version: 66.03
glider: 5
mission: 3
dive: 173
start: 7 15 108 18 7 26
data:
$ID,5
$MISSION,3
$DIVE,173
$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,-79840.062
$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,25
$R_STBD_OVSHOOT,21
$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
$GPS1,180137,6216.854,-851.066,37,2.0,42,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-53.9
$GPS2,180634,6216.929,-850.967,15,2.1,34,-9.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.069,-0.211
$KALMAN_X,-44350.0,-1398.0,-139.1,91122.1,13624.7
$KALMAN_Y,178318.7,-1690.8,-859.1,-124533.4,28445.9
$MHEAD_RNG_PITCHd_Wd,207.6,68829,-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,-117.3,0.0,0.0,0,138,0.00,0.00,-111.57,0.000,6,0.000,0.000,424,2184,3100
$GC,142,-1.30,-117.3,2.0,-1.8,5,157,10.32,2.47,0.00,0.000,4,0.140,0.056,2409,3560,3099
$GC,325,-0.97,-117.3,31.3,-13.9,12,331,0.38,2.50,0.00,0.000,6,0.097,0.046,2486,2142,3098
$GC,642,-0.88,-117.3,55.1,-7.8,27,647,0.10,2.58,0.00,0.000,4,0.098,0.058,2507,3564,3098
$GC,653,-0.80,-117.3,55.9,-7.5,27,660,0.00,2.50,0.00,0.000,6,0.000,0.046,2507,2152,3098
$GC,970,-0.80,-117.3,82.3,-8.4,43,974,0.00,2.55,0.00,0.000,4,0.000,0.058,2507,3563,3098
$GC,982,-0.80,-117.3,83.2,-7.9,43,988,0.00,2.53,0.00,0.000,6,0.000,0.047,2507,2140,3098
$GC,1299,-0.80,-117.3,107.4,-7.3,59,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2140,3098
$GC,1610,-0.80,-117.3,130.0,-7.6,74,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2140,3099
$GC,1917,-0.80,-117.3,153.1,-7.2,89,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2138,3098
$GC,2226,-0.80,-117.3,174.5,-6.9,104,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2138,3098
$GC,2536,-0.80,-117.3,195.6,-6.5,119,2540,0.00,2.50,0.00,0.000,4,0.000,0.065,2507,748,3098
$GC,2553,-0.80,-117.3,196.8,-6.3,120,2557,0.00,2.47,0.00,0.000,6,0.000,0.051,2507,2134,3098
$GC,2880,-0.80,-117.3,214.9,-5.8,136,2885,0.00,2.53,0.00,0.000,4,0.000,0.062,2507,750,3098
$GC,2899,-0.80,-117.3,216.0,-6.2,137,2903,0.00,2.47,0.00,0.000,6,0.000,0.053,2507,2132,3098
$GC,3225,-0.80,-117.3,237.7,-6.7,153,3230,0.00,2.53,0.00,0.000,4,0.000,0.063,2507,749,3098
$GC,3266,-0.80,-117.3,240.5,-6.6,155,3270,0.00,2.45,0.00,0.000,6,0.000,0.053,2507,2117,3097
$GC,3594,-0.80,-117.3,263.5,-7.2,171,3598,0.00,2.50,0.00,0.000,4,0.000,0.063,2507,750,3097
$GC,3605,-0.80,-117.3,264.4,-7.2,171,3611,0.00,2.45,0.00,0.000,6,0.000,0.053,2507,2115,3097
$GC,3921,-0.80,-117.3,292.7,-9.6,187,3925,0.00,2.50,0.00,0.000,4,0.000,0.064,2507,742,3097
$GC,3970,-0.80,-117.3,297.4,-9.3,189,3975,0.00,2.42,0.00,0.000,6,0.000,0.054,2507,2092,3097
$GC,4287,-0.80,-117.3,321.2,-6.9,204,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2092,3097
$GC,4596,-0.80,-117.3,341.6,-7.1,219,4601,0.00,2.65,0.00,0.000,4,0.000,0.066,2507,3559,3096
$GC,4664,-0.80,-117.3,347.1,-7.4,222,4668,0.00,2.60,0.00,0.000,6,0.000,0.051,2507,2101,3096
$GC,4985,-1.23,-117.3,350.9,0.0,238,4990,0.30,2.67,0.00,0.000,4,0.041,0.067,2420,3557,3096
$GC,5245,-1.64,-117.3,350.9,0.1,249,5252,0.35,2.58,0.00,0.000,6,0.039,0.050,2330,2100,3095
$STATE,5414,end dive,NO_VERTICAL_VELOCITY
$STATE,5414,begin apogee
$GC,5421,-0.33,0.0,351.0,0.0,258,5520,1.35,0.00,95.35,1.038,6,0.061,0.000,2626,2088,2620
$STATE,5521,end apogee,CONTROL_FINISHED_OK
$STATE,5521,begin climb
$GC,5524,1.30,117.3,350.6,0.0,263,5627,1.62,2.62,94.45,1.006,4,0.066,0.069,2980,692,2140
$GC,5706,1.30,117.3,337.9,8.5,271,5711,0.00,2.55,0.00,0.000,6,0.000,0.054,2980,2099,2140
$GC,6023,1.30,117.3,311.5,8.7,286,6027,0.00,2.55,0.00,0.000,4,0.000,0.064,2980,3512,2139
$GC,6213,1.30,117.3,294.6,8.1,294,6219,0.00,2.53,0.00,0.000,6,0.000,0.053,2980,2120,2139
$GC,6529,1.33,132.7,271.0,7.3,310,6548,0.00,0.00,13.80,0.913,6,0.000,0.000,2980,2120,2077
$GC,6858,1.35,144.8,245.8,7.4,326,6875,0.00,2.58,11.18,0.890,4,0.000,0.062,2980,3507,2028
$GC,6966,1.35,144.8,237.4,8.2,330,6970,0.00,2.47,0.00,0.000,6,0.000,0.051,2980,2135,2027
$GC,7293,1.35,145.5,211.8,8.0,346,7297,0.00,2.60,0.00,0.000,4,0.000,0.066,2980,689,2027
$GC,7348,1.35,145.5,207.1,8.4,348,7354,0.00,2.62,0.00,0.000,6,0.000,0.054,2980,2145,2027
$GC,7664,1.35,145.5,181.9,8.2,364,7668,0.00,2.45,0.00,0.000,4,0.000,0.063,2980,3512,2027
$GC,7743,1.35,145.5,174.6,9.3,367,7747,0.00,2.47,0.00,0.000,6,0.000,0.051,2980,2139,2027
$GC,8059,1.39,145.5,148.1,8.5,382,8064,0.10,2.50,0.00,0.000,4,0.054,0.061,3014,3512,2026
$GC,8116,1.33,145.5,142.4,10.3,384,8123,0.15,2.42,0.00,0.000,6,0.089,0.051,2985,2161,2026
$GC,8432,1.33,145.5,115.8,8.6,400,8433,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2162,2026
$GC,8741,1.33,145.5,85.7,10.6,415,8745,0.00,2.45,0.00,0.000,4,0.000,0.061,2985,3509,2026
$GC,8796,1.33,145.5,79.5,11.5,417,8802,0.00,2.40,0.00,0.000,6,0.000,0.051,2985,2168,2026
$GC,9114,1.38,145.5,47.7,9.2,433,9118,0.00,2.65,0.00,0.000,4,0.000,0.064,2985,688,2027
$GC,9181,1.38,145.5,41.5,9.1,436,9185,0.00,2.65,0.00,0.000,6,0.000,0.051,2985,2178,2026
$GC,9503,1.42,171.2,18.0,6.8,452,9530,0.10,2.42,21.48,0.789,4,0.053,0.058,3017,3508,1921
$GC,9614,1.42,171.2,6.3,11.8,457,9618,0.00,2.40,0.00,0.000,6,0.000,0.050,3017,2180,1921
$STATE,9664,end climb,SURFACE_DEPTH_REACHED
$STATE,9664,begin surface coast
$FINISH,-0.0,1.013435
$STATE,9686,end surface coast,CONTROL_FINISHED_OK
$STATE,9686,begin surface
$SM_CCo,9709,221.75,0.775,0,0,390,547.02
$SM_GC,0.45,0.00,0.00,221.75,0.000,0.000,0.775,425,2165,390,-10.47,0.48,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1670
$TCM_TEMP,17.40
$XPDR_PINGS,376
$ALTIM_TOP_PING,19.4,999.0
$24V_AH,24.0,34.756
$10V_AH,10.1,16.775
$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,26.050,95.800,236.250,221.750,0.000,37.758,29.790,106.049,96.500,0.000,0.000,37.029,912.878,7164.533,613.608,1165.160,382.352,33.351,1196.421,0.000,1126.425,0.000,17.123
$DEVICE_MAMPS,139.594,69.030,1037.751,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,314.561,339.900,389.448,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22242,461
$CAP_FILE_SIZE,81111,0
$CFSIZE,254472192,240345088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,150708,205408,6217.014,-848.464,30,1.5,30,-9.4