version: 66.03
glider: 5
mission: 3
dive: 73
start: 6 21 108 13 57 25
data:
$ID,5
$MISSION,3
$DIVE,73
$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,-78010.5
$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,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
$GPS1,134751,6207.601,-858.972,54,1.0,54,-9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-60.5
$GPS2,135633,6207.513,-858.930,14,1.9,14,-9.4
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.091,-0.179
$KALMAN_X,-74112.7,-1479.1,-1479.6,39485.8,31584.8
$KALMAN_Y,12736.7,-1890.0,-1853.3,70041.5,34020.5
$MHEAD_RNG_PITCHd_Wd,216.4,50233,-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,-117.3,0.0,0.0,0,95,0.00,0.00,-68.97,0.000,6,0.000,0.000,426,2155,3098
$GC,99,-1.03,-117.3,2.7,-2.8,4,115,10.65,2.53,0.00,0.000,4,0.141,0.058,2470,3562,3100
$GC,368,-0.73,-117.3,34.7,-10.7,15,373,0.32,2.53,0.00,0.000,6,0.089,0.047,2540,2143,3101
$GC,690,-0.64,-117.3,56.7,-7.2,31,695,0.10,2.58,0.00,0.000,4,0.101,0.059,2559,3563,3102
$GC,855,-0.64,-117.3,69.0,-8.0,38,859,0.00,2.50,0.00,0.000,6,0.000,0.047,2559,2152,3102
$GC,1171,-0.64,-117.3,90.8,-6.9,53,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2151,3103
$GC,1480,-0.64,-117.3,111.6,-6.9,68,1484,0.00,2.53,0.00,0.000,4,0.000,0.064,2559,746,3103
$GC,1497,-0.64,-117.3,112.6,-6.7,69,1501,0.00,2.47,0.00,0.000,6,0.000,0.050,2559,2137,3103
$GC,1825,-0.64,-117.3,129.6,-4.2,85,1829,0.00,2.55,0.00,0.000,4,0.000,0.061,2559,740,3103
$GC,1865,-0.64,-117.3,131.3,-4.6,87,1869,0.00,2.50,0.00,0.000,6,0.000,0.051,2559,2140,3102
$GC,2192,-0.64,-117.3,146.0,-4.9,103,2196,0.00,2.55,0.00,0.000,4,0.000,0.064,2559,749,3102
$GC,2232,-0.64,-117.3,148.4,-6.1,105,2236,0.00,2.47,0.00,0.000,6,0.000,0.052,2559,2132,3102
$GC,2559,-0.64,-117.3,171.7,-7.7,121,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2132,3102
$GC,2868,-0.64,-117.3,196.2,-7.7,136,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2132,3102
$GC,3177,-0.64,-117.3,218.1,-6.3,151,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2133,3102
$GC,3487,-0.64,-117.3,234.1,-4.3,166,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2133,3102
$GC,3796,-0.64,-117.3,243.7,-2.4,181,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2133,3102
$GC,4106,-0.64,-117.3,251.8,-3.0,196,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2133,3102
$GC,4415,-0.64,-117.3,265.3,-5.3,211,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2133,3101
$GC,4724,-0.64,-117.3,288.4,-8.7,226,4728,0.00,2.58,0.00,0.000,4,0.000,0.066,2559,3562,3101
$GC,4734,-0.64,-117.3,289.4,-8.8,226,4740,0.00,2.58,0.00,0.000,6,0.000,0.053,2559,2121,3101
$GC,5050,-0.64,-117.3,319.1,-9.2,242,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2121,3101
$GC,5359,-0.64,-117.3,346.7,-8.5,257,5363,0.00,2.62,0.00,0.000,4,0.000,0.066,2558,3561,3101
$GC,5437,-0.64,-117.3,353.6,-9.0,260,5444,0.00,2.58,0.00,0.000,6,0.000,0.053,2559,2117,3101
$GC,5754,-0.64,-117.3,380.2,-8.4,276,5758,0.00,2.62,0.00,0.000,4,0.000,0.064,2559,3559,3100
$STATE,5885,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5885,begin apogee
$GC,5895,-0.33,0.0,389.3,4.3,282,5994,0.30,0.00,96.97,1.057,6,0.086,0.000,2623,2070,2620
$STATE,5995,end apogee,CONTROL_FINISHED_OK
$STATE,5995,begin climb
$GC,5998,1.03,117.3,392.5,0.0,287,6100,1.40,0.00,95.30,1.025,6,0.078,0.000,2920,2069,2141
$GC,6410,1.14,187.8,374.4,3.6,307,6475,0.12,2.72,57.47,1.006,4,0.050,0.063,2960,3506,1854
$GC,6554,1.10,187.8,363.8,8.3,313,6560,0.00,2.58,0.00,0.000,6,0.000,0.054,2960,2096,1854
$GC,6870,1.05,187.8,337.8,8.7,329,6875,0.15,2.60,0.00,0.000,4,0.082,0.064,2925,3507,1853
$GC,6926,1.11,187.8,333.0,8.0,331,6932,0.00,2.53,0.00,0.000,6,0.000,0.054,2925,2119,1853
$GC,7242,1.16,187.8,310.1,7.4,347,7244,0.12,0.00,0.00,0.000,6,0.049,0.000,2964,2119,1852
$GC,7552,1.10,187.8,281.5,9.1,362,7557,0.12,2.58,0.00,0.000,4,0.082,0.062,2939,3515,1852
$GC,7607,1.10,187.8,276.7,8.3,364,7613,0.00,2.50,0.00,0.000,6,0.000,0.053,2938,2133,1852
$GC,7923,1.10,187.8,252.1,7.5,380,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2132,1852
$GC,8232,1.10,187.8,229.8,6.7,395,8236,0.00,2.53,0.00,0.000,4,0.000,0.063,2939,3508,1852
$GC,8281,1.10,187.8,226.4,6.9,397,8286,0.00,2.47,0.00,0.000,6,0.000,0.054,2938,2133,1852
$GC,8598,1.13,210.2,208.5,5.2,412,8618,0.00,0.00,19.00,0.907,6,0.000,0.000,2939,2133,1763
$GC,8927,1.14,214.9,189.9,5.8,428,8937,0.00,2.53,5.90,0.745,4,0.000,0.061,2939,3508,1742
$GC,8983,1.18,214.9,186.2,6.8,430,8989,0.00,2.45,0.00,0.000,6,0.000,0.053,2939,2149,1742
$GC,9299,1.19,219.9,167.0,5.8,446,9310,0.00,2.67,5.60,0.725,4,0.000,0.070,2938,688,1722
$GC,9350,1.24,219.9,163.6,7.6,448,9355,0.15,2.65,0.00,0.000,6,0.045,0.053,2982,2160,1721
$GC,9667,1.16,219.9,132.0,11.6,463,9672,0.15,2.42,0.00,0.000,4,0.080,0.062,2947,3508,1721
$GC,9723,1.16,219.9,125.6,10.8,465,9730,0.00,2.42,0.00,0.000,6,0.000,0.053,2948,2161,1722
$GC,10040,1.16,219.9,95.7,8.9,481,10044,0.00,2.65,0.00,0.000,4,0.000,0.068,2947,691,1722
$GC,10106,1.16,219.9,89.2,9.7,484,10111,0.00,2.62,0.00,0.000,6,0.000,0.052,2948,2159,1722
$GC,10428,1.16,219.9,60.7,9.0,500,10432,0.00,2.42,0.00,0.000,4,0.000,0.062,2948,3511,1722
$GC,10483,1.16,219.9,55.2,9.9,502,10490,0.00,2.42,0.00,0.000,6,0.000,0.053,2948,2151,1722
$GC,10800,1.20,219.9,26.7,7.8,518,10804,0.00,2.65,0.00,0.000,4,0.000,0.069,2948,683,1722
$GC,10862,1.20,219.9,21.4,8.1,521,10867,0.00,2.62,0.00,0.000,6,0.000,0.051,2947,2152,1722
$STATE,11145,end climb,SURFACE_DEPTH_REACHED
$STATE,11145,begin surface coast
$FINISH,-0.0,1.026349
$STATE,11170,end surface coast,CONTROL_FINISHED_OK
$STATE,11171,begin surface
$SM_CCo,11192,45.50,0.783,0,0,1396,300.00
$SM_GC,0.83,0.00,0.00,45.50,0.000,0.000,0.783,421,2155,1396,-10.48,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1678
$TCM_TEMP,17.40
$XPDR_PINGS,391
$ALTIM_TOP_PING,20.0,19.0
$ALTIM_BOTTOM_PING,350.5,48.5
$24V_AH,24.0,16.733
$10V_AH,10.1,7.242
$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,24.500,91.875,280.250,45.500,0.000,75.523,61.512,205.930,100.500,0.000,0.000,14.208,1016.648,8503.684,427.832,1251.915,564.557,33.368,1056.677,0.000,1231.610,0.000,20.028
$DEVICE_MAMPS,141.128,69.797,1056.926,783.107,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,366.220,393.520,442.304,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25344,536
$CAP_FILE_SIZE,87233,0
$CFSIZE,254472192,247480320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,210608,170652,6203.591,-859.022,89,1.7,89,-9.4