,0.00,0.000,6,0.000,0.051,2569,2001,3098
$GC,3576,-0.51,-117.3,242.0,-8.3,171,3581,0.00,2.83,0.00,0.000,4,0.000,0.063,2570,3555,3097
$GC,3620,-0.51,-117.3,245.9,-9.0,173,3624,0.00,2.75,0.00,0.000,6,0.000,0.050,2569,2005,3097
$GC,3941,-0.51,-117.3,270.5,-7.0,189,3945,0.00,2.80,0.00,0.000,4,0.000,0.064,2569,3554,3098
$GC,4063,-0.51,-117.3,278.4,-6.3,194,4069,0.00,2.72,0.00,0.000,6,0.000,0.050,2570,2022,3098
$GC,4379,-0.51,-117.3,291.5,-3.6,210,4384,0.00,2.80,0.00,0.000,4,0.000,0.064,2569,3560,3097
$GC,4412,-0.51,-117.3,292.7,-4.4,211,4418,0.00,2.75,0.00,0.000,6,0.000,0.051,2569,2017,3097
$GC,4729,-0.51,-117.3,300.8,-2.3,227,4733,0.00,2.80,0.00,0.000,4,0.000,0.064,2569,3558,3097
$GC,4801,-0.51,-117.3,302.9,-2.8,230,4806,0.00,2.72,0.00,0.000,6,0.000,0.051,2569,2030,3097
$GC,5117,-0.51,-117.3,309.4,-2.3,245,5122,0.00,2.78,0.00,0.000,4,0.000,0.065,2569,3554,3097
$GC,5129,-0.51,-117.3,309.7,-2.5,245,5136,0.00,2.72,0.00,0.000,6,0.000,0.054,2570,2030,3097
$GC,5446,-0.51,-117.3,320.4,-4.0,261,5451,0.00,2.78,0.00,0.000,4,0.000,0.066,2569,3555,3097
$GC,5463,-0.51,-117.3,321.1,-4.3,262,5468,0.00,2.72,0.00,0.000,6,0.000,0.054,2570,2030,3096
$GC,5791,-0.51,-117.3,337.9,-5.5,278,5795,0.00,2.78,0.00,0.000,4,0.000,0.066,2569,3558,3096
$GC,5801,-0.51,-117.3,338.6,-5.2,278,5807,0.00,2.72,0.00,0.000,6,0.000,0.054,2569,2037,3096
$GC,6117,-0.51,-117.3,356.0,-5.4,294,6122,0.00,2.78,0.00,0.000,4,0.000,0.065,2570,3556,3096
$GC,6151,-0.51,-117.3,357.9,-5.4,295,6157,0.00,2.70,0.00,0.000,6,0.000,0.052,2570,2045,3096
$GC,6468,-0.56,-117.3,368.8,-2.2,311,6472,0.00,2.75,0.00,0.000,4,0.000,0.065,2570,3554,3096
$GC,6557,-0.56,-117.3,370.9,-2.5,315,6561,0.00,2.67,0.00,0.000,6,0.000,0.052,2569,2056,3096
$GC,6879,-0.56,-117.3,373.8,-0.7,331,6883,0.00,2.72,0.00,0.000,4,0.000,0.067,2570,3553,3095
$GC,6963,-0.56,-117.3,374.4,-0.4,335,6968,0.00,2.62,0.00,0.000,6,0.000,0.053,2569,2078,3095
$STATE,7226,end dive,NO_VERTICAL_VELOCITY
$STATE,7226,begin apogee
$GC,7232,-0.33,0.0,373.8,0.0,348,7331,0.28,0.00,95.38,1.049,6,0.079,0.000,2626,2078,2620
$STATE,7331,end apogee,CONTROL_FINISHED_OK
$STATE,7331,begin climb
$GC,7334,1.03,117.3,370.8,0.0,353,7438,1.38,2.60,94.75,1.019,4,0.066,0.069,2923,686,2140
$GC,7474,1.03,117.3,357.3,9.9,359,7478,0.00,2.58,0.00,0.000,6,0.000,0.054,2924,2101,2140
$GC,7789,1.03,117.3,328.9,8.8,374,7794,0.00,2.55,0.00,0.000,4,0.000,0.066,2924,3508,2140
$GC,7907,1.03,117.3,318.7,8.7,379,7911,0.00,2.55,0.00,0.000,6,0.000,0.053,2924,2099,2139
$GC,8223,1.03,117.3,297.2,6.4,394,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2099,2139
$GC,8532,1.03,117.3,277.1,6.5,409,8536,0.00,2.60,0.00,0.000,4,0.000,0.065,2924,3509,2139
$GC,8604,1.03,117.3,271.8,7.3,412,8608,0.00,2.50,0.00,0.000,6,0.000,0.053,2925,2122,2139
$GC,8919,1.03,117.3,251.5,6.2,427,8921,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2122,2139
$GC,9229,1.04,125.1,232.8,5.7,442,9243,0.00,2.60,7.68,0.828,4,0.000,0.064,2924,3504,2109
$GC,9328,1.04,125.3,226.6,6.0,446,9333,0.00,2.47,0.00,0.000,6,0.000,0.052,2924,2131,2109
$GC,9645,1.10,162.4,210.6,4.7,461,9678,0.00,0.00,31.25,0.934,6,0.000,0.000,2924,2131,1957
$GC,9973,1.20,226.4,197.1,3.8,477,10035,0.15,2.62,51.42,0.931,4,0.045,0.061,2976,3508,1697
$GC,10111,1.22,232.8,189.5,5.8,483,10127,0.00,2.47,6.93,0.766,6,0.000,0.051,2976,2145,1670
$GC,10437,1.18,248.1,171.5,5.5,499,10458,0.00,2.70,13.75,0.854,4,0.000,0.067,2975,685,1608
$GC,10492,1.13,248.1,167.9,6.3,501,10498,0.15,2.65,0.00,0.000,6,0.079,0.053,2945,2152,1608
$GC,10809,1.17,268.9,152.8,5.3,516,10833,0.00,2.53,18.02,0.868,4,0.000,0.062,2945,3506,1522
$GC,10880,1.25,274.5,148.7,5.8,519,10891,0.12,2.45,5.82,0.712,6,0.050,0.051,2984,2157,1501
$GC,11205,1.21,274.5,124.7,7.5,534,11209,0.00,2.67,0.00,0.000,4,0.000,0.068,2984,681,1501
$GC,11283,1.16,274.5,118.3,7.5,537,11290,0.15,2.65,0.00,0.000,6,0.080,0.053,2952,2161,1501
$GC,11601,1.24,295.9,101.7,5.3,553,11626,0.00,2.50,18.62,0.842,4,0.000,0.061,2952,3502,1412
$GC,11670,1.36,316.6,98.2,5.3,556,11694,0.20,2.45,17.67,0.834,6,0.041,0.052,3009,2150,1329
$GC,12006,1.30,316.6,67.4,10.1,572,12011,0.15,2.65,0.00,0.000,4,0.081,0.067,2975,690,1329
$GC,12073,1.30,316.6,60.9,8.5,575,12077,0.00,2.62,0.00,0.000,6,0.000,0.053,2975,2147,1328
$GC,12395,1.30,316.6,35.2,7.9,591,12399,0.00,2.45,0.00,0.000,4,0.000,0.061,2975,3512,1329
$GC,12436,1.36,316.6,31.8,7.2,593,12440,0.00,2.45,0.00,0.000,6,0.000,0.052,2975,2148,1328
$GC,12763,1.40,316.6,3.0,9.5,609,12768,0.12,2.62,0.00,0.000,4,0.048,0.065,3015,689,1329
$STATE,12772,end climb,SURFACE_DEPTH_REACHED
$STATE,12773,begin surface coast
$FINISH,0.7,1.027144
$STATE,12779,end surface coast,CONTROL_FINISHED_OK
$STATE,12779,begin surface
$SM_CCo,12865,0.00,0.000,0,0,1327,316.93
$SM_GC,0.75,11.25,0.00,0.00,0.037,0.000,0.000,423,2160,1327,-10.40,0.28,316.93
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1668
$TCM_TEMP,17.40
$XPDR_PINGS,483
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,24.0,16.122
$10V_AH,10.1,6.928
$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,27.675,160.200,361.300,0.000,0.000,37.763,30.689,134.851,123.250,0.000,0.000,15.368,1194.630,9482.775,535.518,1509.252,462.097,33.365,1325.974,0.000,1478.322,0.000,17.128
$DEVICE_MAMPS,141.128,69.030,1049.256,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.108,448.156,505.121,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31763,610
$CAP_FILE_SIZE,108958,0
$CFSIZE,254472192,247701504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,200608,235746,6209.453,-912.636,37,3.0,56,-9.6