version: 66.03
glider: 5
mission: 3
dive: 170
start: 7 15 108 9 40 55
data:
$ID,5
$MISSION,3
$DIVE,170
$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,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,600
$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,547.01898
$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,-79772.188
$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,24
$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
$GPS1,093531,6218.230,-850.589,36,1.5,42,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-50.5
$GPS2,094003,6218.235,-850.526,13,1.9,13,-9.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.079,-0.207
$KALMAN_X,-43033.4,-1111.7,-481.6,90238.6,21367.7
$KALMAN_Y,176664.5,-2389.1,-1961.6,-118614.3,34434.6
$MHEAD_RNG_PITCHd_Wd,210.2,71266,-16.7,-8.000
$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,-1.30,-117.3,0.0,0.0,0,139,0.00,0.00,-111.97,0.000,6,0.000,0.000,417,2171,3100
$GC,143,-1.30,-117.3,1.8,-1.5,5,158,10.27,2.50,0.00,0.000,4,0.137,0.057,2406,3561,3099
$GC,164,0.18,-117.3,8.2,-16.7,5,172,1.58,2.55,0.00,0.000,6,0.090,0.049,2735,2142,3098
$GC,492,-0.62,-117.3,25.1,-3.9,21,497,0.75,2.60,0.00,0.000,4,0.044,0.058,2556,3565,3099
$GC,515,-0.95,-117.3,26.3,-4.8,22,521,0.28,2.50,0.00,0.000,6,0.041,0.046,2479,2160,3099
$GC,838,-0.84,-117.3,58.7,-11.2,38,843,0.15,2.53,0.00,0.000,4,0.091,0.059,2515,748,3099
$GC,849,-0.74,-117.3,60.3,-11.2,38,856,0.12,2.47,0.00,0.000,6,0.093,0.048,2540,2151,3099
$GC,1166,-0.82,-117.3,92.2,-10.2,54,1170,0.00,2.58,0.00,0.000,4,0.000,0.061,2540,741,3099
$GC,1194,-0.89,-117.3,95.2,-10.2,55,1199,0.15,2.55,0.00,0.000,6,0.050,0.049,2496,2168,3099
$GC,1512,-0.85,-117.3,127.2,-9.8,70,1516,0.00,2.50,0.00,0.000,4,0.000,0.060,2496,3565,3098
$GC,1522,-0.80,-117.3,128.6,-9.9,70,1529,0.12,2.47,0.00,0.000,6,0.094,0.048,2522,2167,3098
$GC,1839,-0.80,-117.3,154.6,-7.9,86,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2166,3098
$GC,2149,-0.84,-117.3,176.9,-6.7,101,2153,0.00,2.53,0.00,0.000,4,0.000,0.061,2523,3557,3098
$GC,2159,-0.84,-117.3,177.5,-6.3,101,2165,0.00,2.45,0.00,0.000,6,0.000,0.049,2522,2181,3098
$GC,2476,-0.88,-117.3,197.4,-5.8,117,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2181,3098
$GC,2785,-0.93,-117.3,213.4,-5.0,132,2787,0.12,0.00,0.00,0.000,6,0.052,0.000,2484,2180,3098
$GC,3095,-0.86,-117.3,232.2,-5.8,147,3099,0.12,2.58,0.00,0.000,4,0.094,0.064,2510,745,3098
$GC,3128,-0.86,-117.3,234.1,-5.2,148,3134,0.00,2.55,0.00,0.000,6,0.000,0.052,2510,2165,3098
$GC,3446,-0.86,-117.3,250.3,-5.7,164,3451,0.00,2.60,0.00,0.000,4,0.000,0.064,2510,745,3098
$GC,3469,-0.86,-117.3,251.8,-5.5,165,3473,0.00,2.55,0.00,0.000,6,0.000,0.053,2510,2166,3098
$GC,3791,-0.86,-117.3,270.2,-6.5,181,3796,0.00,2.60,0.00,0.000,4,0.000,0.064,2511,744,3097
$GC,3836,-0.86,-117.3,273.7,-7.9,183,3841,0.00,2.53,0.00,0.000,6,0.000,0.053,2511,2151,3097
$GC,4159,-0.86,-117.3,296.8,-7.4,199,4163,0.00,2.58,0.00,0.000,4,0.000,0.064,2511,745,3098
$GC,4191,-0.86,-117.3,299.7,-8.9,200,4199,0.00,2.50,0.00,0.000,6,0.000,0.054,2511,2137,3097
$GC,4508,-0.86,-117.3,320.1,-6.9,216,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2137,3097
$GC,4818,-0.86,-117.3,341.6,-6.9,231,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2137,3096
$GC,5127,-1.34,-117.3,356.1,-0.1,246,5132,0.43,2.58,0.00,0.000,4,0.044,0.065,2396,737,3096
$GC,5385,-1.65,-117.3,355.9,0.4,257,5392,0.25,2.53,0.00,0.000,6,0.042,0.053,2329,2148,3096
$STATE,5698,end dive,NO_VERTICAL_VELOCITY
$STATE,5698,begin apogee
$GC,5706,-0.33,0.0,356.0,0.0,273,5804,1.35,0.00,94.90,1.039,6,0.064,0.000,2625,2071,2619
$STATE,5805,end apogee,CONTROL_FINISHED_OK
$STATE,5805,begin climb
$GC,5808,1.30,117.3,355.9,0.0,278,5912,1.62,2.65,94.25,1.007,4,0.068,0.063,2977,3504,2140
$GC,6020,1.30,117.3,340.8,8.3,287,6026,0.00,2.50,0.00,0.000,6,0.000,0.051,2977,2121,2140
$GC,6336,1.30,117.3,312.9,9.1,303,6340,0.00,2.58,0.00,0.000,4,0.000,0.064,2978,3509,2139
$GC,6408,1.30,117.3,306.0,10.5,306,6412,0.00,2.50,0.00,0.000,6,0.000,0.051,2977,2122,2139
$GC,6725,1.32,126.2,278.6,7.6,321,6739,0.00,2.60,8.50,0.851,4,0.000,0.064,2977,3500,2105
$GC,6802,1.32,126.2,272.2,8.4,324,6806,0.00,2.47,0.00,0.000,6,0.000,0.051,2977,2134,2104
$GC,7117,1.32,126.2,245.3,8.9,339,7118,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2134,2103
$GC,7427,1.32,126.2,218.7,8.3,354,7431,0.00,2.53,0.00,0.000,4,0.000,0.062,2977,3505,2103
$GC,7505,1.32,126.2,211.5,8.8,357,7511,0.00,2.42,0.00,0.000,6,0.000,0.051,2977,2152,2103
$GC,7820,1.32,126.2,183.4,9.5,373,7821,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2152,2103
$GC,8130,1.32,126.2,156.8,8.4,388,8134,0.00,2.47,0.00,0.000,4,0.000,0.062,2977,3508,2103
$GC,8192,1.32,126.2,151.4,8.9,391,8196,0.00,2.42,0.00,0.000,6,0.000,0.051,2977,2154,2103
$GC,8519,1.32,126.2,121.0,9.3,407,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2154,2103
$GC,8829,1.32,126.2,91.9,9.4,422,8833,0.00,2.47,0.00,0.000,4,0.000,0.061,2977,3514,2103
$GC,8907,1.32,126.2,84.2,10.0,425,8913,0.00,2.42,0.00,0.000,6,0.000,0.050,2977,2157,2103
$GC,9225,1.37,126.2,55.4,8.9,441,9229,0.00,2.45,0.00,0.000,4,0.000,0.060,2977,3508,2103
$GC,9326,1.42,126.2,46.2,9.0,445,9333,0.15,2.35,0.00,0.000,6,0.045,0.049,3020,2188,2103
$GC,9642,1.36,126.2,16.6,9.4,461,9647,0.15,2.67,0.00,0.000,4,0.087,0.061,2988,691,2103
$GC,9755,1.36,126.2,6.7,8.9,466,9759,0.00,2.67,0.00,0.000,6,0.000,0.051,2988,2190,2103
$STATE,9825,end climb,SURFACE_DEPTH_REACHED
$STATE,9825,begin surface coast
$FINISH,-0.2,1.023424
$STATE,9847,end surface coast,CONTROL_FINISHED_OK
$STATE,9847,begin surface
$SM_CCo,9870,244.77,0.769,0,0,390,547.02
$SM_GC,0.30,0.00,0.00,244.77,0.000,0.000,0.769,421,2131,390,-10.48,-0.54,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1667
$TCM_TEMP,17.50
$XPDR_PINGS,381
$ALTIM_TOP_PING,18.5,999.0
$24V_AH,24.0,34.353
$10V_AH,10.1,16.615
$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,28.725,96.225,197.650,244.775,0.000,37.759,28.295,103.553,97.750,0.000,0.000,15.638,923.176,7387.565,612.943,1098.572,376.115,33.358,1176.253,0.000,1082.763,0.000,17.138
$DEVICE_MAMPS,136.526,65.195,1038.518,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,321.484,346.149,387.852,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22192,471
$CAP_FILE_SIZE,82809,0
$CFSIZE,254472192,240451584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,150708,123038,6217.267,-850.423,27,1.4,27,-9.4