version: 66.03
glider: 5
mission: 3
dive: 71
start: 6 21 108 6 45 31
data:
$ID,5
$MISSION,3
$DIVE,71
$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,-77979.766
$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,24
$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
$GPS1,063907,6208.197,-907.315,32,0.9,32,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-58.4
$GPS2,064439,6208.219,-907.264,12,1.5,12,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.049,-0.195
$KALMAN_X,-82259.4,-1283.1,784.5,37768.1,17969.2
$KALMAN_Y,10441.4,-3322.5,698.3,72546.0,33915.3
$MHEAD_RNG_PITCHd_Wd,203.7,50516,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.03,-117.3,0.0,0.0,0,108,0.00,0.00,-79.53,0.000,6,0.000,0.000,422,2108,3099
$GC,111,-1.03,-117.3,2.6,-3.1,4,128,10.60,2.47,0.00,0.000,4,0.140,0.056,2466,742,3100
$GC,152,-0.51,-117.3,9.7,-13.1,5,158,0.57,2.53,0.00,0.000,6,0.087,0.051,2587,2148,3100
$GC,481,-0.58,-117.3,29.4,-5.4,21,485,0.00,2.53,0.00,0.000,4,0.000,0.063,2587,3557,3102
$GC,494,-0.65,-117.3,30.2,-6.0,21,501,0.15,2.53,0.00,0.000,6,0.047,0.049,2545,2118,3102
$GC,810,-0.57,-117.3,52.7,-7.5,37,815,0.15,2.45,0.00,0.000,4,0.089,0.061,2580,761,3102
$GC,1068,-0.61,-117.3,77.6,-10.2,48,1074,0.00,2.47,0.00,0.000,6,0.000,0.051,2579,2150,3102
$GC,1384,-0.61,-117.3,107.9,-9.1,64,1389,0.00,2.55,0.00,0.000,4,0.000,0.064,2579,759,3102
$GC,1424,-0.61,-117.3,111.8,-9.9,66,1429,0.00,2.45,0.00,0.000,6,0.000,0.050,2580,2148,3102
$GC,1752,-0.66,-117.3,139.7,-8.0,82,1757,0.12,2.53,0.00,0.000,4,0.051,0.062,2542,3557,3102
$GC,1763,-0.66,-117.3,140.8,-7.9,82,1769,0.00,2.45,0.00,0.000,6,0.000,0.049,2542,2175,3102
$GC,2079,-0.59,-117.3,166.2,-7.0,98,2081,0.15,0.00,0.00,0.000,6,0.091,0.000,2572,2157,3102
$GC,2388,-0.59,-117.3,184.0,-5.0,113,2393,0.00,2.53,0.00,0.000,4,0.000,0.064,2573,3554,3102
$GC,2429,-0.59,-117.3,186.2,-5.8,115,2433,0.00,2.47,0.00,0.000,6,0.000,0.049,2573,2160,3102
$GC,2756,-0.59,-117.3,199.9,-4.0,131,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2157,3102
$GC,3065,-0.59,-117.3,212.1,-4.3,146,3070,0.00,2.55,0.00,0.000,4,0.000,0.063,2573,3561,3102
$GC,3077,-0.59,-117.3,212.6,-4.4,146,3083,0.00,2.50,0.00,0.000,6,0.000,0.051,2573,2158,3102
$GC,3393,-0.59,-117.3,227.5,-4.8,162,3397,0.00,2.55,0.00,0.000,4,0.000,0.067,2572,747,3102
$GC,3404,-0.59,-117.3,228.1,-4.9,162,3410,0.00,2.53,0.00,0.000,6,0.000,0.052,2573,2157,3102
$GC,3720,-0.59,-117.3,245.3,-5.6,178,3724,0.00,2.58,0.00,0.000,4,0.000,0.065,2573,748,3102
$GC,3730,-0.59,-117.3,245.9,-5.6,178,3736,0.00,2.53,0.00,0.000,6,0.000,0.053,2573,2157,3102
$GC,4047,-0.59,-117.3,263.8,-5.5,194,4051,0.00,2.58,0.00,0.000,4,0.000,0.064,2573,747,3102
$GC,4079,-0.59,-117.3,265.8,-6.1,195,4086,0.00,2.50,0.00,0.000,6,0.000,0.053,2573,2142,3102
$GC,4396,-0.63,-117.3,284.0,-6.0,211,4400,0.00,2.58,0.00,0.000,4,0.000,0.067,2573,744,3102
$GC,4451,-0.63,-117.3,287.9,-7.4,213,4457,0.00,2.50,0.00,0.000,6,0.000,0.054,2573,2134,3101
$GC,4768,-0.67,-117.3,310.2,-7.2,229,4772,0.00,2.55,0.00,0.000,4,0.000,0.066,2573,3558,3101
$GC,4778,-0.67,-117.3,311.1,-7.2,229,4784,0.00,2.53,0.00,0.000,6,0.000,0.053,2573,2147,3101
$GC,5094,-0.72,-117.3,334.7,-7.7,245,5099,0.12,2.53,0.00,0.000,4,0.053,0.068,2533,748,3101
$GC,5104,-0.72,-117.3,335.6,-7.9,245,5111,0.00,2.50,0.00,0.000,6,0.000,0.054,2533,2140,3101
$GC,5421,-0.64,-117.3,360.9,-7.2,261,5426,0.12,2.58,0.00,0.000,4,0.094,0.067,2558,3565,3101
$GC,5545,-0.64,-117.3,368.2,-5.3,266,5551,0.00,2.50,0.00,0.000,6,0.000,0.052,2558,2154,3101
$GC,5861,-0.64,-117.3,381.1,-3.3,282,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2137,3101
$GC,6170,-0.64,-117.3,387.2,-1.0,297,6175,0.00,2.60,0.00,0.000,4,0.000,0.067,2558,3565,3101
$GC,6182,-0.64,-117.3,387.3,-0.9,297,6188,0.00,2.50,0.00,0.000,6,0.000,0.053,2558,2168,3100
$STATE,6412,end dive,NO_VERTICAL_VELOCITY
$STATE,6412,begin apogee
$GC,6419,-0.33,0.0,387.4,0.0,309,6519,0.32,0.00,97.07,1.058,6,0.081,0.000,2626,2070,2620
$STATE,6520,end apogee,CONTROL_FINISHED_OK
$STATE,6520,begin climb
$GC,6523,1.03,117.3,384.2,0.0,314,6627,1.38,2.70,95.28,1.025,4,0.073,0.064,2920,3506,2140
$GC,6666,1.03,117.3,369.3,10.7,320,6673,0.00,2.53,0.00,0.000,6,0.000,0.055,2920,2116,2140
$GC,6982,1.03,117.3,332.8,10.7,336,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2116,2139
$GC,7292,1.03,117.3,309.0,6.6,351,7296,0.00,2.58,0.00,0.000,4,0.000,0.065,2920,3508,2138
$GC,7369,1.10,158.0,304.9,4.6,354,7409,0.00,2.53,33.90,0.984,6,0.000,0.055,2920,2119,1974
$GC,7728,1.33,306.7,297.1,0.9,372,7855,0.25,2.65,118.38,0.994,4,0.041,0.064,2994,3504,1369
$GC,7894,1.33,306.7,288.8,6.0,380,7899,0.00,2.50,0.00,0.000,6,0.000,0.055,2994,2141,1369
$GC,8222,1.27,306.7,266.2,7.7,396,8227,0.00,2.65,0.00,0.000,4,0.000,0.071,2994,689,1370
$GC,8273,1.21,306.7,261.8,9.0,398,8278,0.15,2.62,0.00,0.000,6,0.083,0.054,2964,2140,1370
$GC,8588,1.21,306.7,236.8,8.9,413,8593,0.00,2.47,0.00,0.000,4,0.000,0.065,2964,3512,1370
$GC,8622,1.26,306.7,233.6,9.2,414,8628,0.00,2.53,0.00,0.000,6,0.000,0.056,2964,2126,1369
$GC,8938,1.26,306.7,200.6,11.1,430,8942,0.00,2.62,0.00,0.000,4,0.000,0.072,2964,681,1370
$GC,9000,1.26,306.7,193.5,11.8,433,9004,0.00,2.62,0.00,0.000,6,0.000,0.054,2964,2135,1370
$GC,9326,1.26,306.7,156.9,11.3,449,9330,0.00,2.47,0.00,0.000,4,0.000,0.063,2964,3509,1369
$GC,9371,1.32,306.7,151.9,10.9,451,9376,0.10,2.50,0.00,0.000,6,0.054,0.054,2997,2129,1370
$GC,9693,1.26,306.7,114.9,10.1,467,9698,0.12,2.60,0.00,0.000,4,0.085,0.067,2971,689,1370
$GC,9756,1.26,306.7,108.8,9.6,470,9760,0.00,2.60,0.00,0.000,6,0.000,0.054,2971,2132,1370
$GC,10083,1.26,306.7,81.8,7.4,486,10087,0.00,2.47,0.00,0.000,4,0.000,0.062,2971,3510,1370
$GC,10146,1.30,306.7,77.1,7.2,489,10150,0.00,2.47,0.00,0.000,6,0.000,0.052,2971,2133,1370
$GC,10472,1.30,306.7,52.1,8.1,505,10477,0.00,2.60,0.00,0.000,4,0.000,0.068,2971,689,1370
$GC,10528,1.30,306.7,47.1,8.7,507,10534,0.00,2.58,0.00,0.000,6,0.000,0.052,2971,2140,1370
$GC,10844,1.30,306.7,21.8,7.9,523,10849,0.00,2.45,0.00,0.000,4,0.000,0.061,2971,3513,1370
$GC,10887,1.37,306.7,18.3,8.5,525,10892,0.12,2.50,0.00,0.000,6,0.050,0.052,3009,2116,1370
$STATE,11046,end climb,SURFACE_DEPTH_REACHED
$STATE,11046,begin surface coast
$FINISH,-0.0,1.015576
$STATE,11068,end surface coast,CONTROL_FINISHED_OK
$STATE,11068,begin surface
$SM_CCo,11152,0.00,0.000,0,0,1370,306.62
$SM_GC,0.87,11.12,0.00,0.00,0.033,0.000,0.000,419,2166,1370,-10.40,0.45,306.62
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1680
$TCM_TEMP,17.40
$XPDR_PINGS,423
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,24.0,16.503
$10V_AH,10.1,7.110
$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,25.575,132.100,344.625,0.000,0.000,37.762,36.849,144.570,108.500,0.000,0.000,12.242,1028.635,8279.717,462.664,1260.871,452.387,33.363,1140.075,0.000,1238.268,0.000,18.741
$DEVICE_MAMPS,139.594,74.399,1058.460,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.557,389.869,417.148,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28493,534
$CAP_FILE_SIZE,95334,0
$CFSIZE,254472192,247574528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,210608,095303,6208.796,-903.846,64,2.0,64,-9.5