version: 66.03
glider: 5
mission: 3
dive: 67
start: 6 20 108 16 9 21
data:
$ID,5
$MISSION,3
$DIVE,67
$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,120
$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,-77921.008
$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,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
$GPS1,160427,6203.619,-930.054,10,2.0,11,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-58.0
$GPS2,160827,6203.663,-929.984,13,1.8,13,-9.7
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.084,-0.183
$KALMAN_X,-108031.5,192.4,4561.7,38089.4,-44039.5
$KALMAN_Y,4895.1,-140.7,-5728.4,72790.0,89907.9
$MHEAD_RNG_PITCHd_Wd,164.9,45164,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.03,-117.3,0.0,0.0,0,95,0.00,0.00,-68.75,0.000,6,0.000,0.000,426,2136,3099
$GC,98,-1.03,-117.3,2.0,-2.9,3,115,10.62,2.55,0.00,0.000,4,0.140,0.060,2469,740,3100
$GC,368,-0.70,-117.3,34.2,-11.6,14,373,0.35,2.53,0.00,0.000,6,0.088,0.049,2545,2151,3101
$GC,690,-0.64,-117.3,65.3,-9.8,30,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2150,3102
$GC,1001,-0.58,-117.3,96.9,-9.5,45,1006,0.15,2.58,0.00,0.000,4,0.092,0.061,2580,743,3102
$GC,1046,-0.62,-117.3,101.2,-9.2,47,1050,0.00,2.55,0.00,0.000,6,0.000,0.051,2580,2167,3102
$GC,1368,-0.67,-117.3,125.1,-7.3,63,1373,0.12,2.60,0.00,0.000,4,0.053,0.061,2543,744,3102
$GC,1378,-0.67,-117.3,125.9,-7.0,63,1384,0.00,2.55,0.00,0.000,6,0.000,0.051,2542,2168,3102
$GC,1695,-0.60,-117.3,147.8,-6.8,79,1700,0.12,2.60,0.00,0.000,4,0.092,0.061,2568,743,3102
$GC,1751,-0.60,-117.3,151.4,-5.7,81,1757,0.00,2.50,0.00,0.000,6,0.000,0.051,2568,2143,3102
$GC,2067,-0.60,-117.3,165.1,-3.7,97,2071,0.00,2.55,0.00,0.000,4,0.000,0.062,2568,744,3103
$GC,2129,-0.60,-117.3,167.6,-3.8,100,2134,0.00,2.47,0.00,0.000,6,0.000,0.052,2568,2134,3102
$GC,2457,-0.60,-117.3,179.0,-3.2,116,2461,0.00,2.55,0.00,0.000,4,0.000,0.063,2568,738,3102
$GC,2475,-0.60,-117.3,179.7,-3.2,117,2479,0.00,2.47,0.00,0.000,6,0.000,0.051,2568,2124,3103
$GC,2802,-0.60,-117.3,194.8,-5.6,133,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2124,3102
$GC,3111,-0.60,-117.3,214.3,-6.5,148,3115,0.00,2.58,0.00,0.000,4,0.000,0.065,2568,3558,3102
$GC,3121,-0.60,-117.3,215.2,-6.5,148,3127,0.00,2.55,0.00,0.000,6,0.000,0.051,2568,2129,3102
$GC,3436,-0.60,-117.3,237.1,-7.4,164,3441,0.00,2.60,0.00,0.000,4,0.000,0.065,2568,3557,3102
$GC,3447,-0.60,-117.3,238.0,-7.3,164,3453,0.00,2.55,0.00,0.000,6,0.000,0.051,2568,2129,3102
$GC,3763,-0.60,-117.3,260.9,-6.8,180,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2128,3101
$GC,4072,-0.60,-117.3,279.8,-5.0,195,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2128,3101
$GC,4382,-0.60,-117.3,291.4,-3.4,210,4386,0.00,2.60,0.00,0.000,4,0.000,0.066,2568,3556,3100
$GC,4392,-0.60,-117.3,291.8,-3.5,210,4399,0.00,2.58,0.00,0.000,6,0.000,0.053,2568,2117,3101
$GC,4709,-0.60,-117.3,301.9,-3.3,226,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2117,3100
$GC,5018,-0.60,-117.3,313.7,-3.5,241,5023,0.00,2.62,0.00,0.000,4,0.000,0.066,2568,3556,3100
$GC,5029,-0.60,-117.3,314.0,-3.5,241,5035,0.00,2.55,0.00,0.000,6,0.000,0.054,2568,2131,3100
$GC,5346,-0.60,-117.3,323.6,-2.1,257,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2131,3100
$GC,5655,-0.60,-117.3,329.9,-1.9,272,5659,0.00,2.62,0.00,0.000,4,0.000,0.067,2568,3564,3100
$GC,5665,-0.60,-117.3,330.3,-2.3,272,5671,0.00,2.60,0.00,0.000,6,0.000,0.054,2568,2116,3100
$GC,5981,-0.60,-117.3,346.7,-7.7,288,5985,0.00,2.65,0.00,0.000,4,0.000,0.067,2568,3562,3099
$GC,6087,-0.60,-117.3,357.3,-11.0,293,6092,0.00,2.55,0.00,0.000,6,0.000,0.054,2568,2133,3099
$GC,6415,-0.60,-117.3,395.5,-12.9,309,6419,0.00,2.62,0.00,0.000,4,0.000,0.067,2569,3562,3099
$GC,6425,-0.60,-117.3,397.0,-13.0,309,6431,0.00,2.58,0.00,0.000,6,0.000,0.055,2568,2127,3099
$GC,6740,-0.60,-117.3,442.1,-13.7,325,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2124,3099
$GC,7050,-0.67,-117.3,483.3,-14.6,340,7055,0.00,2.50,0.00,0.000,4,0.000,0.071,2568,746,3098
$GC,7062,-0.73,-117.3,485.0,-13.1,340,7069,0.12,2.50,0.00,0.000,6,0.055,0.058,2531,2126,3098
$GC,7380,-0.66,-117.3,519.5,-7.9,356,7385,0.10,2.60,0.00,0.000,4,0.103,0.071,2551,3562,3098
$GC,7481,-0.66,-117.3,526.5,-8.9,360,7488,0.00,2.55,0.00,0.000,6,0.000,0.058,2551,2146,3097
$GC,7798,-0.62,-117.3,542.8,-4.2,376,7802,0.00,2.55,0.00,0.000,4,0.000,0.074,2551,747,3098
$GC,7899,-0.62,-117.3,545.4,-4.5,380,7906,0.00,2.50,0.00,0.000,6,0.000,0.061,2551,2125,3097
$GC,8216,-0.62,-117.3,547.9,1.7,396,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2124,3097
$STATE,8419,end dive,NO_VERTICAL_VELOCITY
$STATE,8419,begin apogee
$GC,8426,-0.33,0.0,547.1,0.0,406,8527,0.35,0.00,98.12,1.199,6,0.084,0.000,2623,2124,2620
$STATE,8527,end apogee,CONTROL_FINISHED_OK
$STATE,8527,begin climb
$GC,8531,1.03,117.3,540.4,0.0,411,8632,1.42,0.00,97.57,1.159,6,0.073,0.000,2924,2125,2141
$GC,8932,1.03,117.3,484.6,15.5,431,8936,0.00,2.72,0.00,0.000,4,0.000,0.082,2924,684,2140
$GC,9017,0.97,117.3,471.4,16.4,435,9021,0.00,2.62,0.00,0.000,6,0.000,0.064,2924,2103,2140
$GC,9343,0.97,117.3,401.6,25.8,451,9348,0.00,2.60,0.00,0.000,4,0.000,0.074,2925,3509,2139
$GC,9433,0.97,117.3,380.6,20.1,455,9437,0.00,2.55,0.00,0.000,6,0.000,0.060,2924,2120,2138
$GC,9754,0.97,117.3,329.5,14.3,471,9758,0.00,2.60,0.00,0.000,4,0.000,0.073,2924,3511,2137
$GC,9826,0.97,117.3,319.3,13.7,474,9831,0.00,2.50,0.00,0.000,6,0.000,0.059,2924,2142,2137
$GC,10142,1.11,209.1,296.7,2.9,489,10224,0.00,2.75,73.62,1.054,4,0.000,0.074,2924,691,1767
$GC,10253,1.44,412.4,296.8,-1.0,494,10427,0.40,2.70,162.77,1.023,6,0.041,0.061,3022,2153,938
$GC,10744,1.64,586.2,294.8,0.1,518,10864,0.15,2.83,110.18,0.998,4,0.052,0.073,3063,692,390
$GC,10901,1.70,681.4,291.5,2.7,525,10913,0.00,2.67,2.55,0.378,6,0.000,0.059,3063,2143,389
$GC,11223,1.72,759.4,282.8,3.3,541,11232,0.00,2.75,2.97,0.495,4,0.000,0.072,3063,691,390
$GC,11278,1.73,811.0,280.1,4.2,543,11283,0.00,2.60,0.08,0.176,6,0.000,0.058,3063,2118,391
$GC,11595,1.70,866.5,266.4,4.1,558,11599,0.00,0.00,2.42,0.350,6,0.000,0.000,3063,2118,390
$GC,11904,1.70,925.1,254.5,4.0,573,11913,0.00,2.70,2.22,0.280,4,0.000,0.071,3063,674,390
$GC,11987,1.73,989.4,250.9,3.8,576,11993,0.00,2.60,0.00,0.000,6,0.000,0.056,3063,2107,390
$GC,12304,1.63,989.4,230.7,8.1,592,12312,0.00,2.67,1.62,0.149,4,0.000,0.070,3063,688,391
$GC,12352,1.53,989.4,226.3,7.8,594,12358,0.15,2.53,0.17,0.161,6,0.087,0.055,3034,2085,391
$GC,12675,1.53,989.4,204.9,7.3,610,12677,0.00,0.00,0.47,0.146,6,0.000,0.000,3034,2084,391
$GC,12983,1.53,989.4,179.3,8.6,625,12992,0.00,2.62,2.17,0.253,4,0.000,0.068,3034,686,390
$GC,13046,1.53,989.4,173.6,9.4,627,13052,0.00,2.50,0.00,0.000,6,0.000,0.054,3034,2073,391
$GC,13362,1.53,989.4,146.7,9.6,643,13366,0.00,2.58,0.00,0.000,4,0.000,0.063,3034,3506,390
$GC,13406,1.59,989.4,142.3,9.4,645,13411,0.00,2.62,0.00,0.000,6,0.000,0.054,3033,2051,391
$GC,13728,1.59,989.4,108.3,10.8,661,13736,0.00,2.53,1.58,0.143,4,0.000,0.067,3034,685,391
$GC,13796,1.59,989.4,101.5,10.0,664,13801,0.00,2.47,0.15,0.154,6,0.000,0.053,3034,2059,391
$GC,14124,1.59,989.4,67.5,11.0,680,14133,0.00,2.65,2.12,0.228,4,0.000,0.061,3034,3506,390
$GC,14170,1.67,989.4,62.6,8.9,682,14175,0.12,2.62,0.00,0.000,6,0.049,0.054,3072,2048,391
$GC,14500,1.51,989.4,15.4,15.7,698,14506,0.20,2.45,0.15,0.138,4,0.083,0.067,3027,691,390
$GC,14586,1.60,989.4,3.9,9.5,702,14591,0.00,2.45,0.10,0.159,6,0.000,0.051,3027,2056,391
$STATE,14601,end climb,SURFACE_DEPTH_REACHED
$STATE,14601,begin surface coast
$FINISH,-0.0,1.027418
$STATE,14623,end surface coast,CONTROL_FINISHED_OK
$STATE,14623,begin surface
$SM_CCo,14706,0.00,0.000,0,0,390,547.02
$SM_GC,0.61,11.23,0.00,0.00,0.034,0.000,0.000,423,2181,390,-10.38,0.88,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1690
$TCM_TEMP,17.30
$XPDR_PINGS,458
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,501.3,96.4
$24V_AH,23.9,15.997
$10V_AH,10.1,6.860
$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,25.625,150.000,561.075,0.000,0.000,37.757,26.541,84.728,118.750,0.000,0.000,13.355,1327.214,10947.397,663.811,1611.408,410.287,33.370,1527.100,0.000,1576.341,0.000,29.889
$DEVICE_MAMPS,139.594,82.069,1198.821,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,480.467,522.434,439.472,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34839,704
$CAP_FILE_SIZE,118530,0
$CFSIZE,254472192,247746560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,200608,201537,6206.576,-921.823,34,1.2,34,-9.6