version: 66.03
glider: 5
mission: 3
dive: 177
start: 7 16 108 4 14 52
data:
$ID,5
$MISSION,3
$DIVE,177
$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,-79941.5
$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,22
$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
$GPS1,040537,6212.396,-852.164,62,1.9,62,-9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-46.5
$GPS2,041433,6212.326,-852.199,13,1.7,13,-9.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,6212.326,-857.234
$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,27,begin dive
$GC,30,-1.30,-117.3,0.0,0.0,0,144,0.00,0.00,-111.60,0.000,6,0.000,0.000,420,2118,3100
$GC,148,-1.30,-117.3,1.9,-1.4,5,164,10.38,2.60,0.00,0.000,4,0.142,0.059,2406,3566,3098
$GC,345,-0.95,-117.3,32.8,-16.2,13,351,0.40,2.53,0.00,0.000,6,0.097,0.048,2488,2145,3097
$GC,673,-0.89,-117.3,66.1,-9.9,29,678,0.00,2.50,0.00,0.000,4,0.000,0.060,2488,747,3097
$GC,707,-0.80,-117.3,69.9,-11.1,30,714,0.17,2.53,0.00,0.000,6,0.091,0.049,2524,2158,3098
$GC,1024,-0.80,-117.3,97.6,-8.3,46,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2157,3097
$GC,1334,-0.84,-117.3,124.5,-9.0,61,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2157,3097
$GC,1643,-0.89,-117.3,151.1,-8.2,76,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2158,3096
$GC,1953,-0.94,-117.3,175.7,-7.9,91,1957,0.15,2.58,0.00,0.000,4,0.048,0.061,2476,747,3096
$GC,2020,-0.82,-117.3,182.2,-9.9,94,2025,0.20,2.53,0.00,0.000,6,0.091,0.051,2517,2152,3096
$GC,2342,-0.82,-117.3,207.7,-7.8,110,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2152,3096
$GC,2650,-0.82,-117.3,232.7,-8.1,125,2654,0.00,2.58,0.00,0.000,4,0.000,0.062,2517,741,3096
$GC,2689,-0.82,-117.3,236.0,-8.7,127,2694,0.00,2.53,0.00,0.000,6,0.000,0.053,2517,2151,3096
$GC,3017,-0.82,-117.3,260.6,-7.3,143,3021,0.00,2.53,0.00,0.000,4,0.000,0.064,2517,3556,3095
$GC,3073,-0.82,-117.3,265.1,-8.2,145,3079,0.00,2.53,0.00,0.000,6,0.000,0.051,2517,2145,3095
$GC,3390,-0.82,-117.3,288.7,-7.4,161,3394,0.00,2.58,0.00,0.000,4,0.000,0.064,2517,3557,3095
$GC,3474,-0.82,-117.3,295.3,-8.1,165,3479,0.00,2.50,0.00,0.000,6,0.000,0.051,2517,2152,3095
$GC,3802,-0.82,-117.3,317.4,-6.3,181,3806,0.00,2.53,0.00,0.000,4,0.000,0.067,2517,741,3095
$STATE,3884,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3884,begin apogee
$GC,3894,-0.33,0.0,323.3,7.1,185,3992,0.50,0.00,95.35,1.009,6,0.082,0.000,2623,2101,2620
$STATE,3993,end apogee,CONTROL_FINISHED_OK
$STATE,3993,begin climb
$GC,3996,1.30,117.3,326.6,0.0,190,4096,1.67,0.00,94.90,0.978,6,0.067,0.000,2981,2101,2140
$GC,4397,1.31,123.1,297.4,7.7,210,4405,0.00,0.00,6.32,0.765,6,0.000,0.000,2981,2101,2118
$GC,4705,1.31,123.1,271.4,8.8,225,4710,0.00,2.55,0.00,0.000,4,0.000,0.064,2981,3510,2117
$GC,4778,1.31,123.1,264.7,8.9,228,4782,0.00,2.55,0.00,0.000,6,0.000,0.051,2981,2097,2116
$GC,5094,1.31,123.1,236.9,8.5,243,5098,0.00,2.58,0.00,0.000,4,0.000,0.063,2981,3506,2116
$GC,5138,1.31,123.1,232.9,8.9,245,5142,0.00,2.53,0.00,0.000,6,0.000,0.050,2981,2102,2116
$GC,5459,1.31,123.1,206.0,8.8,261,5463,0.00,2.58,0.00,0.000,4,0.000,0.062,2981,3506,2116
$GC,5509,1.31,123.1,201.2,9.3,263,5513,0.00,2.50,0.00,0.000,6,0.000,0.051,2981,2116,2116
$GC,5825,1.31,123.1,173.3,8.7,278,5829,0.00,2.53,0.00,0.000,4,0.000,0.061,2982,3509,2116
$GC,5857,1.31,123.1,170.2,9.0,279,5863,0.00,2.50,0.00,0.000,6,0.000,0.051,2981,2120,2116
$GC,6174,1.31,123.1,143.3,8.7,295,6178,0.00,2.55,0.00,0.000,4,0.000,0.061,2981,3512,2116
$GC,6240,1.31,123.1,136.8,9.5,298,6244,0.00,2.47,0.00,0.000,6,0.000,0.051,2982,2134,2116
$GC,6562,1.31,123.1,107.8,9.1,314,6566,0.00,2.53,0.00,0.000,4,0.000,0.061,2981,3514,2116
$GC,6640,1.31,123.1,100.3,8.9,317,6646,0.00,2.42,0.00,0.000,6,0.000,0.051,2981,2160,2116
$GC,6958,1.31,123.1,73.8,8.5,333,6962,0.00,2.45,0.00,0.000,4,0.000,0.060,2981,3509,2116
$GC,7002,1.31,123.1,69.6,8.9,335,7006,0.00,2.40,0.00,0.000,6,0.000,0.049,2981,2166,2116
$GC,7324,1.32,129.1,44.1,7.7,351,7332,0.00,0.00,6.25,0.684,6,0.000,0.000,2982,2166,2093
$GC,7634,1.37,156.7,22.5,6.7,366,7660,0.00,0.00,23.02,0.788,6,0.000,0.000,2982,2166,1980
$STATE,7879,end climb,SURFACE_DEPTH_REACHED
$STATE,7879,begin surface coast
$FINISH,0.4,1.027052
$STATE,7900,end surface coast,CONTROL_FINISHED_OK
$STATE,7900,begin surface
$SM_CCo,7923,230.52,0.764,0,0,389,547.02
$SM_GC,0.48,0.00,0.00,230.52,0.000,0.000,0.764,421,2138,389,-10.48,-0.34,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1665
$TCM_TEMP,17.30
$XPDR_PINGS,279
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,276.4,56.7
$24V_AH,24.0,35.294
$10V_AH,10.1,16.969
$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,24.575,70.600,225.850,230.525,0.000,75.512,59.916,235.072,72.000,0.000,0.000,15.531,752.348,5905.374,616.457,879.420,547.811,0.000,1053.651,0.000,865.043,0.000,18.151
$DEVICE_MAMPS,141.895,66.729,1009.372,763.932,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,258.782,284.286,354.400,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19079,379
$CAP_FILE_SIZE,68057,0
$CFSIZE,254472192,240218112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,160708,063139,6212.249,-853.816,13,1.6,13,-9.4