version: 66.03
glider: 5
mission: 3
dive: 181
start: 7 16 108 13 39 24
data:
$ID,5
$MISSION,3
$DIVE,181
$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,-80033.234
$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,25
$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
$GPS1,132857,6209.010,-857.554,36,2.1,55,-9.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-52.8
$GPS2,133903,6208.850,-857.550,13,1.5,13,-9.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,6208.850,-902.595
$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,29,-1.30,-117.3,0.0,0.0,0,142,0.00,0.00,-110.53,0.000,6,0.000,0.000,420,2152,3100
$GC,146,-1.30,-117.3,2.2,-1.8,5,159,10.38,0.00,0.00,0.000,6,0.142,0.000,2406,2145,3098
$GC,478,-0.99,-117.3,46.5,-12.5,21,480,0.38,0.00,0.00,0.000,6,0.095,0.000,2484,2144,3097
$GC,788,-0.89,-117.3,68.2,-6.9,36,793,0.10,2.55,0.00,0.000,4,0.102,0.059,2505,3564,3098
$GC,829,-0.84,-117.3,71.5,-7.9,38,833,0.00,2.50,0.00,0.000,6,0.000,0.046,2505,2147,3098
$GC,1156,-0.84,-117.3,93.1,-7.1,54,1161,0.00,2.50,0.00,0.000,4,0.000,0.060,2505,747,3097
$GC,1291,-0.84,-117.3,103.5,-7.8,60,1296,0.00,2.47,0.00,0.000,6,0.000,0.050,2505,2133,3097
$GC,1613,-0.84,-117.3,127.4,-6.4,76,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2133,3097
$GC,1923,-0.84,-117.3,150.2,-8.1,91,1927,0.00,2.50,0.00,0.000,4,0.000,0.059,2505,747,3097
$GC,1979,-0.84,-117.3,155.3,-9.0,93,1985,0.00,2.47,0.00,0.000,6,0.000,0.051,2505,2131,3097
$GC,2295,-0.84,-117.3,178.2,-6.3,109,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2131,3096
$GC,2605,-0.84,-117.3,199.1,-7.1,124,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2131,3096
$GC,2913,-0.84,-117.3,224.6,-9.2,139,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2131,3097
$GC,3225,-0.84,-117.3,251.4,-8.1,154,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2131,3096
$GC,3533,-0.84,-117.3,274.7,-7.4,169,3537,0.00,2.58,0.00,0.000,4,0.000,0.064,2505,3563,3095
$GC,3605,-0.84,-117.3,280.7,-8.2,172,3609,0.00,2.58,0.00,0.000,6,0.000,0.051,2505,2122,3095
$GC,3926,-0.84,-117.3,305.0,-7.5,188,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2123,3095
$GC,4235,-0.84,-117.3,329.2,-8.0,203,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2122,3095
$GC,4544,-0.84,-117.3,353.6,-7.6,218,4549,0.00,2.62,0.00,0.000,4,0.000,0.065,2504,3557,3095
$GC,4618,-0.84,-117.3,359.3,-7.6,221,4622,0.00,2.58,0.00,0.000,6,0.000,0.052,2505,2119,3095
$STATE,4910,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4910,begin apogee
$GC,4917,-0.33,0.0,380.7,7.2,235,5016,0.57,0.00,96.45,1.041,6,0.080,0.000,2627,2119,2620
$STATE,5017,end apogee,CONTROL_FINISHED_OK
$STATE,5017,begin climb
$GC,5020,1.30,117.3,383.2,0.0,240,5124,1.62,2.65,95.18,1.009,4,0.071,0.063,2977,682,2141
$GC,5193,1.30,117.3,371.6,8.1,248,5197,0.00,2.55,0.00,0.000,6,0.000,0.051,2977,2098,2140
$GC,5520,1.32,124.7,348.2,7.7,264,5534,0.00,2.62,7.62,0.836,4,0.000,0.063,2977,3505,2110
$GC,5557,1.32,124.7,345.0,8.8,265,5563,0.00,2.55,0.00,0.000,6,0.000,0.051,2977,2102,2110
$GC,5873,1.32,124.7,319.0,8.1,281,5877,0.00,2.58,0.00,0.000,4,0.000,0.063,2977,3507,2110
$GC,5946,1.32,124.7,312.6,8.9,284,5950,0.00,2.50,0.00,0.000,6,0.000,0.051,2977,2117,2110
$GC,6261,1.32,124.7,285.6,9.1,299,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2117,2110
$GC,6570,1.32,124.7,256.3,9.5,314,6575,0.00,2.55,0.00,0.000,4,0.000,0.061,2977,3508,2110
$GC,6626,1.32,124.7,250.7,10.1,316,6632,0.00,2.50,0.00,0.000,6,0.000,0.051,2977,2118,2110
$GC,6942,1.32,124.7,220.2,9.6,332,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2118,2109
$GC,7251,1.32,124.7,193.8,9.2,347,7255,0.00,2.55,0.00,0.000,4,0.000,0.061,2977,3509,2109
$GC,7313,1.32,124.7,187.7,10.2,350,7317,0.00,2.45,0.00,0.000,6,0.000,0.051,2977,2131,2109
$GC,7640,1.32,124.7,157.1,9.3,366,7644,0.00,2.53,0.00,0.000,4,0.000,0.061,2977,3509,2109
$GC,7690,1.32,124.7,151.9,9.7,368,7695,0.00,2.45,0.00,0.000,6,0.000,0.049,2977,2137,2109
$GC,8007,1.32,124.7,123.1,8.9,383,8011,0.00,2.50,0.00,0.000,4,0.000,0.060,2977,3514,2109
$GC,8040,1.32,124.7,119.7,9.6,384,8046,0.00,2.45,0.00,0.000,6,0.000,0.050,2977,2145,2109
$GC,8357,1.32,124.7,89.6,9.5,400,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2145,2109
$GC,8666,1.38,138.0,64.0,7.4,415,8688,0.10,2.53,11.55,0.779,4,0.054,0.058,3010,3509,2057
$GC,8735,1.33,138.0,58.0,9.4,418,8739,0.00,2.42,0.00,0.000,6,0.000,0.049,3010,2156,2057
$GC,9064,1.28,138.0,30.8,8.7,434,9069,0.15,2.62,0.00,0.000,4,0.087,0.062,2977,690,2056
$GC,9105,1.36,138.0,27.3,8.4,436,9109,0.00,2.60,0.00,0.000,6,0.000,0.051,2977,2150,2057
$GC,9432,1.47,161.3,2.3,6.9,452,9437,0.15,0.00,1.92,0.122,2,0.047,0.000,3024,2150,2046
$STATE,9437,end climb,SURFACE_DEPTH_REACHED
$STATE,9438,begin surface coast
$FINISH,-0.2,1.025730
$STATE,9475,end surface coast,CONTROL_FINISHED_OK
$STATE,9475,begin surface
$SM_CCo,9497,239.93,0.756,0,0,390,547.02
$SM_GC,0.46,0.00,0.00,239.93,0.000,0.000,0.756,422,2167,390,-10.48,0.42,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1691
$TCM_TEMP,17.40
$XPDR_PINGS,331
$ALTIM_TOP_PING,19.0,999.0
$ALTIM_BOTTOM_PING,350.4,40.0
$24V_AH,24.0,35.831
$10V_AH,10.1,17.159
$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,24.700,70.950,212.725,239.925,0.000,113.268,87.379,176.438,85.500,0.000,0.000,13.142,875.229,7299.305,591.764,1015.016,575.094,0.000,1108.205,0.000,1000.675,0.000,22.708
$DEVICE_MAMPS,141.895,65.195,1040.819,756.262,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,310.399,338.415,397.400,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22283,454
$CAP_FILE_SIZE,76193,0
$CFSIZE,254472192,240070656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,160708,162307,6207.270,-901.634,40,2.0,45,-9.5