version: 66.03
glider: 5
mission: 3
dive: 92
start: 6 25 108 13 3 36
data:
$ID,5
$MISSION,3
$DIVE,92
$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,-78358.008
$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,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
$GPS1,125701,6204.033,-913.267,42,1.1,42,-9.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-59.7
$GPS2,130244,6204.043,-913.245,16,1.2,16,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.008,-0.201
$KALMAN_X,-120180.0,-155.6,519.0,69470.4,-995.3
$KALMAN_Y,40899.8,-2049.7,-1590.9,35340.7,22363.5
$MHEAD_RNG_PITCHd_Wd,187.3,42721,-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,-117.3,0.0,0.0,0,98,0.00,0.00,-69.85,0.000,6,0.000,0.000,420,2180,3099
$GC,101,-1.03,-117.3,2.1,-3.3,3,118,10.60,2.62,0.00,0.000,4,0.139,0.061,2466,737,3100
$GC,294,-0.70,-117.3,24.2,-10.1,10,300,0.38,2.53,0.00,0.000,6,0.087,0.050,2546,2152,3101
$GC,610,-0.63,-117.3,44.7,-5.7,26,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2152,3103
$GC,921,-0.57,-117.3,65.9,-6.8,41,926,0.15,2.53,0.00,0.000,4,0.088,0.061,2581,3558,3103
$GC,988,-0.57,-117.3,70.0,-5.8,44,993,0.00,2.53,0.00,0.000,6,0.000,0.047,2581,2130,3103
$GC,1311,-0.62,-117.3,84.7,-3.9,60,1316,0.00,2.60,0.00,0.000,4,0.000,0.061,2581,3556,3103
$GC,1379,-0.62,-117.3,87.6,-4.2,63,1383,0.00,2.50,0.00,0.000,6,0.000,0.046,2581,2143,3103
$GC,1700,-0.66,-117.3,98.9,-4.0,79,1705,0.12,2.58,0.00,0.000,4,0.051,0.061,2544,3557,3103
$GC,1711,-0.66,-117.3,99.5,-4.3,79,1718,0.00,2.50,0.00,0.000,6,0.000,0.048,2545,2144,3103
$GC,2028,-0.60,-117.3,117.5,-6.2,95,2030,0.12,0.00,0.00,0.000,6,0.094,0.000,2570,2126,3103
$GC,2337,-0.60,-117.3,134.7,-5.8,110,2342,0.00,2.58,0.00,0.000,4,0.000,0.062,2570,3557,3103
$GC,2349,-0.60,-117.3,135.5,-5.6,110,2355,0.00,2.50,0.00,0.000,6,0.000,0.048,2570,2152,3103
$GC,2665,-0.60,-117.3,155.6,-6.8,126,2669,0.00,2.55,0.00,0.000,4,0.000,0.063,2570,3557,3103
$GC,2677,-0.60,-117.3,156.4,-6.8,126,2683,0.00,2.50,0.00,0.000,6,0.000,0.049,2570,2151,3103
$GC,2993,-0.60,-117.3,176.7,-6.2,142,2997,0.00,2.53,0.00,0.000,4,0.000,0.067,2570,750,3103
$GC,3003,-0.60,-117.3,177.4,-6.4,142,3009,0.00,2.50,0.00,0.000,6,0.000,0.051,2570,2146,3103
$GC,3319,-0.60,-117.3,196.6,-5.9,158,3324,0.00,2.55,0.00,0.000,4,0.000,0.064,2570,752,3103
$GC,3341,-0.60,-117.3,198.0,-6.1,159,3346,0.00,2.50,0.00,0.000,6,0.000,0.052,2570,2144,3103
$GC,3663,-0.60,-117.3,218.1,-6.3,175,3667,0.00,2.55,0.00,0.000,4,0.000,0.064,2570,747,3103
$GC,3673,-0.60,-117.3,218.8,-6.3,175,3679,0.00,2.50,0.00,0.000,6,0.000,0.053,2570,2138,3103
$GC,3989,-0.60,-117.3,237.7,-6.1,191,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2138,3103
$GC,4298,-0.60,-117.3,256.9,-6.3,206,4303,0.00,2.55,0.00,0.000,4,0.000,0.065,2570,750,3102
$GC,4309,-0.60,-117.3,257.7,-5.9,206,4315,0.00,2.50,0.00,0.000,6,0.000,0.054,2570,2139,3102
$GC,4626,-0.60,-117.3,277.8,-6.0,222,4630,0.00,2.55,0.00,0.000,4,0.000,0.067,2570,751,3102
$GC,4638,-0.60,-117.3,278.5,-5.5,222,4644,0.00,2.47,0.00,0.000,6,0.000,0.054,2570,2134,3102
$GC,4955,-0.64,-117.3,295.7,-4.7,238,4959,0.00,2.53,0.00,0.000,4,0.000,0.066,2570,750,3102
$GC,4965,-0.64,-117.3,296.2,-4.4,238,4972,0.00,2.47,0.00,0.000,6,0.000,0.054,2570,2133,3102
$GC,5282,-0.64,-117.3,308.6,-4.6,254,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2132,3102
$GC,5592,-0.64,-117.3,325.9,-5.5,269,5596,0.00,2.58,0.00,0.000,4,0.000,0.067,2570,3562,3101
$GC,5603,-0.64,-117.3,326.6,-5.6,269,5609,0.00,2.55,0.00,0.000,6,0.000,0.052,2570,2134,3101
$GC,5919,-0.64,-117.3,345.5,-6.3,285,5923,0.00,2.60,0.00,0.000,4,0.000,0.065,2569,3560,3101
$GC,5930,-0.64,-117.3,346.3,-6.2,285,5937,0.00,2.55,0.00,0.000,6,0.000,0.051,2570,2127,3101
$GC,6247,-0.64,-117.3,363.2,-5.1,301,6251,0.00,2.60,0.00,0.000,4,0.000,0.067,2570,3556,3101
$GC,6257,-0.64,-117.3,363.8,-5.2,301,6263,0.00,2.53,0.00,0.000,6,0.000,0.052,2570,2143,3101
$GC,6574,-0.64,-117.3,378.5,-4.3,317,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2141,3101
$GC,6883,-0.64,-117.3,389.5,-3.4,332,6887,0.00,2.58,0.00,0.000,4,0.000,0.067,2570,3554,3101
$GC,6893,-0.64,-117.3,389.9,-3.2,332,6899,0.00,2.50,0.00,0.000,6,0.000,0.052,2570,2150,3101
$GC,7209,-0.64,-117.3,401.0,-3.4,348,7214,0.00,2.58,0.00,0.000,4,0.000,0.067,2570,3553,3100
$GC,7221,-0.64,-117.3,401.3,-3.4,348,7226,0.00,2.50,0.00,0.000,6,0.000,0.052,2570,2150,3101
$GC,7537,-0.68,-117.3,415.2,-5.1,364,7542,0.00,2.58,0.00,0.000,4,0.000,0.067,2570,3555,3101
$GC,7565,-0.68,-117.3,416.7,-5.8,365,7570,0.00,2.50,0.00,0.000,6,0.000,0.051,2570,2149,3101
$GC,7882,-0.72,-117.3,431.3,-5.5,380,7884,0.12,0.00,0.00,0.000,6,0.054,0.000,2532,2130,3100
$GC,8191,-0.66,-117.3,455.1,-7.4,395,8196,0.10,2.53,0.00,0.000,4,0.097,0.068,2552,747,3100
$GC,8213,-0.66,-117.3,456.7,-6.8,396,8217,0.00,2.55,0.00,0.000,6,0.000,0.054,2552,2165,3100
$GC,8534,-0.66,-117.3,474.9,-4.6,412,8538,0.00,2.53,0.00,0.000,4,0.000,0.070,2552,3558,3100
$GC,8545,-0.66,-117.3,475.4,-4.7,412,8551,0.00,2.45,0.00,0.000,6,0.000,0.055,2552,2186,3100
$STATE,8611,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8611,begin apogee
$GC,8618,-0.33,0.0,477.4,2.8,416,8719,0.35,0.00,97.75,1.119,6,0.080,0.000,2625,2071,2619
$STATE,8720,end apogee,CONTROL_FINISHED_OK
$STATE,8720,begin climb
$GC,8722,1.03,117.3,479.1,0.0,421,8828,1.40,2.62,96.12,1.089,4,0.066,0.071,2926,701,2140
$GC,8853,0.96,117.3,472.4,6.6,427,8860,0.00,2.55,0.00,0.000,6,0.000,0.055,2926,2100,2140
$GC,9169,0.97,125.8,455.3,5.7,443,9183,0.00,2.65,8.55,0.926,4,0.000,0.070,2926,3504,2106
$GC,9333,1.07,184.5,447.3,4.0,450,9390,0.00,2.50,48.78,1.075,6,0.000,0.057,2926,2124,1866
$GC,9703,1.07,184.5,427.6,6.0,468,9707,0.00,2.65,0.00,0.000,4,0.000,0.073,2926,684,1865
$GC,9765,1.07,184.5,423.3,6.9,471,9770,0.00,2.60,0.00,0.000,6,0.000,0.058,2926,2116,1864
$GC,10092,1.07,184.5,400.2,6.8,487,10097,0.00,2.55,0.00,0.000,4,0.000,0.067,2926,3513,1864
$GC,10155,1.07,184.5,396.1,6.6,490,10159,0.00,2.53,0.00,0.000,6,0.000,0.055,2926,2118,1864
$GC,10482,1.07,189.2,378.6,5.8,506,10489,0.00,0.00,4.90,0.779,6,0.000,0.000,2926,2118,1848
$GC,10791,1.07,189.2,357.6,7.5,521,10792,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2118,1847
$GC,11100,1.07,189.2,336.6,6.4,536,11104,0.00,2.55,0.00,0.000,4,0.000,0.064,2926,3518,1847
$GC,11163,1.11,189.2,332.4,7.0,539,11167,0.00,2.47,0.00,0.000,6,0.000,0.051,2926,2136,1847
$GC,11490,1.11,189.2,312.7,6.3,555,11494,0.00,2.60,0.00,0.000,4,0.000,0.067,2926,688,1847
$GC,11529,1.11,189.2,310.1,7.3,557,11533,0.00,2.65,0.00,0.000,6,0.000,0.054,2926,2160,1847
$GC,11855,1.11,189.2,291.3,6.3,573,11860,0.00,2.45,0.00,0.000,4,0.000,0.065,2926,3518,1847
$GC,11906,1.11,189.2,287.7,6.7,575,11910,0.00,2.47,0.00,0.000,6,0.000,0.052,2926,2144,1847
$GC,12221,1.11,189.2,266.6,7.0,590,12226,0.00,2.60,0.00,0.000,4,0.000,0.067,2926,690,1847
$GC,12271,1.11,189.2,262.6,7.9,592,12276,0.00,2.62,0.00,0.000,6,0.000,0.054,2926,2153,1847
$GC,12587,1.11,189.2,240.2,7.1,607,12591,0.00,2.45,0.00,0.000,4,0.000,0.064,2926,3516,1847
$GC,12628,1.17,189.2,236.9,8.7,609,12633,0.12,2.47,0.00,0.000,6,0.048,0.052,2967,2136,1847
$GC,12955,1.10,189.2,205.4,10.1,625,12960,0.12,2.60,0.00,0.000,4,0.084,0.067,2941,690,1847
$GC,13010,1.10,189.2,200.0,9.7,627,13016,0.00,2.60,0.00,0.000,6,0.000,0.054,2940,2145,1847
$GC,13326,1.10,189.2,174.1,7.8,643,13331,0.00,2.45,0.00,0.000,4,0.000,0.063,2940,3518,1847
$GC,13393,1.10,189.2,168.4,9.1,646,13397,0.00,2.45,0.00,0.000,6,0.000,0.051,2941,2149,1847
$GC,13715,1.10,189.2,143.3,7.7,662,13716,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2149,1847
$GC,14024,1.10,189.2,121.1,6.8,677,14029,0.00,2.65,0.00,0.000,4,0.000,0.070,2940,683,1848
$GC,14074,1.10,189.2,117.5,7.3,679,14078,0.00,2.65,0.00,0.000,6,0.000,0.053,2941,2165,1848
$GC,14390,1.13,208.5,99.0,5.3,694,14413,0.00,2.53,16.88,0.825,4,0.000,0.061,2941,3516,1769
$GC,14475,1.14,214.1,94.1,5.8,697,14486,0.00,2.42,5.97,0.700,6,0.000,0.051,2941,2168,1747
$GC,14808,1.14,214.1,73.6,6.6,714,14812,0.00,2.67,0.00,0.000,4,0.000,0.069,2940,690,1747
$GC,14886,1.14,214.1,68.0,6.3,717,14892,0.00,2.62,0.00,0.000,6,0.000,0.052,2940,2161,1747
$GC,15202,1.18,214.1,47.6,6.5,733,15204,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2161,1746
$GC,15512,1.24,214.1,26.0,7.1,748,15517,0.12,2.70,0.00,0.000,4,0.048,0.064,2980,684,1746
$GC,15562,1.18,214.1,21.8,8.9,750,15567,0.12,2.60,0.00,0.000,6,0.081,0.051,2954,2142,1746
$STATE,15834,end climb,SURFACE_DEPTH_REACHED
$STATE,15835,begin surface coast
$FINISH,-0.0,1.003493
$STATE,15859,end surface coast,CONTROL_FINISHED_OK
$STATE,15859,begin surface
$SM_CCo,15880,48.00,0.784,0,0,1396,300.00
$SM_GC,0.81,0.00,0.00,48.00,0.000,0.000,0.784,419,2164,1396,-10.49,0.40,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1675
$TCM_TEMP,17.60
$XPDR_PINGS,591
$ALTIM_TOP_PING,19.8,19.5
$ALTIM_BOTTOM_PING,450.6,36.5
$24V_AH,23.9,19.703
$10V_AH,10.1,8.848
$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,24.725,178.475,278.950,48.000,0.000,37.762,25.544,161.583,151.500,0.000,0.000,16.663,1440.862,12128.771,496.577,1679.437,529.715,33.368,1358.577,0.000,1645.775,0.000,26.790
$DEVICE_MAMPS,138.827,72.865,1119.053,783.874,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,522.061,559.631,576.692,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37956,764
$CAP_FILE_SIZE,127855,0
$CFSIZE,254472192,246194176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,250608,173115,6159.956,-910.371,70,2.3,89,-9.5