version: 66.03
glider: 5
mission: 3
dive: 180
start: 7 16 108 11 5 9
data:
$ID,5
$MISSION,3
$DIVE,180
$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,-80019.469
$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
$GPS1,110007,6211.203,-854.917,35,1.2,35,-9.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-51.5
$GPS2,110451,6211.135,-854.835,12,1.5,12,-9.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,6211.135,-859.874
$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,-111.32,0.000,6,0.000,0.000,425,2123,3098
$GC,148,-1.30,-117.3,2.0,-1.5,5,164,10.35,2.58,0.00,0.000,4,0.140,0.057,2410,3563,3097
$GC,303,-0.95,-117.3,25.4,-13.4,11,309,0.40,2.53,0.00,0.000,6,0.100,0.048,2491,2144,3097
$GC,632,-0.88,-117.3,56.5,-10.8,27,636,0.00,2.47,0.00,0.000,4,0.000,0.057,2491,748,3096
$GC,825,-0.79,-117.3,75.6,-10.0,35,832,0.15,2.45,0.00,0.000,6,0.096,0.050,2523,2118,3096
$GC,1141,-0.79,-117.3,104.4,-8.7,51,1145,0.00,2.50,0.00,0.000,4,0.000,0.058,2523,744,3097
$GC,1227,-0.79,-117.3,111.5,-8.2,55,1231,0.00,2.42,0.00,0.000,6,0.000,0.050,2523,2103,3097
$GC,1557,-0.84,-117.3,137.2,-7.7,71,1561,0.00,2.60,0.00,0.000,4,0.000,0.061,2523,3557,3097
$GC,1629,-0.84,-117.3,143.5,-8.3,74,1633,0.00,2.60,0.00,0.000,6,0.000,0.048,2523,2097,3097
$GC,1946,-0.88,-117.3,165.9,-7.7,89,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2097,3097
$GC,2254,-0.93,-117.3,191.0,-8.0,104,2256,0.12,0.00,0.00,0.000,6,0.051,0.000,2485,2094,3096
$GC,2563,-0.86,-117.3,221.8,-10.2,119,2568,0.12,2.65,0.00,0.000,4,0.097,0.061,2511,3554,3096
$GC,2635,-0.86,-117.3,229.0,-10.7,122,2640,0.00,2.58,0.00,0.000,6,0.000,0.049,2511,2105,3096
$GC,2952,-0.86,-117.3,251.1,-6.6,137,2956,0.00,2.45,0.00,0.000,4,0.000,0.064,2511,740,3096
$GC,3016,-0.86,-117.3,255.5,-7.5,140,3020,0.00,2.42,0.00,0.000,6,0.000,0.052,2511,2099,3096
$GC,3348,-0.86,-117.3,275.9,-5.6,156,3352,0.00,2.62,0.00,0.000,4,0.000,0.064,2511,3557,3096
$GC,3403,-0.86,-117.3,279.6,-6.4,158,3409,0.00,2.58,0.00,0.000,6,0.000,0.051,2511,2109,3096
$GC,3720,-0.86,-117.3,302.7,-8.0,174,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2109,3096
$GC,4028,-0.86,-117.3,329.2,-9.1,189,4033,0.00,2.65,0.00,0.000,4,0.000,0.064,2511,3563,3095
$GC,4107,-0.86,-117.3,337.3,-9.9,192,4113,0.00,2.58,0.00,0.000,6,0.000,0.051,2511,2117,3095
$STATE,4172,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4173,begin apogee
$GC,4180,-0.33,0.0,343.2,9.0,196,4278,0.55,0.00,95.62,1.012,6,0.081,0.000,2626,2117,2620
$STATE,4279,end apogee,CONTROL_FINISHED_OK
$STATE,4279,begin climb
$GC,4282,1.30,117.3,347.1,0.0,201,4382,1.67,0.00,95.10,0.986,6,0.071,0.000,2982,2117,2141
$GC,4690,1.31,118.4,317.8,7.9,221,4694,0.00,2.55,0.00,0.000,4,0.000,0.062,2982,3504,2140
$GC,4745,1.31,118.4,312.8,8.3,223,4751,0.00,2.53,0.00,0.000,6,0.000,0.050,2982,2104,2139
$GC,5061,1.33,132.3,289.9,7.4,239,5082,0.00,2.65,13.50,0.891,4,0.000,0.061,2982,3504,2079
$GC,5133,1.33,132.3,283.8,9.2,242,5138,0.00,2.50,0.00,0.000,6,0.000,0.050,2982,2119,2079
$GC,5455,1.33,132.3,252.8,9.8,258,5459,0.00,2.55,0.00,0.000,4,0.000,0.061,2982,3504,2079
$GC,5517,1.33,132.3,246.4,10.3,261,5522,0.00,2.45,0.00,0.000,6,0.000,0.048,2982,2136,2079
$GC,5845,1.33,132.3,215.7,8.5,277,5849,0.00,2.53,0.00,0.000,4,0.000,0.061,2982,3510,2078
$GC,5889,1.33,132.3,211.4,9.4,279,5893,0.00,2.45,0.00,0.000,6,0.000,0.050,2982,2147,2079
$GC,6210,1.33,132.3,180.4,10.0,295,6214,0.00,2.50,0.00,0.000,4,0.000,0.061,2982,3508,2079
$GC,6238,1.33,132.3,177.5,10.7,296,6242,0.00,2.45,0.00,0.000,6,0.000,0.050,2982,2144,2078
$GC,6554,1.33,132.3,149.7,8.6,311,6558,0.00,2.47,0.00,0.000,4,0.000,0.061,2982,3506,2079
$GC,6587,1.33,132.3,146.7,9.1,312,6593,0.00,2.42,0.00,0.000,6,0.000,0.049,2982,2153,2079
$GC,6905,1.33,132.3,120.4,8.0,328,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2152,2078
$GC,7212,1.33,132.3,94.1,9.3,343,7216,0.00,2.47,0.00,0.000,4,0.000,0.060,2982,3505,2078
$GC,7239,1.33,132.3,91.5,9.0,344,7243,0.00,2.40,0.00,0.000,6,0.000,0.048,2983,2161,2078
$GC,7556,1.53,228.5,73.4,3.6,359,7638,0.22,2.55,75.47,0.833,4,0.043,0.058,3043,3504,1688
$GC,7694,1.46,228.5,60.8,11.6,365,7699,0.12,2.40,0.00,0.000,6,0.093,0.048,3019,2171,1688
$GC,8011,1.46,228.5,30.1,8.7,380,8012,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2171,1688
$STATE,8296,end climb,SURFACE_DEPTH_REACHED
$STATE,8296,begin surface coast
$FINISH,0.0,1.013360
$STATE,8319,end surface coast,CONTROL_FINISHED_OK
$STATE,8320,begin surface
$SM_CCo,8342,189.80,0.759,0,0,390,547.02
$SM_GC,0.61,0.00,0.00,189.80,0.000,0.000,0.759,420,2159,390,-10.49,0.25,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1668
$TCM_TEMP,17.40
$XPDR_PINGS,303
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,275.9,76.2
$24V_AH,24.0,35.692
$10V_AH,10.1,17.104
$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,25.000,80.550,279.700,189.800,0.000,37.759,30.922,113.410,77.750,0.000,0.000,12.838,788.041,6094.311,613.327,964.712,366.942,0.000,1108.531,0.000,949.575,0.000,15.297
$DEVICE_MAMPS,140.361,63.661,1012.440,758.563,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,269.259,294.968,361.459,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19151,395
$CAP_FILE_SIZE,69544,0
$CFSIZE,254472192,240119808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,160708,132857,6209.010,-857.554,36,2.1,55,-9.4