version: 66.03
glider: 5
mission: 3
dive: 74
start: 6 21 108 17 12 42
data:
$ID,5
$MISSION,3
$DIVE,74
$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,-78026.094
$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,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
$GPS1,170652,6203.591,-859.022,89,1.7,89,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-61.1
$GPS2,171150,6203.542,-859.012,9,1.5,14,-9.4
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.106,-0.171
$KALMAN_X,-75527.9,-1253.8,-1230.2,40367.0,28898.2
$KALMAN_Y,6118.3,-2191.3,-1197.8,68945.7,21685.9
$MHEAD_RNG_PITCHd_Wd,221.3,43055,-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,-117.3,0.0,0.0,0,96,0.00,0.00,-69.93,0.000,6,0.000,0.000,421,2164,3099
$GC,99,-1.03,-117.3,2.2,-3.2,3,116,10.68,2.53,0.00,0.000,4,0.142,0.058,2469,3562,3101
$GC,369,-0.71,-117.3,38.8,-13.2,14,374,0.35,2.53,0.00,0.000,6,0.088,0.048,2544,2142,3101
$GC,691,-0.62,-117.3,66.0,-7.2,30,695,0.00,2.58,0.00,0.000,4,0.000,0.060,2544,3557,3103
$GC,799,-0.53,-117.3,73.5,-7.3,35,804,0.17,2.50,0.00,0.000,6,0.091,0.046,2580,2150,3103
$GC,1126,-0.58,-117.3,96.0,-6.8,51,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2150,3103
$GC,1435,-0.62,-117.3,116.1,-6.1,66,1440,0.00,2.55,0.00,0.000,4,0.000,0.061,2580,3557,3103
$GC,1447,-0.67,-117.3,116.9,-6.1,66,1454,0.12,2.47,0.00,0.000,6,0.052,0.048,2544,2164,3103
$GC,1764,-0.60,-117.3,136.1,-5.5,82,1766,0.12,0.00,0.00,0.000,6,0.094,0.000,2569,2163,3103
$GC,2074,-0.60,-117.3,148.9,-4.0,97,2079,0.00,2.55,0.00,0.000,4,0.000,0.063,2569,739,3103
$GC,2130,-0.60,-117.3,151.2,-3.9,99,2136,0.00,2.53,0.00,0.000,6,0.000,0.051,2569,2155,3103
$GC,2446,-0.60,-117.3,163.3,-4.2,115,2451,0.00,2.58,0.00,0.000,4,0.000,0.063,2569,745,3103
$GC,2458,-0.60,-117.3,163.7,-4.2,115,2464,0.00,2.53,0.00,0.000,6,0.000,0.052,2569,2156,3103
$GC,2774,-0.60,-117.3,178.2,-4.7,131,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2156,3103
$GC,3083,-0.60,-117.3,192.6,-4.7,146,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2156,3103
$GC,3393,-0.60,-117.3,205.9,-4.0,161,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2156,3103
$GC,3702,-0.60,-117.3,217.1,-3.6,176,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2156,3103
$GC,4011,-0.60,-117.3,229.4,-4.4,191,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2156,3103
$GC,4321,-0.60,-117.3,244.9,-5.3,206,4325,0.00,2.58,0.00,0.000,4,0.000,0.065,2569,747,3103
$GC,4331,-0.60,-117.3,245.6,-5.5,206,4337,0.00,2.53,0.00,0.000,6,0.000,0.053,2569,2160,3103
$GC,4647,-0.60,-117.3,261.1,-4.7,222,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2158,3102
$GC,4957,-0.60,-117.3,276.5,-4.7,237,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2158,3102
$GC,5266,-0.60,-117.3,291.8,-5.2,252,5270,0.00,2.60,0.00,0.000,4,0.000,0.067,2569,741,3102
$GC,5276,-0.60,-117.3,292.3,-5.1,252,5282,0.00,2.53,0.00,0.000,6,0.000,0.054,2569,2155,3102
$GC,5592,-0.60,-117.3,308.7,-5.0,268,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2155,3101
$GC,5904,-0.60,-117.3,326.1,-5.9,283,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2155,3101
$GC,6211,-0.60,-117.3,342.9,-5.0,298,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2155,3101
$GC,6520,-0.60,-117.3,359.5,-4.8,313,6524,0.00,2.58,0.00,0.000,4,0.000,0.068,2569,749,3101
$GC,6532,-0.60,-117.3,360.0,-4.4,313,6538,0.00,2.50,0.00,0.000,6,0.000,0.054,2569,2147,3101
$GC,6848,-0.60,-117.3,376.5,-5.9,329,6852,0.00,2.53,0.00,0.000,4,0.000,0.067,2569,3557,3101
$GC,6869,-0.60,-117.3,377.9,-6.4,330,6874,0.00,2.50,0.00,0.000,6,0.000,0.054,2569,2160,3101
$GC,7191,-0.60,-117.3,398.7,-6.7,346,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2143,3101
$GC,7501,-0.60,-117.3,417.7,-5.4,361,7505,0.00,2.55,0.00,0.000,4,0.000,0.068,2569,744,3101
$GC,7529,-0.60,-117.3,419.2,-5.1,362,7533,0.00,2.53,0.00,0.000,6,0.000,0.054,2569,2149,3101
$GC,7845,-0.65,-117.3,435.7,-5.3,377,7850,0.00,2.60,0.00,0.000,4,0.000,0.070,2569,741,3101
$STATE,7915,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7915,begin apogee
$GC,7925,-0.33,0.0,439.8,5.8,380,8025,0.25,0.00,97.60,1.088,6,0.084,0.000,2623,2108,2620
$STATE,8026,end apogee,CONTROL_FINISHED_OK
$STATE,8026,begin climb
$GC,8029,1.03,117.3,442.5,0.0,385,8133,1.38,2.65,95.82,1.060,4,0.071,0.064,2919,3507,2141
$GC,8169,1.05,130.5,435.0,5.5,391,8188,0.00,2.58,12.40,0.949,6,0.000,0.055,2919,2100,2087
$GC,8511,1.05,130.5,416.0,6.1,408,8515,0.00,2.58,0.00,0.000,4,0.000,0.071,2919,692,2087
$GC,8573,1.05,130.5,412.0,6.4,411,8578,0.00,2.58,0.00,0.000,6,0.000,0.055,2919,2112,2086
$GC,8900,1.11,164.3,393.9,4.8,427,8934,0.00,2.62,28.50,1.024,4,0.000,0.064,2919,3505,1949
$GC,8989,1.12,170.5,388.5,5.8,431,9003,0.10,2.53,6.72,0.850,6,0.054,0.056,2952,2116,1924
$GC,9322,1.06,170.5,366.3,7.2,447,9323,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2117,1924
$GC,9629,1.01,170.5,342.9,7.8,462,9634,0.17,2.58,0.00,0.000,4,0.078,0.063,2912,3512,1923
$GC,9679,1.09,170.5,339.6,6.5,464,9684,0.10,2.50,0.00,0.000,6,0.054,0.053,2946,2128,1923
$GC,9995,1.09,170.5,315.0,8.1,479,9999,0.00,2.55,0.00,0.000,4,0.000,0.064,2947,3512,1923
$GC,10035,1.09,170.5,311.6,8.6,481,10039,0.00,2.47,0.00,0.000,6,0.000,0.053,2946,2138,1923
$GC,10361,1.09,170.5,284.6,8.3,497,10362,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2137,1922
$GC,10671,1.09,170.5,258.7,8.5,512,10675,0.00,2.53,0.00,0.000,4,0.000,0.062,2946,3513,1923
$GC,10726,1.09,170.5,253.6,9.5,514,10732,0.00,2.45,0.00,0.000,6,0.000,0.053,2946,2148,1922
$GC,11042,1.09,170.5,226.0,8.8,530,11043,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2148,1923
$GC,11351,1.09,170.5,200.0,8.5,545,11355,0.00,2.47,0.00,0.000,4,0.000,0.063,2946,3506,1922
$GC,11407,1.09,170.5,195.0,9.3,547,11413,0.00,2.42,0.00,0.000,6,0.000,0.052,2946,2153,1922
$GC,11723,1.09,170.5,170.4,7.5,563,11724,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2153,1923
$GC,12033,1.09,170.5,147.1,7.4,578,12034,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2152,1922
$GC,12341,1.09,170.5,124.6,7.1,593,12346,0.00,2.47,0.00,0.000,4,0.000,0.061,2946,3508,1922
$GC,12397,1.09,170.5,120.6,6.7,595,12403,0.00,2.40,0.00,0.000,6,0.000,0.051,2946,2164,1922
$GC,12713,1.09,170.5,101.6,6.0,611,12718,0.00,2.65,0.00,0.000,4,0.000,0.067,2946,687,1923
$GC,12763,1.09,170.5,97.9,7.2,613,12768,0.00,2.67,0.00,0.000,6,0.000,0.053,2946,2185,1923
$GC,13080,1.11,185.0,79.4,5.5,628,13101,0.00,2.42,13.20,0.798,4,0.000,0.061,2946,3501,1865
$GC,13135,1.11,185.0,75.7,6.9,630,13139,0.00,2.40,0.00,0.000,6,0.000,0.052,2946,2176,1864
$GC,13453,1.11,185.0,53.4,7.1,645,13457,0.00,2.42,0.00,0.000,4,0.000,0.060,2946,3511,1864
$GC,13497,1.11,185.0,50.0,6.9,647,13501,0.00,2.35,0.00,0.000,6,0.000,0.050,2946,2198,1864
$GC,13819,1.11,185.0,27.2,7.1,663,13823,0.00,2.72,0.00,0.000,4,0.000,0.066,2946,683,1864
$GC,13874,1.11,185.0,22.7,7.9,665,13880,0.00,2.67,0.00,0.000,6,0.000,0.051,2946,2191,1864
$STATE,14166,end climb,SURFACE_DEPTH_REACHED
$STATE,14166,begin surface coast
$FINISH,0.1,1.013144
$STATE,14188,end surface coast,CONTROL_FINISHED_OK
$STATE,14188,begin surface
$SM_CCo,14211,67.18,0.785,0,0,1397,300.00
$SM_GC,0.90,0.00,0.00,67.18,0.000,0.000,0.785,424,2123,1397,-10.47,-0.76,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1666
$TCM_TEMP,17.50
$XPDR_PINGS,523
$ALTIM_TOP_PING,19.1,999.0
$ALTIM_BOTTOM_PING,375.3,74.3
$24V_AH,24.0,16.849
$10V_AH,10.1,7.312
$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,24.325,116.650,254.250,67.175,0.000,37.762,26.848,123.516,133.750,0.000,0.000,14.968,1262.309,10963.650,452.327,1466.722,439.447,33.371,1187.350,0.000,1444.466,0.000,21.751
$DEVICE_MAMPS,141.895,71.331,1088.373,785.408,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,465.801,505.147,514.482,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34845,681
$CAP_FILE_SIZE,104167,0
$CFSIZE,254472192,247410688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,210608,211201,6200.598,-900.634,41,1.0,41,-9.4