version: 66.03
glider: 5
mission: 3
dive: 97
start: 6 26 108 16 7 15
data:
$ID,5
$MISSION,3
$DIVE,97
$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,-78444.094
$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,20
$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
$GPS1,160025,6149.964,-925.520,41,1.1,41,-9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-49.2
$GPS2,160621,6149.959,-925.659,14,1.0,14,-9.6
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.060,-0.192
$KALMAN_X,-114983.5,-580.9,-972.7,55245.4,4226.1
$KALMAN_Y,39309.0,-134.8,187.1,7063.5,3467.7
$MHEAD_RNG_PITCHd_Wd,207.1,21003,-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,-117.3,0.0,0.0,0,97,0.00,0.00,-71.03,0.000,6,0.000,0.000,421,2146,3099
$GC,100,-1.03,-117.3,1.7,-2.6,3,117,10.65,2.55,0.00,0.000,4,0.140,0.058,2469,739,3100
$GC,370,-0.72,-117.3,29.8,-9.1,14,375,0.32,2.53,0.00,0.000,6,0.089,0.051,2538,2155,3101
$GC,692,-0.64,-117.3,51.4,-6.6,30,697,0.10,2.58,0.00,0.000,4,0.104,0.060,2558,744,3101
$GC,793,-0.64,-117.3,57.6,-6.3,34,799,0.00,2.50,0.00,0.000,6,0.000,0.051,2558,2141,3101
$GC,1111,-0.60,-117.3,75.7,-5.6,50,1115,0.00,2.58,0.00,0.000,4,0.000,0.063,2558,737,3102
$GC,1129,-0.60,-117.3,76.8,-5.5,51,1133,0.00,2.53,0.00,0.000,6,0.000,0.051,2558,2148,3102
$GC,1456,-0.60,-117.3,96.2,-6.1,67,1460,0.00,2.58,0.00,0.000,4,0.000,0.063,2558,743,3102
$GC,1496,-0.60,-117.3,98.9,-6.8,69,1500,0.00,2.47,0.00,0.000,6,0.000,0.052,2557,2135,3102
$GC,1823,-0.60,-117.3,119.9,-6.5,85,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2134,3102
$GC,2132,-0.60,-117.3,136.3,-5.3,100,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2133,3102
$GC,2441,-0.60,-117.3,152.8,-5.7,115,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2133,3102
$GC,2751,-0.60,-117.3,168.6,-4.9,130,2755,0.00,2.53,0.00,0.000,4,0.000,0.064,2558,738,3102
$GC,2784,-0.60,-117.3,170.2,-4.9,131,2790,0.00,2.50,0.00,0.000,6,0.000,0.053,2558,2131,3102
$GC,3100,-0.60,-117.3,186.2,-5.3,147,3104,0.00,2.53,0.00,0.000,4,0.000,0.064,2558,744,3102
$GC,3121,-0.60,-117.3,187.8,-6.7,148,3126,0.00,2.47,0.00,0.000,6,0.000,0.054,2557,2125,3102
$GC,3443,-0.60,-117.3,207.0,-5.9,164,3447,0.00,2.50,0.00,0.000,4,0.000,0.065,2557,744,3102
$GC,3488,-0.60,-117.3,209.9,-6.0,166,3492,0.00,2.47,0.00,0.000,6,0.000,0.054,2558,2120,3102
$GC,3810,-0.60,-117.3,228.8,-5.9,182,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2120,3101
$GC,4118,-0.60,-117.3,246.9,-6.2,197,4122,0.00,2.58,0.00,0.000,4,0.000,0.066,2558,3557,3101
$GC,4128,-0.60,-117.3,247.6,-6.1,197,4134,0.00,2.58,0.00,0.000,6,0.000,0.051,2558,2115,3101
$GC,4444,-0.60,-117.3,266.9,-6.3,213,4449,0.00,2.65,0.00,0.000,4,0.000,0.064,2557,3562,3101
$GC,4489,-0.60,-117.3,269.9,-6.6,215,4493,0.00,2.55,0.00,0.000,6,0.000,0.051,2558,2127,3101
$GC,4811,-0.60,-117.3,289.0,-5.6,231,4815,0.00,2.60,0.00,0.000,4,0.000,0.065,2558,3558,3101
$GC,4855,-0.60,-117.3,291.6,-5.8,233,4859,0.00,2.55,0.00,0.000,6,0.000,0.050,2558,2126,3101
$GC,5176,-0.60,-117.3,308.8,-5.6,249,5180,0.00,2.62,0.00,0.000,4,0.000,0.066,2558,3565,3101
$GC,5198,-0.60,-117.3,310.1,-5.5,250,5202,0.00,2.55,0.00,0.000,6,0.000,0.051,2558,2132,3101
$GC,5520,-0.60,-117.3,327.4,-5.6,266,5524,0.00,2.60,0.00,0.000,4,0.000,0.065,2558,3566,3101
$GC,5537,-0.60,-117.3,328.3,-5.0,267,5541,0.00,2.55,0.00,0.000,6,0.000,0.050,2558,2128,3101
$GC,5864,-0.60,-117.3,346.3,-5.8,283,5868,0.00,2.62,0.00,0.000,4,0.000,0.066,2558,3564,3101
$GC,5893,-0.60,-117.3,348.1,-5.9,284,5897,0.00,2.55,0.00,0.000,6,0.000,0.051,2558,2132,3101
$GC,6209,-0.60,-117.3,366.8,-5.9,299,6213,0.00,2.60,0.00,0.000,4,0.000,0.065,2558,3558,3101
$GC,6219,-0.60,-117.3,367.5,-6.1,299,6225,0.00,2.53,0.00,0.000,6,0.000,0.051,2558,2141,3101
$GC,6535,-0.60,-117.3,388.2,-6.9,315,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2141,3101
$GC,6844,-0.60,-117.3,409.6,-6.5,330,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2140,3100
$GC,7154,-0.60,-117.3,426.4,-4.5,345,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2139,3100
$GC,7463,-0.60,-117.3,435.8,-2.1,360,7464,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2139,3100
$GC,7772,-0.60,-117.3,442.0,-1.9,375,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2137,3100
$GC,8082,-0.60,-117.3,445.8,-0.6,390,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2137,3099
$GC,8391,-0.60,-117.3,443.2,1.1,405,8392,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2136,3100
$STATE,8656,end dive,NO_VERTICAL_VELOCITY
$STATE,8656,begin apogee
$GC,8663,-0.33,0.0,442.0,0.0,418,8763,0.32,0.00,97.47,1.089,6,0.081,0.000,2625,2134,2620
$STATE,8764,end apogee,CONTROL_FINISHED_OK
$STATE,8764,begin climb
$GC,8767,1.03,117.3,438.3,0.0,423,8867,1.40,0.00,96.47,1.055,6,0.065,0.000,2928,2132,2141
$GC,9169,1.13,117.3,392.3,9.4,443,9173,0.00,2.53,0.00,0.000,4,0.000,0.063,2928,3514,2140
$GC,9253,1.13,117.3,385.0,9.2,447,9258,0.00,2.53,0.00,0.000,6,0.000,0.051,2928,2103,2139
$GC,9580,1.15,126.8,364.2,5.7,463,9592,0.10,0.00,9.52,0.900,6,0.053,0.000,2962,2102,2102
$GC,9889,1.06,126.8,343.9,6.6,478,9893,0.17,2.60,0.00,0.000,4,0.080,0.063,2926,3514,2102
$GC,9967,1.06,131.0,339.4,5.9,481,9977,0.00,2.53,5.15,0.752,6,0.000,0.051,2926,2110,2085
$GC,10299,1.15,182.6,324.5,4.2,498,10349,0.10,2.65,42.65,0.994,4,0.054,0.061,2961,3504,1875
$GC,10395,1.09,182.6,318.8,6.5,502,10400,0.10,2.50,0.00,0.000,6,0.087,0.052,2940,2122,1875
$GC,10711,1.10,185.6,301.2,5.9,517,10717,0.00,0.00,4.20,0.664,6,0.000,0.000,2940,2122,1863
$GC,11020,1.10,185.6,281.3,7.0,532,11024,0.00,2.55,0.00,0.000,4,0.000,0.062,2940,3514,1863
$GC,11070,1.10,185.6,277.3,8.6,534,11074,0.00,2.47,0.00,0.000,6,0.000,0.051,2940,2138,1863
$GC,11385,1.10,185.6,252.8,7.7,549,11387,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2137,1863
$GC,11695,1.10,185.6,226.7,8.3,564,11699,0.00,2.53,0.00,0.000,4,0.000,0.062,2940,3512,1863
$GC,11757,1.10,185.6,221.2,8.7,567,11761,0.00,2.45,0.00,0.000,6,0.000,0.051,2940,2146,1863
$GC,12084,1.10,185.6,195.1,7.8,583,12088,0.00,2.62,0.00,0.000,4,0.000,0.066,2940,685,1863
$GC,12133,1.10,185.6,190.8,7.9,585,12138,0.00,2.62,0.00,0.000,6,0.000,0.053,2940,2156,1863
$GC,12449,1.10,185.6,168.6,7.3,600,12453,0.00,2.42,0.00,0.000,4,0.000,0.063,2940,3510,1863
$GC,12489,1.10,185.6,165.4,7.7,601,12495,0.00,2.45,0.00,0.000,6,0.000,0.051,2940,2142,1863
$GC,12806,1.10,185.6,138.9,8.2,617,12810,0.00,2.62,0.00,0.000,4,0.000,0.066,2940,681,1863
$GC,12850,1.10,185.6,135.1,8.3,619,12854,0.00,2.62,0.00,0.000,6,0.000,0.053,2940,2149,1863
$GC,13171,1.10,185.6,112.9,6.7,635,13175,0.00,2.45,0.00,0.000,4,0.000,0.062,2940,3516,1863
$GC,13215,1.10,185.6,109.7,6.8,637,13219,0.00,2.45,0.00,0.000,6,0.000,0.051,2940,2142,1863
$GC,13536,1.10,185.6,84.9,9.5,653,13540,0.00,2.62,0.00,0.000,4,0.000,0.066,2940,679,1863
$GC,13580,1.10,185.6,80.1,11.2,655,13584,0.00,2.60,0.00,0.000,6,0.000,0.051,2940,2141,1863
$GC,13901,1.10,185.6,48.9,9.1,671,13905,0.00,2.45,0.00,0.000,4,0.000,0.061,2940,3513,1863
$GC,13968,1.10,185.6,42.7,9.1,674,13972,0.00,2.45,0.00,0.000,6,0.000,0.051,2940,2142,1863
$GC,14291,1.10,185.6,18.7,7.0,690,14292,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2141,1862
$STATE,14596,end climb,SURFACE_DEPTH_REACHED
$STATE,14597,begin surface coast
$FINISH,0.0,1.008742
$STATE,14618,end surface coast,CONTROL_FINISHED_OK
$STATE,14618,begin surface
$SM_CCo,14641,64.07,0.788,0,0,1397,300.00
$SM_GC,0.58,0.00,0.00,64.07,0.000,0.000,0.788,422,2183,1397,-10.48,0.90,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1664
$TCM_TEMP,17.50
$XPDR_PINGS,544
$ALTIM_TOP_PING,18.7,999.0
$24V_AH,23.9,20.434
$10V_AH,10.1,9.293
$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,24.225,127.225,255.475,64.075,0.000,37.763,27.426,163.441,139.250,0.000,0.000,14.795,1317.860,11271.243,467.351,1508.978,495.189,33.364,1210.781,0.000,1486.454,0.000,21.973
$DEVICE_MAMPS,139.594,90.506,1089.140,787.709,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,483.490,524.208,529.856,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34806,706
$CAP_FILE_SIZE,109317,0
$CFSIZE,254472192,245882880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,260608,201338,6148.501,-930.370,39,1.0,39,-9.6