version: 66.03
glider: 5
mission: 3
dive: 179
start: 7 16 108 8 50 11
data:
$ID,5
$MISSION,3
$DIVE,179
$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,-80006.008
$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,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
$GPS1,084457,6212.268,-854.075,26,2.7,45,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-49.7
$GPS2,084952,6212.252,-854.070,16,1.8,17,-9.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,6212.252,-859.105
$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,-117.3,0.0,0.0,0,143,0.00,0.00,-111.20,0.000,6,0.000,0.000,423,2181,3100
$GC,147,-1.30,-117.3,1.9,-1.6,5,163,10.32,2.50,0.00,0.000,4,0.140,0.058,2409,3563,3099
$GC,295,-0.97,-117.3,25.9,-15.6,10,302,0.38,2.53,0.00,0.000,6,0.097,0.047,2485,2141,3098
$GC,611,-0.88,-117.3,70.3,-12.8,26,616,0.10,2.50,0.00,0.000,4,0.100,0.058,2506,744,3099
$GC,734,-0.84,-117.3,83.1,-9.9,31,741,0.00,2.53,0.00,0.000,6,0.000,0.050,2506,2156,3099
$GC,1051,-0.84,-117.3,115.0,-10.2,47,1055,0.00,2.58,0.00,0.000,4,0.000,0.059,2506,742,3098
$GC,1181,-0.84,-117.3,127.4,-9.1,53,1185,0.00,2.47,0.00,0.000,6,0.000,0.051,2506,2128,3098
$GC,1511,-0.84,-117.3,151.3,-6.6,69,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2128,3098
$GC,1817,-0.84,-117.3,173.5,-7.5,84,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2129,3098
$GC,2126,-0.84,-117.3,196.2,-7.0,99,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2129,3098
$GC,2436,-0.84,-117.3,217.3,-6.9,114,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2129,3098
$GC,2745,-0.84,-117.3,240.0,-7.5,129,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2129,3097
$GC,3054,-0.84,-117.3,264.0,-7.7,144,3059,0.00,2.58,0.00,0.000,4,0.000,0.064,2506,3563,3097
$GC,3127,-0.84,-117.3,269.9,-8.3,147,3132,0.00,2.55,0.00,0.000,6,0.000,0.051,2506,2133,3097
$GC,3444,-0.84,-117.3,294.3,-7.7,162,3448,0.00,2.60,0.00,0.000,4,0.000,0.063,2506,3561,3097
$GC,3494,-0.84,-117.3,298.8,-8.9,164,3498,0.00,2.55,0.00,0.000,6,0.000,0.053,2506,2140,3097
$GC,3810,-0.84,-117.3,321.7,-6.5,179,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2139,3097
$STATE,3951,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3951,begin apogee
$GC,3959,-0.33,0.0,332.5,7.8,186,4058,0.55,0.00,96.05,1.008,6,0.083,0.000,2623,2073,2620
$STATE,4058,end apogee,CONTROL_FINISHED_OK
$STATE,4059,begin climb
$GC,4062,1.30,117.3,335.8,0.0,191,4165,1.67,2.55,94.93,0.978,4,0.071,0.064,2979,717,2140
$GC,4174,1.34,137.3,330.6,7.1,197,4198,0.00,2.53,17.38,0.907,6,0.000,0.052,2979,2102,2060
$GC,4527,1.34,139.8,301.2,7.9,214,4536,0.00,2.58,3.60,0.572,4,0.000,0.063,2978,3498,2049
$GC,4645,1.35,144.2,291.6,7.8,219,4656,0.00,2.45,5.32,0.721,6,0.000,0.053,2979,2145,2032
$GC,4966,1.35,144.2,263.9,9.2,234,4970,0.00,2.47,0.00,0.000,4,0.000,0.063,2979,3506,2031
$GC,5009,1.35,144.2,260.2,9.5,236,5013,0.00,2.50,0.00,0.000,6,0.000,0.052,2979,2120,2031
$GC,5335,1.35,144.2,228.6,9.7,252,5339,0.00,2.53,0.00,0.000,4,0.000,0.061,2979,3506,2031
$GC,5402,1.35,144.2,221.8,9.9,255,5406,0.00,2.45,0.00,0.000,6,0.000,0.049,2979,2142,2031
$GC,5724,1.35,147.9,194.9,7.8,271,5734,0.00,2.53,4.78,0.679,4,0.000,0.061,2979,3509,2016
$GC,5763,1.38,163.2,191.8,7.3,272,5782,0.00,2.45,13.90,0.860,6,0.000,0.051,2979,2148,1953
$GC,6100,1.45,171.6,167.5,7.6,289,6115,0.15,2.53,7.95,0.788,4,0.048,0.061,3028,3500,1919
$GC,6145,1.37,171.6,162.9,11.4,291,6150,0.17,2.42,0.00,0.000,6,0.090,0.051,2997,2156,1919
$GC,6472,1.37,171.6,124.5,13.4,307,6476,0.00,2.47,0.00,0.000,4,0.000,0.061,2996,3507,1919
$GC,6522,1.37,171.6,117.0,14.4,309,6526,0.00,2.40,0.00,0.000,6,0.000,0.051,2996,2172,1919
$GC,6844,1.37,171.6,72.0,14.3,325,6849,0.00,2.67,0.00,0.000,4,0.000,0.065,2996,682,1919
$GC,6877,1.37,171.6,66.9,15.6,326,6883,0.00,2.62,0.00,0.000,6,0.000,0.051,2997,2157,1919
$GC,7195,1.37,171.6,27.7,10.9,342,7199,0.00,2.42,0.00,0.000,4,0.000,0.061,2996,3510,1919
$GC,7222,1.37,171.6,24.5,11.3,343,7226,0.00,2.45,0.00,0.000,6,0.000,0.053,2996,2154,1919
$STATE,7453,end climb,SURFACE_DEPTH_REACHED
$STATE,7453,begin surface coast
$FINISH,-0.0,1.026643
$STATE,7476,end surface coast,CONTROL_FINISHED_OK
$STATE,7476,begin surface
$SM_CCo,7499,221.52,0.768,0,0,390,547.02
$SM_GC,0.55,0.00,0.00,221.52,0.000,0.000,0.768,426,2124,390,-10.47,-0.25,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1672
$TCM_TEMP,17.30
$XPDR_PINGS,267
$ALTIM_TOP_PING,19.4,999.0
$ALTIM_BOTTOM_PING,251.1,89.9
$24V_AH,24.0,35.557
$10V_AH,10.1,17.056
$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,24.525,70.450,243.900,221.525,0.000,37.755,48.076,105.571,68.500,0.000,0.000,19.465,717.591,5491.403,590.392,865.915,362.162,0.000,1046.416,0.000,848.085,0.000,13.720
$DEVICE_MAMPS,139.594,113.516,1007.838,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,242.206,264.984,296.104,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19069,355
$CAP_FILE_SIZE,63626,0
$CFSIZE,254472192,240156672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,160708,110007,6211.203,-854.917,35,1.2,35,-9.4