version: 66.03
glider: 5
mission: 3
dive: 171
start: 7 15 108 12 39 3
data:
$ID,5
$MISSION,3
$DIVE,171
$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,-79786.883
$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,54
$R_STBD_OVSHOOT,24
$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
$GPS1,123038,6217.267,-850.423,27,1.4,27,-9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-54.8
$GPS2,123809,6217.261,-850.503,14,1.5,14,-9.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.082,-0.206
$KALMAN_X,-43310.9,-681.1,-1281.4,90931.6,18624.8
$KALMAN_Y,174444.9,-1830.7,-1225.6,-119502.8,25241.9
$MHEAD_RNG_PITCHd_Wd,211.0,69528,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.30,-117.3,0.0,0.0,0,138,0.00,0.00,-112.20,0.000,6,0.000,0.000,421,2126,3099
$GC,142,-1.30,-117.3,1.8,-1.4,5,158,10.27,2.58,0.00,0.000,4,0.137,0.056,2408,3564,3097
$GC,276,-0.96,-117.3,23.2,-13.5,10,281,0.40,2.47,0.00,0.000,6,0.095,0.046,2489,2171,3097
$GC,598,-0.88,-117.3,51.0,-8.4,26,603,0.00,2.53,0.00,0.000,4,0.000,0.058,2489,751,3097
$GC,694,-0.79,-117.3,59.8,-8.9,30,699,0.17,2.47,0.00,0.000,6,0.091,0.048,2526,2142,3097
$GC,1011,-0.79,-117.3,83.3,-7.6,45,1015,0.00,2.53,0.00,0.000,4,0.000,0.059,2526,3559,3097
$GC,1089,-0.79,-117.3,90.3,-8.9,48,1095,0.00,2.47,0.00,0.000,6,0.000,0.047,2526,2157,3097
$GC,1407,-0.84,-117.3,114.9,-7.5,64,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2157,3098
$GC,1715,-0.88,-117.3,133.9,-5.8,79,1719,0.00,2.55,0.00,0.000,4,0.000,0.060,2526,3564,3098
$GC,1727,-0.92,-117.3,134.6,-6.1,79,1734,0.12,2.50,0.00,0.000,6,0.051,0.050,2487,2160,3097
$GC,2043,-0.86,-117.3,161.4,-9.6,95,2045,0.12,0.00,0.00,0.000,6,0.094,0.000,2513,2158,3097
$GC,2352,-0.86,-117.3,189.8,-9.4,110,2356,0.00,2.55,0.00,0.000,4,0.000,0.064,2513,738,3097
$GC,2363,-0.86,-117.3,190.9,-9.3,110,2369,0.00,2.53,0.00,0.000,6,0.000,0.051,2513,2150,3097
$GC,2679,-0.86,-117.3,220.1,-9.3,126,2683,0.00,2.58,0.00,0.000,4,0.000,0.064,2513,746,3097
$GC,2745,-0.86,-117.3,226.9,-10.1,129,2750,0.00,2.50,0.00,0.000,6,0.000,0.052,2513,2140,3097
$GC,3067,-0.86,-117.3,254.9,-8.3,145,3071,0.00,2.58,0.00,0.000,4,0.000,0.064,2514,738,3096
$GC,3085,-0.86,-117.3,256.4,-8.2,146,3090,0.00,2.53,0.00,0.000,6,0.000,0.053,2513,2149,3096
$GC,3412,-0.86,-117.3,282.4,-7.9,162,3417,0.00,2.58,0.00,0.000,4,0.000,0.064,2513,743,3096
$GC,3440,-0.86,-117.3,285.0,-8.6,163,3444,0.00,2.50,0.00,0.000,6,0.000,0.054,2513,2132,3096
$GC,3756,-0.86,-117.3,312.3,-8.8,178,3760,0.00,2.55,0.00,0.000,4,0.000,0.064,2513,739,3096
$GC,3766,-0.86,-117.3,313.2,-8.3,178,3772,0.00,2.50,0.00,0.000,6,0.000,0.053,2513,2130,3096
$GC,4083,-0.86,-117.3,336.1,-7.4,194,4087,0.00,2.53,0.00,0.000,4,0.000,0.064,2513,743,3096
$GC,4133,-0.86,-117.3,340.0,-7.6,196,4137,0.00,2.47,0.00,0.000,6,0.000,0.054,2513,2117,3095
$GC,4450,-1.35,-117.3,355.1,-0.1,211,4455,0.43,2.53,0.00,0.000,4,0.040,0.064,2396,743,3095
$GC,4478,-1.69,-117.3,355.0,0.6,212,4483,0.30,2.47,0.00,0.000,6,0.042,0.055,2319,2118,3095
$GC,4795,-1.89,-117.3,355.1,-0.0,227,4797,0.12,0.00,0.00,0.000,6,0.051,0.000,2278,2117,3095
$STATE,5018,end dive,NO_VERTICAL_VELOCITY
$STATE,5018,begin apogee
$GC,5025,-0.33,0.0,355.0,0.0,238,5124,1.60,0.00,95.05,1.034,6,0.071,0.000,2625,2117,2620
$STATE,5125,end apogee,CONTROL_FINISHED_OK
$STATE,5125,begin climb
$GC,5128,1.30,117.3,354.9,0.0,243,5232,1.62,2.60,94.25,1.002,4,0.067,0.064,2977,3511,2141
$GC,5278,1.30,117.3,345.2,8.5,250,5282,0.00,2.55,0.00,0.000,6,0.000,0.052,2977,2095,2140
$GC,5604,1.30,117.3,316.7,8.6,266,5609,0.00,2.62,0.00,0.000,4,0.000,0.063,2977,3514,2139
$GC,5655,1.30,117.3,311.7,9.6,268,5659,0.00,2.53,0.00,0.000,6,0.000,0.051,2977,2115,2139
$GC,5971,1.30,117.3,281.7,9.7,283,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2116,2139
$GC,6280,1.31,121.6,254.7,7.8,298,6289,0.00,2.58,4.78,0.703,4,0.000,0.062,2977,3508,2124
$GC,6364,1.31,121.6,247.3,8.9,302,6368,0.00,2.50,0.00,0.000,6,0.000,0.053,2977,2123,2124
$GC,6691,1.31,123.5,221.8,7.9,318,6695,0.00,2.55,0.00,0.000,4,0.000,0.064,2977,3507,2123
$GC,6746,1.31,123.5,216.9,9.1,320,6752,0.00,2.47,0.00,0.000,6,0.000,0.051,2977,2130,2123
$GC,7062,1.31,123.5,190.1,8.5,336,7064,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2130,2123
$GC,7371,1.32,125.3,164.6,7.9,351,7381,0.00,2.53,4.70,0.674,4,0.000,0.061,2977,3508,2109
$GC,7471,1.32,125.3,156.4,8.5,355,7477,0.00,2.45,0.00,0.000,6,0.000,0.050,2977,2141,2109
$GC,7788,1.32,125.3,130.5,8.5,371,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2141,2109
$GC,8096,1.32,125.3,103.8,8.7,386,8100,0.00,2.50,0.00,0.000,4,0.000,0.061,2977,3516,2109
$GC,8174,1.32,125.3,96.1,9.8,389,8181,0.00,2.42,0.00,0.000,6,0.000,0.051,2977,2161,2109
$GC,8491,1.32,125.3,66.9,9.2,405,8492,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2161,2109
$GC,8800,1.37,125.3,39.8,8.5,420,8804,0.00,2.45,0.00,0.000,4,0.000,0.059,2977,3513,2109
$GC,8923,1.37,125.3,28.7,9.4,425,8929,0.00,2.40,0.00,0.000,6,0.000,0.050,2977,2170,2109
$GC,9240,1.37,127.3,3.6,7.9,441,9244,0.00,2.65,0.00,0.000,4,0.000,0.062,2977,681,2109
$STATE,9254,end climb,SURFACE_DEPTH_REACHED
$STATE,9254,begin surface coast
$FINISH,0.0,1.027001
$STATE,9277,end surface coast,CONTROL_FINISHED_OK
$STATE,9277,begin surface
$SM_CCo,9302,246.45,0.773,0,0,390,547.02
$SM_GC,0.45,0.00,0.00,246.45,0.000,0.000,0.773,422,2172,390,-10.48,0.59,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1668
$TCM_TEMP,17.40
$XPDR_PINGS,330
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,24.0,34.488
$10V_AH,10.1,16.669
$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,26.200,95.925,198.775,246.450,0.000,75.524,58.387,145.475,85.000,0.000,0.000,14.067,869.320,7008.613,607.546,1040.300,484.873,33.350,1144.902,0.000,1025.604,0.000,17.127
$DEVICE_MAMPS,137.293,64.428,1033.916,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,302.462,329.863,391.212,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22285,443
$CAP_FILE_SIZE,78887,0
$CFSIZE,254472192,240418816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,150708,151932,6216.475,-851.576,39,1.5,39,-9.4