version: 66.03
glider: 5
mission: 3
dive: 91
start: 6 25 108 8 42 43
data:
$ID,5
$MISSION,3
$DIVE,91
$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,-78340.719
$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,19
$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
$GPS1,083307,6206.001,-914.174,41,1.0,41,-9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-55.6
$GPS2,084151,6205.959,-914.384,12,2.0,12,-9.6
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.007,-0.201
$KALMAN_X,-120834.4,-323.3,-222.6,70011.2,-1163.5
$KALMAN_Y,43043.9,-3490.7,-1953.0,38635.7,27848.4
$MHEAD_RNG_PITCHd_Wd,191.5,46320,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.03,-117.3,0.0,0.0,0,99,0.00,0.00,-70.22,0.000,6,0.000,0.000,421,2175,3099
$GC,102,-1.03,-117.3,2.1,-3.4,3,119,10.60,2.60,0.00,0.000,4,0.139,0.057,2466,738,3100
$GC,284,-0.67,-117.3,24.6,-7.4,10,289,0.40,2.53,0.00,0.000,6,0.087,0.050,2551,2156,3100
$GC,606,-0.60,-117.3,45.3,-7.1,26,611,0.00,2.58,0.00,0.000,4,0.000,0.060,2551,741,3102
$GC,715,-0.54,-117.3,54.9,-9.6,31,720,0.15,2.50,0.00,0.000,6,0.090,0.051,2583,2140,3102
$GC,1042,-0.59,-117.3,81.5,-7.2,47,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2140,3102
$GC,1352,-0.64,-117.3,97.5,-4.1,62,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2140,3103
$GC,1661,-0.70,-117.3,106.7,-2.5,77,1663,0.17,0.00,0.00,0.000,6,0.046,0.000,2533,2140,3103
$GC,1972,-0.62,-117.3,124.9,-6.5,92,1973,0.15,0.00,0.00,0.000,6,0.091,0.000,2565,2140,3103
$GC,2279,-0.62,-117.3,146.4,-7.6,107,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2140,3103
$GC,2588,-0.62,-117.3,168.7,-7.2,122,2592,0.00,2.55,0.00,0.000,4,0.000,0.064,2565,744,3103
$GC,2598,-0.62,-117.3,169.4,-7.5,122,2604,0.00,2.47,0.00,0.000,6,0.000,0.053,2565,2130,3103
$GC,2914,-0.62,-117.3,191.3,-5.9,138,2918,0.00,2.53,0.00,0.000,4,0.000,0.065,2565,744,3103
$GC,3015,-0.62,-117.3,196.6,-5.6,142,3020,0.00,2.45,0.00,0.000,6,0.000,0.053,2564,2108,3103
$GC,3330,-0.62,-117.3,220.4,-7.7,158,3335,0.00,2.50,0.00,0.000,4,0.000,0.065,2565,740,3102
$GC,3341,-0.62,-117.3,221.2,-7.3,158,3347,0.00,2.45,0.00,0.000,6,0.000,0.053,2565,2103,3102
$GC,3657,-0.62,-117.3,244.1,-5.2,174,3662,0.00,2.60,0.00,0.000,4,0.000,0.066,2564,3558,3102
$GC,3668,-0.62,-117.3,244.8,-5.8,174,3674,0.00,2.60,0.00,0.000,6,0.000,0.051,2565,2097,3102
$GC,3984,-0.62,-117.3,270.1,-8.7,190,3988,0.00,2.65,0.00,0.000,4,0.000,0.065,2565,3559,3102
$GC,3994,-0.62,-117.3,271.2,-9.1,190,4000,0.00,2.60,0.00,0.000,6,0.000,0.052,2564,2104,3102
$GC,4311,-0.62,-117.3,288.4,-6.3,206,4315,0.00,2.67,0.00,0.000,4,0.000,0.065,2565,3563,3102
$GC,4372,-0.62,-117.3,292.9,-7.3,209,4377,0.00,2.60,0.00,0.000,6,0.000,0.050,2564,2096,3102
$GC,4700,-0.62,-117.3,311.3,-5.3,225,4704,0.00,2.67,0.00,0.000,4,0.000,0.066,2565,3556,3101
$GC,4728,-0.62,-117.3,312.8,-5.8,226,4732,0.00,2.58,0.00,0.000,6,0.000,0.051,2564,2113,3101
$GC,5044,-0.62,-117.3,330.6,-5.8,241,5048,0.00,2.62,0.00,0.000,4,0.000,0.064,2565,3557,3101
$GC,5077,-0.62,-117.3,332.6,-6.0,242,5083,0.00,2.55,0.00,0.000,6,0.000,0.051,2565,2117,3101
$GC,5393,-0.62,-117.3,349.8,-5.2,258,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2117,3101
$GC,5702,-0.62,-117.3,366.3,-5.4,273,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2116,3101
$GC,6011,-0.62,-117.3,382.0,-4.8,288,6016,0.00,2.62,0.00,0.000,4,0.000,0.065,2565,3557,3101
$GC,6045,-0.62,-117.3,383.6,-5.0,289,6051,0.00,2.58,0.00,0.000,6,0.000,0.051,2565,2111,3101
$GC,6361,-0.62,-117.3,398.0,-4.8,305,6365,0.00,2.62,0.00,0.000,4,0.000,0.065,2565,3557,3101
$GC,6417,-0.62,-117.3,401.1,-5.8,307,6423,0.00,2.58,0.00,0.000,6,0.000,0.051,2565,2111,3100
$GC,6733,-0.62,-117.3,416.7,-4.7,323,6737,0.00,2.62,0.00,0.000,4,0.000,0.066,2565,3555,3100
$GC,6862,-0.62,-117.3,423.2,-5.4,329,6867,0.00,2.53,0.00,0.000,6,0.000,0.051,2565,2130,3100
$GC,7190,-0.62,-117.3,436.9,-5.2,345,7194,0.00,2.62,0.00,0.000,4,0.000,0.068,2565,3556,3101
$GC,7200,-0.62,-117.3,437.5,-5.2,345,7207,0.00,2.55,0.00,0.000,6,0.000,0.055,2564,2137,3100
$GC,7517,-0.62,-117.3,452.0,-4.6,361,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2119,3100
$GC,7827,-0.66,-117.3,467.2,-5.0,376,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2119,3100
$GC,8136,-0.66,-117.3,481.3,-4.9,391,8140,0.00,2.53,0.00,0.000,4,0.000,0.072,2565,748,3100
$GC,8164,-0.66,-117.3,482.6,-5.0,392,8168,0.00,2.47,0.00,0.000,6,0.000,0.058,2565,2118,3100
$STATE,8250,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8251,begin apogee
$GC,8257,-0.33,0.0,486.8,4.7,396,8358,0.30,0.00,98.32,1.136,6,0.079,0.000,2627,2117,2621
$STATE,8359,end apogee,CONTROL_FINISHED_OK
$STATE,8359,begin climb
$GC,8362,1.03,117.3,488.9,0.0,401,8466,1.38,2.67,96.32,1.109,4,0.071,0.071,2923,3508,2141
$GC,8527,1.03,117.3,479.7,6.2,408,8533,0.00,2.60,0.00,0.000,6,0.000,0.059,2923,2095,2140
$GC,8844,1.05,132.2,462.7,5.5,424,8865,0.00,2.62,13.77,1.016,4,0.000,0.076,2923,691,2080
$GC,8911,1.05,132.2,458.6,6.2,427,8915,0.00,2.58,0.00,0.000,6,0.000,0.061,2923,2100,2079
$GC,9238,1.05,132.2,437.8,6.2,443,9242,0.00,2.60,0.00,0.000,4,0.000,0.073,2923,3509,2078
$GC,9310,1.05,132.2,432.1,8.1,446,9314,0.00,2.60,0.00,0.000,6,0.000,0.060,2923,2090,2077
$GC,9626,1.05,132.2,409.3,7.1,461,9631,0.00,2.65,0.00,0.000,4,0.000,0.070,2923,3511,2076
$GC,9710,1.05,132.2,402.4,7.8,465,9715,0.00,2.55,0.00,0.000,6,0.000,0.058,2923,2108,2076
$GC,10038,1.05,132.2,377.4,7.5,481,10042,0.00,2.60,0.00,0.000,4,0.000,0.068,2923,3514,2075
$GC,10105,1.05,132.2,372.0,7.9,484,10109,0.00,2.50,0.00,0.000,6,0.000,0.056,2923,2138,2075
$GC,10425,1.05,132.2,348.4,7.6,500,10430,0.00,2.62,0.00,0.000,4,0.000,0.070,2923,689,2075
$GC,10476,1.05,132.2,344.4,8.1,502,10480,0.00,2.62,0.00,0.000,6,0.000,0.056,2923,2149,2075
$GC,10792,1.05,132.2,320.2,7.8,517,10795,0.00,2.45,0.00,0.000,4,0.000,0.066,2923,3514,2075
$GC,10883,1.05,132.2,312.9,7.1,521,10887,0.00,2.42,0.00,0.000,6,0.000,0.053,2923,2154,2075
$GC,11210,1.05,132.2,289.6,7.5,537,11214,0.00,2.65,0.00,0.000,4,0.000,0.067,2923,683,2075
$GC,11259,1.05,132.2,285.0,10.1,539,11264,0.00,2.65,0.00,0.000,6,0.000,0.054,2923,2162,2075
$GC,11575,1.05,132.2,259.6,8.6,554,11579,0.00,2.40,0.00,0.000,4,0.000,0.064,2923,3507,2075
$GC,11659,1.05,132.2,251.6,9.1,557,11665,0.00,2.40,0.00,0.000,6,0.000,0.051,2923,2169,2075
$GC,11975,1.05,132.2,223.9,9.1,573,11979,0.00,2.65,0.00,0.000,4,0.000,0.069,2923,690,2075
$GC,12024,1.05,132.2,218.8,9.6,575,12029,0.00,2.67,0.00,0.000,6,0.000,0.054,2923,2182,2075
$GC,12340,1.05,132.2,192.1,8.2,590,12344,0.00,2.40,0.00,0.000,4,0.000,0.064,2923,3516,2076
$GC,12396,1.05,132.2,186.9,9.5,592,12402,0.00,2.40,0.00,0.000,6,0.000,0.051,2923,2175,2076
$GC,12712,1.05,132.2,162.4,7.1,608,12716,0.00,2.67,0.00,0.000,4,0.000,0.069,2923,691,2076
$GC,12796,1.05,132.2,154.9,9.5,612,12801,0.00,2.67,0.00,0.000,6,0.000,0.054,2923,2181,2076
$GC,13123,1.05,132.2,130.4,7.8,628,13127,0.00,2.38,0.00,0.000,4,0.000,0.063,2923,3508,2076
$GC,13189,1.05,132.2,125.0,8.4,631,13193,0.00,2.38,0.00,0.000,6,0.000,0.049,2923,2172,2076
$GC,13511,1.05,132.2,102.4,6.9,647,13515,0.00,2.67,0.00,0.000,4,0.000,0.067,2923,684,2077
$GC,13577,1.05,132.2,97.2,6.9,650,13582,0.00,2.67,0.00,0.000,6,0.000,0.052,2923,2183,2077
$GC,13901,1.05,132.2,75.9,6.5,666,13905,0.00,2.38,0.00,0.000,4,0.000,0.062,2923,3512,2077
$GC,13986,1.05,132.2,69.3,7.5,670,13991,0.00,2.35,0.00,0.000,6,0.000,0.048,2923,2181,2077
$GC,14314,1.05,132.2,46.0,7.3,686,14315,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2182,2077
$GC,14623,1.05,132.2,24.3,6.9,701,14627,0.00,2.42,0.00,0.000,4,0.000,0.060,2923,3513,2077
$GC,14678,1.05,132.2,20.1,7.6,703,14686,0.00,2.33,0.00,0.000,6,0.000,0.049,2923,2201,2077
$GC,14997,1.17,168.1,2.2,4.8,719,15001,0.12,0.00,1.98,0.117,2,0.048,0.000,2966,2175,2066
$STATE,15002,end climb,SURFACE_DEPTH_REACHED
$STATE,15002,begin surface coast
$FINISH,0.2,1.027112
$STATE,15059,end surface coast,CONTROL_FINISHED_OK
$STATE,15060,begin surface
$SM_CCo,15082,93.97,0.783,0,0,1396,300.00
$SM_GC,0.65,0.00,0.00,93.97,0.000,0.000,0.783,419,2184,1396,-10.49,0.79,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1661
$TCM_TEMP,17.50
$XPDR_PINGS,557
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,475.5,20.5
$24V_AH,23.9,19.577
$10V_AH,10.1,8.771
$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,24.275,158.275,210.400,93.975,0.000,76.581,63.668,199.108,143.250,0.000,0.000,12.099,1376.337,11548.725,472.374,1675.654,629.394,33.369,1310.986,0.000,1647.501,0.000,28.073
$DEVICE_MAMPS,138.827,75.933,1135.927,783.107,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,494.501,537.086,547.510,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37916,722
$CAP_FILE_SIZE,120888,0
$CFSIZE,254472192,246263808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,250608,125701,6204.033,-913.267,42,1.1,42,-9.5