version: 66.03
glider: 5
mission: 3
dive: 69
start: 6 21 108 0 3 55
data:
$ID,5
$MISSION,3
$DIVE,69
$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,-77954.305
$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,23
$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
$GPS1,235746,6209.453,-912.636,37,3.0,56,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-58.3
$GPS2,000303,6209.507,-912.388,16,1.9,16,-9.6
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.028,-0.199
$KALMAN_X,-87207.9,-396.1,2470.4,35539.5,16304.5
$KALMAN_Y,15557.1,-3022.7,-1633.7,71797.1,54562.4
$MHEAD_RNG_PITCHd_Wd,197.6,52809,-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,-117.3,0.0,0.0,0,100,0.00,0.00,-73.50,0.000,6,0.000,0.000,422,2160,3100
$GC,103,-1.03,-117.3,1.9,-2.5,3,120,10.57,2.50,0.00,0.000,4,0.139,0.055,2468,3561,3100
$GC,154,-0.72,-117.3,10.1,-13.3,4,159,0.35,2.53,0.00,0.000,6,0.087,0.048,2543,2145,3101
$GC,472,-0.63,-117.3,35.3,-7.2,19,476,0.00,2.58,0.00,0.000,4,0.000,0.061,2543,3555,3101
$GC,482,-0.53,-117.3,36.2,-6.8,19,489,0.20,2.47,0.00,0.000,6,0.088,0.046,2583,2148,3101
$GC,800,-0.53,-117.3,52.3,-4.7,35,805,0.00,2.58,0.00,0.000,4,0.000,0.061,2584,3558,3101
$GC,1059,-0.57,-117.3,65.6,-5.5,46,1065,0.00,2.53,0.00,0.000,6,0.000,0.047,2584,2130,3102
$GC,1378,-0.63,-117.3,81.8,-5.1,62,1382,0.00,2.60,0.00,0.000,4,0.000,0.061,2584,3564,3102
$GC,1422,-0.68,-117.3,84.5,-5.8,64,1427,0.15,2.55,0.00,0.000,6,0.048,0.047,2541,2123,3102
$GC,1744,-0.61,-117.3,106.7,-7.2,80,1749,0.12,2.60,0.00,0.000,4,0.095,0.062,2567,3555,3102
$GC,1772,-0.61,-117.3,108.7,-7.0,81,1776,0.00,2.55,0.00,0.000,6,0.000,0.048,2567,2120,3102
$GC,2088,-0.61,-117.3,131.2,-7.3,96,2092,0.00,2.62,0.00,0.000,4,0.000,0.062,2567,3558,3102
$GC,2105,-0.61,-117.3,132.6,-7.8,97,2109,0.00,2.55,0.00,0.000,6,0.000,0.048,2567,2124,3101
$GC,2432,-0.61,-117.3,159.7,-8.7,113,2436,0.00,2.60,0.00,0.000,4,0.000,0.064,2567,3555,3101
$GC,2442,-0.61,-117.3,160.6,-9.0,113,2448,0.00,2.55,0.00,0.000,6,0.000,0.049,2567,2123,3102
$GC,2758,-0.61,-117.3,189.8,-9.0,129,2762,0.00,2.47,0.00,0.000,4,0.000,0.067,2567,750,3102
$GC,2769,-0.61,-117.3,190.9,-8.9,129,2775,0.00,2.47,0.00,0.000,6,0.000,0.052,2567,2131,3102
$GC,3085,-0.61,-117.3,219.9,-9.3,145,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2130,3102
$GC,3394,-0.61,-117.3,244.0,-7.2,160,3398,0.00,2.53,0.00,0.000,4,0.000,0.065,2567,746,3102
$GC,3411,-0.61,-117.3,245.2,-7.1,161,3415,0.00,2.47,0.00,0.000,6,0.000,0.053,2567,2127,3102
$GC,3738,-0.61,-117.3,267.4,-6.6,177,3742,0.00,2.58,0.00,0.000,4,0.000,0.065,2567,3557,3102
$GC,3761,-0.61,-117.3,269.0,-6.7,178,3765,0.00,2.53,0.00,0.000,6,0.000,0.051,2567,2141,3101
$GC,4082,-0.61,-117.3,286.9,-4.5,194,4087,0.00,2.58,0.00,0.000,4,0.000,0.064,2567,3555,3102
$GC,4123,-0.61,-117.3,288.7,-4.6,196,4127,0.00,2.50,0.00,0.000,6,0.000,0.049,2567,2144,3102
$GC,4450,-0.61,-117.3,296.5,-1.3,212,4454,0.00,2.58,0.00,0.000,4,0.000,0.066,2567,3556,3101
$GC,4500,-0.61,-117.3,297.1,-1.4,214,4504,0.00,2.53,0.00,0.000,6,0.000,0.051,2567,2142,3101
$STATE,4751,end dive,NO_VERTICAL_VELOCITY
$STATE,4751,begin apogee
$GC,4759,-0.33,0.0,297.7,0.0,226,4857,0.28,0.00,95.97,0.993,6,0.081,0.000,2624,2067,2620
$STATE,4858,end apogee,CONTROL_FINISHED_OK
$STATE,4858,begin climb
$GC,4861,1.03,117.3,295.9,0.0,231,4959,1.40,0.00,94.40,0.965,6,0.067,0.000,2924,2067,2141
$GC,5265,1.14,117.3,251.1,10.8,251,5270,0.10,2.62,0.00,0.000,4,0.057,0.062,2958,3513,2140
$GC,5433,1.04,117.3,233.3,9.7,258,5440,0.17,2.38,0.00,0.000,6,0.083,0.050,2923,2192,2140
$GC,5749,1.08,140.0,213.4,5.2,274,5770,0.00,0.00,19.33,0.891,6,0.000,0.000,2923,2192,2049
$GC,6078,1.20,215.2,199.6,3.4,290,6142,0.17,0.00,61.03,0.923,6,0.044,0.000,2974,2192,1741
$GC,6448,1.15,218.7,178.0,5.9,308,6459,0.12,2.72,4.55,0.647,4,0.082,0.069,2947,714,1728
$GC,6498,1.17,232.5,175.3,5.5,310,6518,0.00,2.65,12.50,0.835,6,0.000,0.054,2947,2179,1672
$GC,6841,1.23,268.6,158.9,4.8,327,6880,0.00,2.80,30.05,0.887,4,0.000,0.066,2947,719,1524
$GC,6909,1.32,289.3,155.4,5.3,330,6934,0.17,2.60,17.98,0.851,6,0.044,0.053,2998,2152,1439
$GC,7259,1.25,289.3,124.7,10.2,347,7264,0.12,2.42,0.00,0.000,4,0.085,0.061,2973,3507,1439
$GC,7326,1.25,289.3,117.6,9.8,350,7330,0.00,2.38,0.00,0.000,6,0.000,0.051,2973,2183,1439
$GC,7647,1.25,289.3,87.6,10.2,366,7651,0.00,2.65,0.00,0.000,4,0.000,0.067,2973,721,1440
$GC,7734,1.25,289.3,78.4,11.2,370,7738,0.00,2.58,0.00,0.000,6,0.000,0.052,2973,2156,1439
$GC,8060,1.25,289.3,46.1,9.4,386,8064,0.00,2.42,0.00,0.000,4,0.000,0.061,2973,3508,1439
$GC,8101,1.29,289.3,42.0,9.8,388,8105,0.00,2.38,0.00,0.000,6,0.000,0.050,2973,2174,1440
$GC,8428,1.29,289.3,11.3,9.8,404,8432,0.00,2.62,0.00,0.000,4,0.000,0.065,2973,718,1439
$STATE,8520,end climb,SURFACE_DEPTH_REACHED
$STATE,8520,begin surface coast
$FINISH,1.1,1.027144
$STATE,8526,end surface coast,CONTROL_FINISHED_OK
$STATE,8527,begin surface
$SM_CCo,8552,8.27,0.629,1,0,1398,300.00
$SM_GC,0.59,0.00,0.00,8.27,0.000,0.000,0.629,424,2174,1398,-10.47,0.68,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1668
$TCM_TEMP,19.30
$XPDR_PINGS,314
$ALTIM_TOP_PING,19.3,18.0
$24V_AH,24.0,16.233
$10V_AH,10.1,6.978
$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,24.950,96.925,335.800,8.275,0.000,37.764,30.809,127.887,80.250,0.000,0.000,16.678,813.932,6217.193,476.516,987.893,392.300,33.370,979.842,0.000,971.519,0.000,12.238
$DEVICE_MAMPS,138.827,89.739,993.265,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,278.158,300.768,391.307,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19100,408
$CAP_FILE_SIZE,74486,0
$CFSIZE,254472192,247693312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,210608,022802,6209.704,-908.660,42,1.0,42,-9.5