version: 66.03
glider: 5
mission: 3
dive: 182
start: 7 16 108 16 28 21
data:
$ID,5
$MISSION,3
$DIVE,182
$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,-80046.609
$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,26
$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
$GPS1,162307,6207.270,-901.634,40,2.0,45,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-55.5
$GPS2,162803,6207.235,-901.633,12,1.9,12,-9.5
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,6207.235,-906.682
$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,279.5,20000,-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,27,begin dive
$GC,30,-1.30,-117.3,0.0,0.0,0,143,0.00,0.00,-110.85,0.000,6,0.000,0.000,422,2154,3100
$GC,146,-1.30,-117.3,2.0,-1.4,5,163,10.38,2.50,0.00,0.000,4,0.142,0.055,2408,3560,3098
$GC,337,-0.97,-117.3,28.8,-11.4,12,344,0.38,2.50,0.00,0.000,6,0.098,0.045,2485,2144,3097
$GC,654,-0.87,-117.3,50.0,-6.2,28,659,0.12,2.50,0.00,0.000,4,0.097,0.058,2511,743,3098
$GC,733,-0.87,-117.3,54.5,-5.5,31,739,0.00,2.50,0.00,0.000,6,0.000,0.049,2511,2138,3098
$GC,1049,-0.87,-117.3,73.1,-6.5,47,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2137,3098
$GC,1359,-0.87,-117.3,96.3,-8.0,62,1363,0.00,2.53,0.00,0.000,4,0.000,0.058,2511,748,3098
$GC,1414,-0.87,-117.3,101.1,-9.0,64,1421,0.00,2.47,0.00,0.000,6,0.000,0.051,2511,2131,3098
$GC,1732,-0.87,-117.3,127.8,-8.7,80,1736,0.00,2.55,0.00,0.000,4,0.000,0.061,2511,3557,3098
$GC,1804,-0.87,-117.3,134.7,-9.3,83,1808,0.00,2.53,0.00,0.000,6,0.000,0.047,2511,2135,3097
$GC,2120,-0.87,-117.3,161.8,-8.6,98,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2135,3098
$GC,2429,-0.87,-117.3,187.2,-8.0,113,2433,0.00,2.58,0.00,0.000,4,0.000,0.061,2511,3556,3097
$GC,2523,-0.87,-117.3,195.5,-9.1,117,2528,0.00,2.53,0.00,0.000,6,0.000,0.048,2511,2137,3097
$GC,2839,-0.87,-117.3,223.0,-8.6,132,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2135,3097
$GC,3148,-0.87,-117.3,249.4,-8.1,147,3153,0.00,2.50,0.00,0.000,4,0.000,0.064,2511,743,3097
$GC,3193,-0.87,-117.3,253.2,-9.0,149,3197,0.00,2.50,0.00,0.000,6,0.000,0.052,2511,2139,3096
$GC,3514,-0.87,-117.3,281.3,-9.1,165,3518,0.00,2.55,0.00,0.000,4,0.000,0.063,2511,741,3096
$GC,3586,-0.87,-117.3,288.3,-9.5,168,3590,0.00,2.47,0.00,0.000,6,0.000,0.052,2511,2132,3096
$GC,3903,-0.87,-117.3,315.4,-7.8,183,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2132,3096
$GC,4211,-0.87,-117.3,333.5,-5.6,198,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2132,3096
$GC,4524,-0.87,-117.3,351.4,-8.0,213,4528,0.00,2.53,0.00,0.000,4,0.000,0.063,2511,747,3096
$GC,4591,-0.87,-117.3,358.7,-10.4,216,4595,0.00,2.50,0.00,0.000,6,0.000,0.053,2510,2138,3096
$GC,4912,-0.87,-117.3,386.0,-5.5,232,4917,0.00,2.55,0.00,0.000,4,0.000,0.063,2511,741,3095
$GC,4957,-0.87,-117.3,387.9,-4.0,234,4961,0.00,2.50,0.00,0.000,6,0.000,0.054,2511,2133,3095
$GC,5279,-0.87,-117.3,403.5,-7.5,250,5280,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2133,3096
$STATE,5523,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5523,begin apogee
$GC,5529,-0.33,0.0,422.2,6.7,262,5629,0.55,0.00,96.80,1.070,6,0.087,0.000,2625,2132,2620
$STATE,5630,end apogee,CONTROL_FINISHED_OK
$STATE,5630,begin climb
$GC,5633,1.30,117.3,425.3,0.0,267,5735,1.65,0.00,95.45,1.043,6,0.074,0.000,2979,2132,2140
$GC,6045,1.33,134.7,397.2,7.2,287,6067,0.00,2.55,15.70,0.963,4,0.000,0.064,2979,3509,2070
$GC,6090,1.33,134.7,393.4,8.6,289,6095,0.00,2.55,0.00,0.000,6,0.000,0.053,2979,2104,2069
$GC,6418,1.33,134.7,367.1,8.7,305,6422,0.00,2.60,0.00,0.000,4,0.000,0.064,2979,3513,2069
$GC,6462,1.33,134.7,363.0,8.7,307,6466,0.00,2.55,0.00,0.000,6,0.000,0.053,2979,2102,2069
$GC,6783,1.35,148.9,336.7,7.4,323,6804,0.00,2.65,12.85,0.941,4,0.000,0.063,2979,3501,2012
$GC,6844,1.35,148.9,332.1,8.2,325,6850,0.00,2.50,0.00,0.000,6,0.000,0.051,2979,2120,2012
$GC,7160,1.39,172.0,310.0,7.0,341,7186,0.10,2.60,19.75,0.963,4,0.054,0.061,3011,3507,1918
$GC,7248,1.39,172.0,301.7,10.3,345,7253,0.00,2.47,0.00,0.000,6,0.000,0.051,3011,2136,1917
$GC,7571,1.41,181.8,275.0,7.6,361,7586,0.00,2.55,9.60,0.876,4,0.000,0.061,3011,3508,1879
$GC,7610,1.42,192.9,272.0,7.5,362,7626,0.00,2.47,10.65,0.879,6,0.000,0.051,3011,2141,1833
$GC,7937,1.44,199.7,248.2,7.7,377,7950,0.00,2.58,7.07,0.808,4,0.000,0.060,3011,3508,1806
$GC,7981,1.44,199.7,244.4,8.3,379,7985,0.00,2.45,0.00,0.000,6,0.000,0.052,3011,2153,1806
$GC,8308,1.48,224.5,221.4,6.9,395,8334,0.00,2.53,21.17,0.912,4,0.000,0.060,3011,3508,1703
$GC,8357,1.49,234.6,217.6,7.5,397,8371,0.00,2.45,9.62,0.835,6,0.000,0.051,3011,2162,1663
$GC,8694,1.57,280.7,196.5,5.9,414,8734,0.12,0.00,37.88,0.911,6,0.050,0.000,3047,2160,1474
$GC,9044,1.52,280.7,156.2,13.0,431,9045,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2158,1475
$GC,9353,1.47,280.7,117.7,12.4,446,9355,0.15,0.00,0.00,0.000,6,0.087,0.000,3019,2158,1475
$GC,9663,1.51,280.7,87.8,8.9,461,9664,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2157,1475
$GC,9971,1.55,280.7,58.9,9.9,476,9976,0.00,2.47,0.00,0.000,4,0.000,0.059,3019,3515,1475
$GC,10017,1.60,280.7,53.8,10.9,478,10021,0.12,2.42,0.00,0.000,6,0.051,0.051,3055,2165,1475
$GC,10339,1.54,280.7,12.9,13.1,494,10343,0.00,2.45,0.00,0.000,4,0.000,0.059,3055,3514,1475
$GC,10350,1.47,280.7,10.9,13.2,494,10355,0.17,2.42,0.00,0.000,6,0.086,0.051,3021,2165,1475
$STATE,10437,end climb,SURFACE_DEPTH_REACHED
$STATE,10437,begin surface coast
$FINISH,0.1,1.018979
$STATE,10458,end surface coast,CONTROL_FINISHED_OK
$STATE,10459,begin surface
$SM_CCo,10481,157.82,0.768,0,0,390,547.02
$SM_GC,0.52,0.00,0.00,157.82,0.000,0.000,0.768,422,2136,390,-10.48,-0.40,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1683
$TCM_TEMP,17.40
$XPDR_PINGS,371
$ALTIM_TOP_PING,18.2,999.0
$ALTIM_BOTTOM_PING,351.4,80.4
$24V_AH,24.0,35.980
$10V_AH,10.1,17.214
$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,24.975,90.550,336.550,157.825,0.000,37.760,37.610,117.434,95.750,0.000,0.000,12.752,958.992,7821.221,617.421,1145.516,401.291,0.000,1218.942,0.000,1124.004,0.000,22.988
$DEVICE_MAMPS,141.895,64.428,1069.965,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,340.651,367.740,386.929,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25415,499
$CAP_FILE_SIZE,83357,0
$CFSIZE,254472192,240025600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,160708,192701,6207.362,-904.086,40,1.1,40,-9.5