version: 66.03
glider: 5
mission: 3
dive: 178
start: 7 16 108 6 37 12
data:
$ID,5
$MISSION,3
$DIVE,178
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,270
$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,-79985.914
$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,23
$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
$GPS1,063139,6212.249,-853.816,13,1.6,13,-9.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-50.1
$GPS2,063655,6212.253,-853.761,43,1.3,43,-9.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,6212.253,-858.797
$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,279.4,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.30,-117.3,0.0,0.0,0,144,0.00,0.00,-112.18,0.000,6,0.000,0.000,421,2144,3099
$GC,148,-1.30,-117.3,1.6,-1.1,5,164,10.32,2.55,0.00,0.000,4,0.140,0.058,2405,3563,3099
$GC,377,-0.96,-117.3,42.3,-16.6,14,383,0.40,2.53,0.00,0.000,6,0.096,0.047,2487,2144,3097
$GC,694,-0.88,-117.3,79.8,-12.1,29,699,0.10,2.50,0.00,0.000,4,0.101,0.060,2508,751,3098
$GC,940,-0.88,-117.3,109.8,-13.2,40,944,0.00,2.47,0.00,0.000,6,0.000,0.050,2508,2131,3098
$GC,1262,-0.88,-117.3,151.2,-12.7,56,1266,0.00,2.55,0.00,0.000,4,0.000,0.061,2508,3562,3097
$GC,1318,-0.84,-117.3,157.5,-11.9,58,1324,0.00,2.55,0.00,0.000,6,0.000,0.051,2508,2130,3097
$GC,1634,-0.84,-117.3,190.2,-9.4,74,1638,0.00,2.50,0.00,0.000,4,0.000,0.064,2508,737,3097
$GC,1666,-0.84,-117.3,194.0,-11.9,75,1673,0.00,2.50,0.00,0.000,6,0.000,0.052,2508,2132,3097
$GC,1983,-0.84,-117.3,220.7,-7.5,91,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2133,3098
$GC,2292,-0.84,-117.3,243.3,-6.3,106,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2132,3097
$GC,2602,-0.84,-117.3,266.1,-7.6,121,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2133,3097
$GC,2911,-0.84,-117.3,289.5,-7.7,136,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2133,3097
$GC,3220,-0.84,-117.3,313.3,-7.6,151,3224,0.00,2.55,0.00,0.000,4,0.000,0.064,2508,741,3096
$GC,3264,-0.84,-117.3,316.6,-7.6,153,3268,0.00,2.47,0.00,0.000,6,0.000,0.053,2508,2123,3096
$STATE,3479,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3479,begin apogee
$GC,3486,-0.33,0.0,331.4,6.6,164,3585,0.55,0.00,96.03,1.006,6,0.079,0.000,2624,2123,2620
$STATE,3586,end apogee,CONTROL_FINISHED_OK
$STATE,3586,begin climb
$GC,3589,1.30,117.3,334.5,0.0,169,3692,1.65,2.70,94.43,0.979,4,0.071,0.064,2980,688,2140
$GC,3748,1.30,117.3,323.4,10.2,176,3753,0.00,2.55,0.00,0.000,6,0.000,0.052,2979,2100,2140
$GC,4065,1.30,117.3,296.1,8.8,191,4069,0.00,2.55,0.00,0.000,4,0.000,0.063,2979,3507,2139
$GC,4109,1.30,117.3,291.9,9.0,193,4113,0.00,2.53,0.00,0.000,6,0.000,0.052,2979,2110,2139
$GC,4431,1.31,122.1,266.4,7.8,209,4441,0.00,2.58,5.45,0.729,4,0.000,0.061,2979,3507,2121
$GC,4508,1.31,122.1,259.7,8.8,212,4514,0.00,2.50,0.00,0.000,6,0.000,0.051,2979,2120,2120
$GC,4825,1.32,128.2,234.2,7.7,228,4838,0.00,2.58,6.55,0.772,4,0.000,0.060,2979,3507,2096
$GC,4873,1.32,128.2,229.9,9.0,230,4877,0.00,2.50,0.00,0.000,6,0.000,0.052,2979,2130,2095
$GC,5194,1.32,128.2,203.9,8.4,246,5199,0.00,2.53,0.00,0.000,4,0.000,0.061,2979,3507,2096
$GC,5250,1.32,128.2,199.4,8.2,248,5256,0.00,2.45,0.00,0.000,6,0.000,0.051,2979,2145,2096
$GC,5566,1.38,163.4,177.1,6.4,264,5601,0.00,2.58,28.90,0.892,4,0.000,0.060,2979,3505,1954
$GC,5647,1.47,180.4,171.4,7.2,267,5668,0.17,2.42,15.12,0.853,6,0.044,0.049,3028,2160,1884
$GC,5981,1.41,180.4,136.9,10.9,283,5986,0.00,2.45,0.00,0.000,4,0.000,0.060,3027,3507,1883
$GC,6004,1.35,180.4,134.2,10.3,284,6009,0.17,2.42,0.00,0.000,6,0.087,0.051,2995,2164,1883
$GC,6326,1.37,192.1,108.0,7.5,300,6342,0.00,2.47,11.10,0.798,4,0.000,0.058,2995,3506,1835
$GC,6367,1.42,198.7,104.9,7.7,301,6380,0.00,2.42,6.55,0.713,6,0.000,0.051,2995,2168,1810
$GC,6698,1.48,198.7,74.7,10.3,317,6703,0.12,2.65,0.00,0.000,4,0.050,0.063,3030,691,1809
$GC,6725,1.48,198.7,71.1,13.6,318,6730,0.00,2.65,0.00,0.000,6,0.000,0.051,3030,2168,1809
$GC,7042,1.44,198.7,32.7,11.4,333,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2169,1809
$STATE,7327,end climb,SURFACE_DEPTH_REACHED
$STATE,7327,begin surface coast
$FINISH,-0.1,1.027073
$STATE,7351,end surface coast,CONTROL_FINISHED_OK
$STATE,7351,begin surface
$SM_CCo,7374,205.12,0.764,0,0,390,547.02
$SM_GC,0.52,0.00,0.00,205.12,0.000,0.000,0.764,422,2170,390,-10.47,0.57,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1686
$TCM_TEMP,17.40
$XPDR_PINGS,255
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,250.6,89.7
$24V_AH,24.0,35.426
$10V_AH,10.1,17.012
$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,24.725,70.700,264.125,205.125,0.000,37.758,25.764,117.992,65.500,0.000,0.000,43.788,705.104,5353.721,591.184,901.072,353.441,0.000,1054.569,0.000,857.297,0.000,13.724
$DEVICE_MAMPS,139.594,64.428,1005.537,763.932,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,237.267,258.757,292.557,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15949,348
$CAP_FILE_SIZE,63763,0
$CFSIZE,254472192,240197632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,160708,084457,6212.268,-854.075,26,2.7,45,-9.4