version: 66.03
glider: 5
mission: 3
dive: 72
start: 6 21 108 9 58 42
data:
$ID,5
$MISSION,3
$DIVE,72
$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,-77995.664
$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,40
$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
$GPS1,095303,6208.796,-903.846,64,2.0,64,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-60.9
$GPS2,095750,6208.826,-903.738,15,1.1,15,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.081,-0.184
$KALMAN_X,-74348.7,-3026.4,-2128.9,37630.7,40688.5
$KALMAN_Y,18505.0,-3703.2,-2442.7,69080.9,56340.1
$MHEAD_RNG_PITCHd_Wd,213.1,51926,-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,20,begin dive
$GC,24,-1.03,-117.3,0.0,0.0,0,97,0.00,0.00,-71.35,0.000,6,0.000,0.000,419,2173,3099
$GC,100,-1.03,-117.3,2.2,-3.2,3,117,10.57,2.47,0.00,0.000,4,0.138,0.059,2467,3543,3100
$GC,370,-0.71,-117.3,38.8,-13.7,14,375,0.35,2.47,0.00,0.000,6,0.087,0.047,2542,2147,3101
$GC,692,-0.63,-117.3,67.3,-8.2,30,696,0.00,2.55,0.00,0.000,4,0.000,0.061,2542,3544,3101
$GC,703,-0.56,-117.3,68.3,-8.5,30,710,0.17,2.53,0.00,0.000,6,0.089,0.049,2579,2120,3102
$GC,1020,-0.61,-117.3,90.5,-6.0,46,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2119,3102
$GC,1331,-0.65,-117.3,101.3,-1.7,61,1335,0.00,2.45,0.00,0.000,4,0.000,0.063,2579,750,3102
$GC,1341,-0.65,-117.3,101.6,-1.4,61,1348,0.00,2.42,0.00,0.000,6,0.000,0.050,2579,2110,3102
$GC,1660,-0.69,-117.3,104.5,-0.9,77,1662,0.15,0.00,0.00,0.000,6,0.049,0.000,2536,2110,3102
$GC,1968,-0.61,-117.3,111.7,-2.4,92,1973,0.15,2.60,0.00,0.000,4,0.090,0.061,2571,3564,3103
$GC,1987,-0.56,-117.3,112.2,-2.3,93,1991,0.00,2.58,0.00,0.000,6,0.000,0.049,2571,2116,3102
$GC,2316,-0.56,-117.3,119.0,-2.8,109,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2116,3103
$GC,2624,-0.56,-117.3,131.1,-4.2,124,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2116,3103
$GC,2933,-0.56,-117.3,147.1,-5.7,139,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2116,3103
$GC,3241,-0.56,-117.3,165.6,-6.1,154,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2115,3102
$GC,3551,-0.56,-117.3,184.2,-5.8,169,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2115,3102
$GC,3860,-0.56,-117.3,201.2,-5.1,184,3864,0.00,2.62,0.00,0.000,4,0.000,0.063,2571,3556,3102
$GC,3893,-0.56,-117.3,203.0,-5.3,185,3900,0.00,2.58,0.00,0.000,6,0.000,0.052,2571,2113,3102
$GC,4210,-0.56,-117.3,219.6,-5.0,201,4214,0.00,2.60,0.00,0.000,4,0.000,0.064,2571,3554,3102
$GC,4254,-0.56,-117.3,222.0,-5.6,203,4258,0.00,2.55,0.00,0.000,6,0.000,0.052,2571,2121,3102
$GC,4575,-0.56,-117.3,237.5,-4.5,219,4579,0.00,2.62,0.00,0.000,4,0.000,0.065,2571,3562,3101
$GC,4587,-0.56,-117.3,238.0,-4.6,219,4593,0.00,2.60,0.00,0.000,6,0.000,0.054,2571,2114,3101
$GC,4903,-0.56,-117.3,252.3,-4.5,235,4908,0.00,2.62,0.00,0.000,4,0.000,0.064,2571,3557,3101
$GC,4915,-0.56,-117.3,252.7,-4.4,235,4921,0.00,2.58,0.00,0.000,6,0.000,0.055,2571,2120,3101
$GC,5231,-0.56,-117.3,267.3,-4.5,251,5235,0.00,2.62,0.00,0.000,4,0.000,0.065,2571,3563,3101
$GC,5242,-0.56,-117.3,267.8,-4.3,251,5248,0.00,2.60,0.00,0.000,6,0.000,0.055,2571,2117,3101
$GC,5558,-0.56,-117.3,280.8,-4.2,267,5562,0.00,2.62,0.00,0.000,4,0.000,0.065,2571,3558,3101
$GC,5569,-0.56,-117.3,281.2,-4.3,267,5575,0.00,2.55,0.00,0.000,6,0.000,0.054,2571,2135,3101
$GC,5885,-0.61,-117.3,296.0,-4.4,283,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2135,3101
$GC,6194,-0.61,-117.3,310.7,-4.7,298,6198,0.00,2.60,0.00,0.000,4,0.000,0.065,2571,3561,3100
$GC,6227,-0.61,-117.3,312.3,-5.0,299,6233,0.00,2.55,0.00,0.000,6,0.000,0.054,2571,2138,3100
$GC,6543,-0.61,-117.3,326.7,-5.2,315,6548,0.00,2.60,0.00,0.000,4,0.000,0.066,2571,3560,3100
$GC,6588,-0.61,-117.3,329.6,-6.7,317,6592,0.00,2.55,0.00,0.000,6,0.000,0.054,2571,2140,3100
$GC,6909,-0.61,-117.3,347.0,-5.3,333,6913,0.00,2.60,0.00,0.000,4,0.000,0.066,2571,3564,3100
$GC,6959,-0.61,-117.3,349.8,-5.9,335,6964,0.00,2.53,0.00,0.000,6,0.000,0.054,2570,2154,3100
$GC,7281,-0.61,-117.3,366.4,-5.2,351,7285,0.00,2.58,0.00,0.000,4,0.000,0.066,2571,3562,3100
$GC,7433,-0.61,-117.3,374.5,-5.3,358,7438,0.00,2.45,0.00,0.000,6,0.000,0.054,2571,2170,3100
$STATE,7633,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7633,begin apogee
$GC,7641,-0.33,0.0,383.0,4.4,368,7741,0.28,0.00,97.22,1.059,6,0.085,0.000,2626,2073,2620
$STATE,7741,end apogee,CONTROL_FINISHED_OK
$STATE,7741,begin climb
$GC,7745,1.03,117.3,385.1,0.0,373,7848,1.40,2.58,95.72,1.029,4,0.080,0.071,2922,717,2140
$GC,7884,1.03,117.3,378.2,6.8,379,7889,0.00,2.53,0.00,0.000,6,0.000,0.054,2922,2097,2140
$GC,8200,1.04,122.4,359.5,5.8,394,8211,0.00,2.60,5.70,0.784,4,0.000,0.066,2922,3510,2120
$GC,8285,1.04,122.4,353.9,7.3,398,8290,0.00,2.55,0.00,0.000,6,0.000,0.057,2922,2114,2120
$GC,8612,1.08,146.1,335.5,5.2,414,8637,0.00,2.62,20.55,0.976,4,0.000,0.065,2922,3512,2023
$GC,8695,1.08,146.1,330.5,6.5,418,8699,0.00,2.58,0.00,0.000,6,0.000,0.057,2922,2101,2023
$GC,9021,1.08,146.1,309.2,7.0,434,9026,0.00,2.62,0.00,0.000,4,0.000,0.067,2922,3515,2022
$GC,9072,1.08,146.1,305.5,7.1,436,9076,0.00,2.53,0.00,0.000,6,0.000,0.056,2922,2123,2022
$GC,9388,1.08,146.1,284.4,6.5,451,9392,0.00,2.58,0.00,0.000,4,0.000,0.066,2922,3513,2022
$GC,9437,1.08,146.1,280.8,7.5,453,9441,0.00,2.47,0.00,0.000,6,0.000,0.055,2922,2143,2022
$GC,9753,1.08,146.5,261.6,6.0,468,9758,0.00,2.62,0.00,0.000,4,0.000,0.070,2922,685,2022
$GC,9799,1.08,146.5,258.4,7.4,470,9803,0.00,2.62,0.00,0.000,6,0.000,0.054,2922,2148,2021
$GC,10120,1.08,146.5,236.5,6.8,486,10124,0.00,2.45,0.00,0.000,4,0.000,0.064,2922,3508,2022
$GC,10187,1.08,146.5,231.5,8.2,489,10191,0.00,2.45,0.00,0.000,6,0.000,0.053,2923,2148,2022
$GC,10507,1.08,146.5,210.1,6.6,505,10509,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2148,2021
$GC,10817,1.08,146.5,190.9,6.2,520,10821,0.00,2.47,0.00,0.000,4,0.000,0.064,2922,3508,2021
$GC,10879,1.08,146.5,186.5,7.7,523,10883,0.00,2.42,0.00,0.000,6,0.000,0.052,2922,2155,2022
$GC,11206,1.08,146.5,164.0,7.1,539,11210,0.00,2.65,0.00,0.000,4,0.000,0.068,2923,684,2021
$GC,11249,1.08,146.5,160.5,7.4,541,11254,0.00,2.62,0.00,0.000,6,0.000,0.053,2923,2166,2022
$GC,11571,1.08,146.5,137.4,7.0,557,11575,0.00,2.42,0.00,0.000,4,0.000,0.063,2923,3516,2022
$GC,11634,1.08,146.5,132.6,7.6,560,11638,0.00,2.42,0.00,0.000,6,0.000,0.053,2922,2164,2021
$GC,11961,1.08,146.5,110.5,6.6,576,11966,0.00,2.67,0.00,0.000,4,0.000,0.068,2923,680,2022
$GC,12005,1.08,146.5,107.3,7.1,578,12010,0.00,2.65,0.00,0.000,6,0.000,0.051,2922,2171,2022
$GC,12327,1.08,146.5,86.7,6.5,594,12331,0.00,2.40,0.00,0.000,4,0.000,0.062,2923,3512,2022
$GC,12376,1.08,146.5,83.0,7.0,596,12380,0.00,2.40,0.00,0.000,6,0.000,0.051,2923,2168,2022
$GC,12699,1.10,162.6,63.8,5.4,612,12720,0.00,2.70,14.23,0.798,4,0.000,0.066,2923,690,1957
$GC,12768,1.15,163.3,59.8,6.0,615,12773,0.12,2.67,0.00,0.000,6,0.048,0.052,2965,2174,1957
$GC,13097,1.09,163.3,34.3,8.8,631,13102,0.15,2.40,0.00,0.000,4,0.079,0.061,2930,3511,1957
$GC,13161,1.14,163.3,28.8,8.4,634,13166,0.00,2.42,0.00,0.000,6,0.000,0.051,2930,2154,1957
$GC,13491,1.21,163.3,4.6,6.6,650,13496,0.15,2.65,0.00,0.000,4,0.044,0.067,2980,684,1957
$STATE,13521,end climb,SURFACE_DEPTH_REACHED
$STATE,13521,begin surface coast
$FINISH,0.0,1.027118
$STATE,13544,end surface coast,CONTROL_FINISHED_OK
$STATE,13545,begin surface
$SM_CCo,13570,80.00,0.772,1,0,1396,300.00
$SM_GC,0.73,0.00,0.00,80.00,0.000,0.000,0.772,426,2175,1396,-10.46,0.71,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1663
$TCM_TEMP,19.20
$XPDR_PINGS,496
$ALTIM_TOP_PING,19.2,19.4
$ALTIM_BOTTOM_PING,375.0,17.7
$24V_AH,24.0,16.613
$10V_AH,10.1,7.181
$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,24.575,148.275,233.425,80.000,0.000,37.761,29.492,109.904,127.000,0.000,0.000,15.270,1264.917,10278.132,464.252,1511.101,431.985,33.367,1225.349,0.000,1483.580,0.000,21.572
$DEVICE_MAMPS,138.060,71.331,1059.227,772.369,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,446.425,480.688,561.740,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31675,652
$CAP_FILE_SIZE,110126,0
$CFSIZE,254472192,247508992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
$GPS,210608,134751,6207.601,-858.972,54,1.0,54,-9.4