version: 66.03
glider: 5
mission: 3
dive: 172
start: 7 15 108 15 25 6
data:
$ID,5
$MISSION,3
$DIVE,172
$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,-79802.406
$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
$GPS1,151932,6216.475,-851.576,39,1.5,39,-9.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-53.1
$GPS2,152415,6216.506,-851.584,14,1.5,14,-9.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.075,-0.209
$KALMAN_X,-44845.9,-871.1,-860.5,91288.3,14657.8
$KALMAN_Y,174602.9,-1856.7,-593.5,-121687.3,22938.2
$MHEAD_RNG_PITCHd_Wd,209.0,67933,-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,-112.18,0.000,6,0.000,0.000,423,2162,3098
$GC,143,-1.30,-117.3,1.8,-1.6,5,158,10.27,2.53,0.00,0.000,4,0.137,0.056,2409,3564,3097
$GC,312,-0.98,-117.3,26.9,-13.0,11,319,0.35,2.53,0.00,0.000,6,0.097,0.046,2482,2137,3097
$GC,630,-0.89,-117.3,57.7,-9.6,27,632,0.12,0.00,0.00,0.000,6,0.097,0.000,2508,2135,3097
$GC,938,-0.89,-117.3,85.2,-9.8,42,942,0.00,2.60,0.00,0.000,4,0.000,0.058,2508,3564,3097
$GC,965,-0.89,-117.3,88.1,-10.1,43,969,0.00,2.50,0.00,0.000,6,0.000,0.048,2508,2156,3097
$GC,1281,-0.89,-117.3,120.5,-10.1,58,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2156,3098
$GC,1590,-0.89,-117.3,152.8,-10.1,73,1594,0.00,2.53,0.00,0.000,4,0.000,0.063,2508,745,3097
$GC,1640,-0.89,-117.3,157.9,-10.3,75,1644,0.00,2.53,0.00,0.000,6,0.000,0.051,2508,2152,3097
$GC,1956,-0.89,-117.3,185.9,-8.1,90,1960,0.00,2.58,0.00,0.000,4,0.000,0.062,2508,744,3097
$GC,2022,-0.89,-117.3,191.5,-8.3,93,2026,0.00,2.50,0.00,0.000,6,0.000,0.052,2508,2137,3097
$GC,2344,-0.89,-117.3,216.1,-7.3,109,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2135,3097
$GC,2652,-0.89,-117.3,238.7,-7.1,124,2657,0.00,2.55,0.00,0.000,4,0.000,0.063,2508,743,3097
$GC,2686,-0.89,-117.3,241.3,-7.8,125,2692,0.00,2.47,0.00,0.000,6,0.000,0.052,2508,2123,3097
$GC,3003,-0.89,-117.3,264.5,-7.6,141,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2124,3097
$GC,3312,-0.89,-117.3,287.2,-7.1,156,3316,0.00,2.58,0.00,0.000,4,0.000,0.064,2508,3557,3097
$GC,3324,-0.89,-117.3,288.0,-6.9,156,3330,0.00,2.58,0.00,0.000,6,0.000,0.053,2508,2121,3097
$GC,3640,-0.89,-117.3,309.6,-6.9,172,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2121,3096
$GC,3949,-0.89,-117.3,330.0,-6.5,187,3953,0.00,2.45,0.00,0.000,4,0.000,0.066,2507,745,3096
$GC,4033,-0.89,-117.3,336.0,-7.5,190,4040,0.00,2.45,0.00,0.000,6,0.000,0.054,2508,2116,3096
$GC,4350,-0.89,-117.3,357.4,-6.6,206,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2116,3095
$GC,4659,-1.36,-117.3,358.8,0.0,221,4665,0.43,2.60,0.00,0.000,4,0.039,0.066,2392,3554,3095
$GC,4678,-1.81,-117.3,358.8,0.1,222,4683,0.40,2.58,0.00,0.000,6,0.040,0.054,2289,2124,3095
$GC,5006,-2.15,-117.3,358.9,0.0,238,5011,0.22,2.62,0.00,0.000,4,0.044,0.067,2223,3555,3095
$GC,5017,-2.49,-117.3,358.9,0.0,238,5024,0.30,2.58,0.00,0.000,6,0.040,0.053,2143,2119,3095
$STATE,5062,end dive,NO_VERTICAL_VELOCITY
$STATE,5063,begin apogee
$GC,5070,-0.33,0.0,358.8,0.0,241,5170,2.20,0.00,95.40,1.043,6,0.060,0.000,2630,2119,2620
$STATE,5171,end apogee,CONTROL_FINISHED_OK
$STATE,5171,begin climb
$GC,5174,1.30,117.3,358.7,0.0,246,5277,1.60,2.65,94.57,1.013,4,0.064,0.064,2979,683,2140
$GC,5361,1.30,117.3,343.4,9.8,254,5367,0.00,2.58,0.00,0.000,6,0.000,0.054,2980,2103,2140
$GC,5676,1.30,117.3,315.3,9.2,270,5681,0.00,2.55,0.00,0.000,4,0.000,0.064,2979,3511,2140
$GC,5772,1.30,117.3,305.8,9.8,274,5776,0.00,2.53,0.00,0.000,6,0.000,0.051,2980,2114,2139
$GC,6088,1.30,117.3,274.6,10.9,289,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2114,2138
$GC,6397,1.30,117.3,242.3,10.4,304,6401,0.00,2.58,0.00,0.000,4,0.000,0.062,2979,3509,2139
$GC,6514,1.30,117.3,229.3,10.7,309,6519,0.00,2.50,0.00,0.000,6,0.000,0.052,2980,2123,2138
$GC,6830,1.30,117.3,196.6,10.3,324,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2123,2138
$GC,7139,1.30,117.3,163.8,10.4,339,7143,0.00,2.53,0.00,0.000,4,0.000,0.062,2980,3508,2138
$GC,7247,1.30,117.3,152.6,10.5,344,7251,0.00,2.42,0.00,0.000,6,0.000,0.050,2980,2142,2138
$GC,7575,1.30,117.3,121.3,9.3,360,7579,0.00,2.60,0.00,0.000,4,0.000,0.064,2980,691,2138
$GC,7619,1.30,117.3,117.0,8.7,362,7623,0.00,2.62,0.00,0.000,6,0.000,0.053,2980,2154,2138
$GC,7940,1.30,117.3,90.3,8.2,378,7944,0.00,2.42,0.00,0.000,4,0.000,0.061,2980,3509,2137
$GC,8053,1.31,118.4,80.8,7.9,383,8057,0.00,2.40,0.00,0.000,6,0.000,0.049,2980,2165,2138
$GC,8375,1.35,144.3,57.2,6.8,399,8404,0.00,2.75,21.77,0.817,4,0.000,0.061,2980,690,2031
$GC,8450,1.35,148.5,51.6,7.8,402,8462,0.00,2.67,5.18,0.645,6,0.000,0.051,2980,2177,2013
$GC,8774,1.44,161.1,28.7,7.4,418,8796,0.15,2.47,11.48,0.761,4,0.045,0.059,3028,3508,1962
$GC,8949,1.37,161.1,9.7,11.2,425,8956,0.17,2.35,0.00,0.000,6,0.087,0.051,2995,2204,1962
$STATE,9035,end climb,SURFACE_DEPTH_REACHED
$STATE,9035,begin surface coast
$FINISH,-0.1,1.006011
$STATE,9059,end surface coast,CONTROL_FINISHED_OK
$STATE,9059,begin surface
$SM_CCo,9081,227.18,0.776,0,0,390,547.02
$SM_GC,0.41,0.00,0.00,227.18,0.000,0.000,0.776,424,2192,390,-10.47,1.19,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1666
$TCM_TEMP,17.40
$XPDR_PINGS,344
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,24.0,34.621
$10V_AH,10.1,16.720
$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,27.325,86.350,228.400,227.175,0.000,37.758,26.487,113.111,88.500,0.000,0.000,14.898,850.094,6716.666,606.845,1051.787,375.076,33.354,1150.195,0.000,1033.334,0.000,17.132
$DEVICE_MAMPS,136.526,67.496,1043.120,776.204,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,293.927,319.212,365.345,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22305,431
$CAP_FILE_SIZE,75720,0
$CFSIZE,254472192,240386048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,150708,180137,6216.854,-851.066,37,2.0,42,-9.4