version: 66.03
glider: 5
mission: 3
dive: 174
start: 7 15 108 21 3 10
data:
$ID,5
$MISSION,3
$DIVE,174
$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,-79875.336
$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,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
$GPS1,205408,6217.014,-848.464,30,1.5,30,-9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-48.4
$GPS2,210220,6217.002,-848.163,17,1.9,34,-9.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.083,-0.206
$KALMAN_X,-40971.5,-1465.1,-567.2,90682.3,18100.7
$KALMAN_Y,180399.3,-1251.1,-1112.6,-126650.4,27600.3
$MHEAD_RNG_PITCHd_Wd,211.4,69629,-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,-112.10,0.000,6,0.000,0.000,425,2149,3099
$GC,143,-1.30,-117.3,1.9,-1.4,5,159,10.32,2.53,0.00,0.000,4,0.140,0.058,2409,3558,3098
$GC,412,-0.97,-117.3,40.4,-10.9,16,417,0.38,2.50,0.00,0.000,6,0.097,0.045,2486,2143,3097
$GC,735,-0.88,-117.3,65.7,-8.3,32,737,0.10,0.00,0.00,0.000,6,0.099,0.000,2507,2142,3097
$GC,1045,-0.88,-117.3,91.9,-9.4,47,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2140,3097
$GC,1352,-0.88,-117.3,123.1,-9.1,62,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2138,3097
$GC,1663,-0.88,-117.3,151.2,-8.8,77,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2136,3097
$GC,1970,-0.88,-117.3,178.0,-8.8,92,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2135,3097
$GC,2280,-0.88,-117.3,206.3,-9.3,107,2284,0.00,2.50,0.00,0.000,4,0.000,0.063,2507,749,3097
$GC,2297,-0.88,-117.3,207.8,-9.3,108,2301,0.00,2.50,0.00,0.000,6,0.000,0.052,2507,2145,3097
$GC,2623,-0.88,-117.3,236.3,-8.2,124,2628,0.00,2.55,0.00,0.000,4,0.000,0.064,2507,744,3096
$GC,2698,-0.88,-117.3,242.6,-8.8,127,2702,0.00,2.47,0.00,0.000,6,0.000,0.054,2507,2123,3096
$GC,3014,-0.88,-117.3,266.1,-6.5,142,3018,0.00,2.53,0.00,0.000,4,0.000,0.064,2507,744,3096
$GC,3025,-0.88,-117.3,266.7,-6.2,142,3031,0.00,2.47,0.00,0.000,6,0.000,0.053,2507,2123,3096
$GC,3341,-0.88,-117.3,287.2,-7.0,158,3345,0.00,2.58,0.00,0.000,4,0.000,0.065,2507,3557,3096
$GC,3381,-0.88,-117.3,290.2,-7.7,160,3386,0.00,2.50,0.00,0.000,6,0.000,0.052,2507,2156,3096
$GC,3710,-0.94,-117.3,312.3,-7.8,176,3714,0.00,2.58,0.00,0.000,4,0.000,0.065,2507,3566,3096
$GC,3967,-1.39,-117.3,312.3,-0.2,187,3974,0.47,2.50,0.00,0.000,6,0.036,0.051,2384,2140,3095
$GC,4284,-1.68,-117.3,312.3,-0.0,203,4289,0.20,2.58,0.00,0.000,4,0.047,0.064,2325,3566,3095
$STATE,4331,end dive,NO_VERTICAL_VELOCITY
$STATE,4331,begin apogee
$GC,4341,-0.33,0.0,312.3,0.0,205,4441,1.35,0.00,95.60,1.009,6,0.070,0.000,2619,2094,2619
$STATE,4441,end apogee,CONTROL_FINISHED_OK
$STATE,4442,begin climb
$GC,4445,1.30,117.3,312.1,0.0,210,4548,1.67,2.65,94.40,0.979,4,0.072,0.067,2978,687,2140
$GC,4800,1.30,117.3,282.7,9.2,226,4804,0.00,2.55,0.00,0.000,6,0.000,0.054,2978,2106,2140
$GC,5121,1.32,124.5,257.9,7.7,242,5135,0.00,2.62,7.25,0.805,4,0.000,0.064,2978,3506,2112
$GC,5245,1.32,124.5,248.1,8.1,247,5249,0.00,2.53,0.00,0.000,6,0.000,0.053,2978,2113,2111
$GC,5561,1.35,145.4,225.5,7.0,262,5585,0.00,2.65,17.85,0.910,4,0.000,0.062,2978,3509,2027
$GC,5627,1.41,149.8,220.5,7.8,265,5638,0.12,2.53,5.50,0.728,6,0.055,0.053,3015,2118,2009
$GC,5957,1.35,149.8,188.8,9.8,281,5962,0.00,2.58,0.00,0.000,4,0.000,0.066,3015,688,2008
$GC,5998,1.29,149.8,184.4,10.7,283,6004,0.17,2.60,0.00,0.000,6,0.088,0.053,2981,2131,2008
$GC,6326,1.33,149.8,157.4,8.2,299,6330,0.00,2.47,0.00,0.000,4,0.000,0.061,2981,3509,2008
$GC,6433,1.38,149.8,148.3,8.4,304,6438,0.00,2.45,0.00,0.000,6,0.000,0.051,2981,2140,2007
$GC,6761,1.43,149.8,122.7,8.3,320,6766,0.12,2.62,0.00,0.000,4,0.050,0.064,3018,680,2007
$GC,6806,1.36,149.8,118.0,10.7,322,6811,0.12,2.65,0.00,0.000,6,0.094,0.051,2996,2162,2007
$GC,7128,1.36,149.8,88.3,9.7,338,7132,0.00,2.42,0.00,0.000,4,0.000,0.061,2996,3512,2007
$GC,7200,1.36,149.8,80.1,11.0,341,7204,0.00,2.45,0.00,0.000,6,0.000,0.051,2996,2149,2007
$GC,7516,1.36,149.8,47.1,10.5,356,7520,0.00,2.47,0.00,0.000,4,0.000,0.061,2996,3510,2007
$GC,7594,1.36,149.8,38.2,11.4,359,7600,0.00,2.38,0.00,0.000,6,0.000,0.049,2996,2181,2007
$GC,7910,1.36,149.8,9.3,8.6,375,7915,0.00,2.67,0.00,0.000,4,0.000,0.064,2995,687,2007
$GC,7983,1.36,149.8,2.1,10.4,378,7987,0.00,2.12,0.00,0.000,3,0.000,0.048,2996,1886,2007
$STATE,7988,end climb,SURFACE_DEPTH_REACHED
$STATE,7988,begin surface coast
$FINISH,0.9,1.027012
$STATE,7994,end surface coast,CONTROL_FINISHED_OK
$STATE,7994,begin surface
$SM_CCo,8017,234.43,0.773,0,0,390,547.02
$SM_GC,0.37,0.00,0.00,234.43,0.000,0.000,0.773,419,2165,390,-10.49,0.42,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1664
$TCM_TEMP,17.30
$XPDR_PINGS,314
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,24.0,34.892
$10V_AH,10.1,16.826
$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,26.250,81.275,220.600,234.425,0.000,75.521,51.748,172.568,80.500,0.000,0.000,34.650,781.552,5834.277,595.085,1050.597,488.289,33.355,1116.916,0.000,1012.671,0.000,13.898
$DEVICE_MAMPS,139.594,66.729,1008.605,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,258.843,280.612,339.476,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19117,379
$CAP_FILE_SIZE,73299,0
$CFSIZE,254472192,240320512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,150708,232201,6215.552,-847.055,39,1.1,39,-9.4