version: 66.03
glider: 5
mission: 3
dive: 93
start: 6 25 108 17 37 24
data:
$ID,5
$MISSION,3
$DIVE,93
$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,-78371.562
$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,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
$GPS1,173115,6159.956,-910.371,70,2.3,89,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-58.6
$GPS2,173632,6159.885,-910.421,12,1.9,12,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.061,-0.191
$KALMAN_X,-117766.6,800.0,-166.4,69286.6,2104.4
$KALMAN_Y,35448.8,-955.2,-1530.7,31927.5,11920.6
$MHEAD_RNG_PITCHd_Wd,207.3,34978,-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,-117.2,0.0,0.0,0,99,0.00,0.00,-70.40,0.000,6,0.000,0.000,419,2145,3098
$GC,102,-1.03,-117.3,1.9,-2.8,3,119,10.60,2.55,0.00,0.000,4,0.139,0.057,2467,744,3100
$GC,280,-0.73,-117.3,22.8,-9.9,10,285,0.35,2.53,0.00,0.000,6,0.087,0.051,2542,2153,3100
$GC,608,-0.65,-117.3,46.5,-7.4,26,612,0.00,2.58,0.00,0.000,4,0.000,0.059,2542,739,3101
$GC,626,-0.56,-117.3,47.9,-7.2,27,631,0.17,2.50,0.00,0.000,6,0.087,0.050,2578,2144,3101
$GC,954,-0.56,-117.3,66.1,-5.3,43,958,0.00,2.55,0.00,0.000,4,0.000,0.061,2579,743,3102
$GC,1039,-0.56,-117.3,70.6,-5.3,47,1043,0.00,2.47,0.00,0.000,6,0.000,0.051,2579,2133,3102
$GC,1367,-0.60,-117.3,87.2,-5.5,63,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2131,3102
$GC,1675,-0.65,-117.3,104.1,-5.5,78,1680,0.00,2.55,0.00,0.000,4,0.000,0.062,2579,3557,3102
$GC,1761,-0.65,-117.3,109.5,-6.3,82,1765,0.00,2.53,0.00,0.000,6,0.000,0.047,2579,2130,3102
$GC,2089,-0.69,-117.3,128.4,-5.5,98,2094,0.15,2.60,0.00,0.000,4,0.049,0.061,2531,3556,3102
$GC,2100,-0.69,-117.3,129.1,-5.6,98,2106,0.00,2.53,0.00,0.000,6,0.000,0.048,2531,2131,3102
$GC,2416,-0.60,-117.3,154.2,-8.1,114,2418,0.17,0.00,0.00,0.000,6,0.086,0.000,2568,2111,3102
$GC,2725,-0.60,-117.3,170.7,-5.5,129,2730,0.00,2.60,0.00,0.000,4,0.000,0.062,2568,3555,3102
$GC,2737,-0.60,-117.3,171.4,-5.7,129,2743,0.00,2.50,0.00,0.000,6,0.000,0.048,2568,2147,3102
$GC,3053,-0.60,-117.3,187.8,-4.6,145,3057,0.00,2.58,0.00,0.000,4,0.000,0.064,2568,3561,3102
$GC,3071,-0.60,-117.3,188.6,-5.0,146,3075,0.00,2.50,0.00,0.000,6,0.000,0.049,2568,2155,3102
$GC,3397,-0.60,-117.3,204.1,-5.0,162,3402,0.00,2.55,0.00,0.000,4,0.000,0.063,2569,3561,3102
$GC,3420,-0.60,-117.3,205.3,-5.5,163,3424,0.00,2.47,0.00,0.000,6,0.000,0.048,2568,2155,3102
$GC,3741,-0.60,-117.3,224.9,-6.6,179,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2154,3101
$GC,4050,-0.60,-117.3,246.2,-6.6,194,4054,0.00,2.53,0.00,0.000,4,0.000,0.066,2568,749,3101
$GC,4061,-0.60,-117.3,246.9,-6.6,194,4066,0.00,2.53,0.00,0.000,6,0.000,0.053,2568,2160,3101
$GC,4376,-0.60,-117.3,266.8,-6.1,210,4381,0.00,2.58,0.00,0.000,4,0.000,0.065,2568,749,3100
$GC,4404,-0.60,-117.3,268.7,-6.7,211,4408,0.00,2.50,0.00,0.000,6,0.000,0.054,2568,2141,3100
$GC,4721,-0.60,-117.3,287.3,-5.8,226,4725,0.00,2.58,0.00,0.000,4,0.000,0.067,2568,742,3100
$GC,4738,-0.60,-117.3,288.5,-5.8,227,4742,0.00,2.50,0.00,0.000,6,0.000,0.054,2568,2140,3100
$GC,5065,-0.60,-117.3,306.1,-5.1,243,5069,0.00,2.55,0.00,0.000,4,0.000,0.067,2568,747,3100
$GC,5093,-0.60,-117.3,307.6,-5.0,244,5097,0.00,2.50,0.00,0.000,6,0.000,0.054,2568,2137,3101
$GC,5409,-0.60,-117.3,323.5,-5.5,259,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2137,3100
$GC,5718,-0.60,-117.3,340.9,-5.8,274,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2137,3100
$GC,6027,-0.60,-117.3,360.3,-6.6,289,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2137,3100
$GC,6336,-0.60,-117.3,383.8,-8.4,304,6337,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2137,3100
$GC,6645,-0.60,-117.3,410.3,-7.9,319,6650,0.00,2.58,0.00,0.000,4,0.000,0.067,2568,3565,3100
$GC,6673,-0.60,-117.3,412.4,-7.7,320,6677,0.00,2.55,0.00,0.000,6,0.000,0.053,2568,2135,3100
$GC,6989,-0.60,-117.3,430.4,-4.8,335,6993,0.00,2.60,0.00,0.000,4,0.000,0.066,2568,3558,3099
$GC,7000,-0.60,-117.3,430.8,-4.5,335,7006,0.00,2.53,0.00,0.000,6,0.000,0.051,2568,2141,3099
$GC,7316,-0.60,-117.3,442.4,-3.5,351,7321,0.00,2.58,0.00,0.000,4,0.000,0.066,2568,3556,3099
$GC,7339,-0.60,-117.3,443.2,-3.7,352,7343,0.00,2.53,0.00,0.000,6,0.000,0.051,2568,2139,3099
$GC,7660,-0.60,-117.3,456.7,-4.4,368,7665,0.00,2.62,0.00,0.000,4,0.000,0.066,2568,3567,3099
$GC,7688,-0.60,-117.3,457.9,-4.5,369,7693,0.00,2.53,0.00,0.000,6,0.000,0.052,2568,2148,3099
$GC,8006,-0.60,-117.3,477.7,-8.1,384,8010,0.00,2.58,0.00,0.000,4,0.000,0.067,2568,3556,3099
$GC,8027,-0.60,-117.3,479.5,-7.7,385,8031,0.00,2.53,0.00,0.000,6,0.000,0.054,2568,2145,3099
$GC,8349,-0.65,-117.3,501.0,-5.7,401,8353,0.00,2.60,0.00,0.000,4,0.000,0.069,2568,3555,3099
$GC,8360,-0.69,-117.3,501.7,-5.2,401,8366,0.00,2.53,0.00,0.000,6,0.000,0.054,2568,2145,3099
$GC,8676,-0.69,-117.3,512.5,-3.1,417,8681,0.00,2.62,0.00,0.000,4,0.000,0.069,2568,3565,3099
$GC,8777,-0.69,-117.3,518.8,-8.1,421,8783,0.00,2.53,0.00,0.000,6,0.000,0.054,2568,2146,3099
$STATE,8925,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8925,begin apogee
$GC,8932,-0.33,0.0,528.6,5.6,429,9033,0.28,0.00,98.25,1.157,6,0.081,0.000,2625,2140,2620
$STATE,9034,end apogee,CONTROL_FINISHED_OK
$STATE,9034,begin climb
$GC,9037,1.03,117.3,532.0,0.0,434,9142,1.38,2.72,97.18,1.132,4,0.067,0.069,2923,710,2140
$GC,9227,0.95,117.3,521.1,6.6,443,9231,0.00,2.53,0.00,0.000,6,0.000,0.055,2923,2100,2140
$GC,9554,0.95,117.3,494.5,8.9,459,9558,0.00,2.60,0.00,0.000,4,0.000,0.071,2924,3513,2139
$GC,9661,0.95,117.3,484.6,9.1,464,9666,0.00,2.53,0.00,0.000,6,0.000,0.058,2923,2127,2139
$GC,9988,1.07,192.2,465.2,3.4,480,10056,0.00,2.65,61.58,1.108,4,0.000,0.067,2924,3502,1836
$GC,10115,1.17,252.9,461.3,3.9,486,10171,0.12,2.50,49.88,1.089,6,0.051,0.055,2962,2129,1589
$GC,10487,1.17,252.9,433.1,9.2,504,10491,0.00,2.65,0.00,0.000,4,0.000,0.072,2963,684,1589
$GC,10537,1.17,252.9,428.1,9.7,506,10541,0.00,2.65,0.00,0.000,6,0.000,0.057,2963,2140,1589
$GC,10853,1.17,252.9,400.4,8.9,521,10854,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2140,1589
$GC,11162,1.17,252.9,374.6,8.2,536,11163,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2140,1589
$GC,11472,1.17,252.9,349.7,8.0,551,11473,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2140,1589
$GC,11780,1.17,252.9,325.3,7.7,566,11785,0.00,2.67,0.00,0.000,4,0.000,0.068,2963,685,1589
$GC,11820,1.17,252.9,322.0,9.0,568,11825,0.00,2.62,0.00,0.000,6,0.000,0.055,2963,2140,1589
$GC,12147,1.17,252.9,294.9,8.3,584,12152,0.00,2.47,0.00,0.000,4,0.000,0.064,2963,3513,1589
$GC,12198,1.17,252.9,290.5,9.0,586,12202,0.00,2.47,0.00,0.000,6,0.000,0.052,2963,2131,1589
$GC,12514,1.17,252.9,263.4,8.9,601,12518,0.00,2.62,0.00,0.000,4,0.000,0.069,2963,681,1590
$GC,12554,1.17,252.9,259.8,8.5,603,12558,0.00,2.62,0.00,0.000,6,0.000,0.054,2963,2139,1590
$GC,12880,1.17,252.9,230.7,8.9,619,12884,0.00,2.47,0.00,0.000,4,0.000,0.064,2963,3515,1590
$GC,12929,1.17,252.9,225.9,9.1,621,12934,0.00,2.47,0.00,0.000,6,0.000,0.054,2963,2133,1590
$GC,13246,1.17,252.9,196.4,9.7,636,13250,0.00,2.62,0.00,0.000,4,0.000,0.070,2963,683,1590
$GC,13290,1.17,252.9,191.6,10.6,638,13294,0.00,2.62,0.00,0.000,6,0.000,0.053,2963,2148,1590
$GC,13611,1.17,252.9,161.1,9.4,654,13612,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2147,1590
$GC,13921,1.17,252.9,131.6,9.6,669,13925,0.00,2.67,0.00,0.000,4,0.000,0.067,2963,689,1591
$GC,13965,1.17,252.9,126.6,10.8,671,13969,0.00,2.60,0.00,0.000,6,0.000,0.054,2963,2136,1591
$GC,14286,1.17,252.9,94.6,9.7,687,14290,0.00,2.45,0.00,0.000,4,0.000,0.062,2963,3509,1591
$GC,14336,1.17,252.9,89.4,10.1,689,14340,0.00,2.47,0.00,0.000,6,0.000,0.051,2963,2129,1591
$GC,14652,1.17,252.9,59.2,9.5,704,14656,0.00,2.60,0.00,0.000,4,0.000,0.067,2963,683,1591
$GC,14718,1.17,252.9,52.7,9.5,707,14723,0.00,2.58,0.00,0.000,6,0.000,0.051,2963,2126,1591
$GC,15040,1.17,252.9,22.9,9.6,723,15045,0.00,2.47,0.00,0.000,4,0.000,0.061,2963,3513,1591
$GC,15081,1.17,252.9,19.2,9.9,725,15085,0.00,2.47,0.00,0.000,6,0.000,0.051,2963,2120,1591
$STATE,15281,end climb,SURFACE_DEPTH_REACHED
$STATE,15281,begin surface coast
$FINISH,-0.0,1.021725
$STATE,15303,end surface coast,CONTROL_FINISHED_OK
$STATE,15303,begin surface
$SM_CCo,15326,26.25,0.765,0,0,1397,300.00
$SM_GC,0.93,0.00,0.00,26.25,0.000,0.000,0.765,424,2174,1397,-10.47,0.68,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1678
$TCM_TEMP,17.40
$XPDR_PINGS,546
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,476.0,61.8
$24V_AH,23.9,19.835
$10V_AH,10.1,8.923
$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,24.225,163.650,306.875,26.250,0.000,37.767,26.349,137.944,140.500,0.000,0.000,12.929,1387.804,11692.253,469.791,1633.942,488.649,33.364,1307.094,0.000,1601.126,0.000,28.179
$DEVICE_MAMPS,138.827,80.535,1157.403,765.466,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,504.132,536.999,511.418,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38011,736
$CAP_FILE_SIZE,120538,0
$CFSIZE,254472192,246149120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,250608,215438,6155.207,-912.188,41,1.0,41,-9.5