version: 66.03
glider: 5
mission: 3
dive: 183
start: 7 16 108 19 35 2
data:
$ID,5
$MISSION,3
$DIVE,183
$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,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$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,-80060.5
$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,23
$R_STBD_OVSHOOT,22
$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
$GPS1,192701,6207.362,-904.086,40,1.1,40,-9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-56.1
$GPS2,193415,6207.373,-904.017,13,1.9,13,-9.5
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.027,-0.220
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,196.6,49226,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.30,-117.3,0.0,0.0,0,138,0.00,0.00,-111.30,0.000,6,0.000,0.000,422,2140,3100
$GC,142,-1.30,-117.3,1.9,-1.4,5,158,10.40,2.55,0.00,0.000,4,0.143,0.058,2408,3561,3098
$GC,411,-0.97,-117.3,45.9,-16.7,16,416,0.38,2.53,0.00,0.000,6,0.098,0.047,2484,2141,3096
$GC,735,-0.88,-117.3,77.3,-7.0,32,740,0.10,2.58,0.00,0.000,4,0.103,0.058,2505,3557,3097
$GC,746,-0.78,-117.3,78.0,-6.2,32,754,0.10,2.50,0.00,0.000,6,0.100,0.048,2525,2151,3097
$GC,1063,-0.78,-117.3,81.0,3.1,48,1067,0.00,2.58,0.00,0.000,4,0.000,0.058,2525,3564,3097
$GC,1104,-0.78,-117.3,79.6,3.5,50,1108,0.00,2.50,0.00,0.000,6,0.000,0.047,2525,2159,3097
$GC,1431,-0.78,-117.3,71.8,1.3,66,1435,0.00,2.53,0.00,0.000,4,0.000,0.058,2525,3558,3097
$GC,1539,-0.78,-117.3,70.0,0.4,71,1543,0.00,2.45,0.00,0.000,6,0.000,0.047,2525,2179,3097
$GC,1866,-0.78,-117.3,67.0,0.4,87,1871,0.00,2.50,0.00,0.000,4,0.000,0.059,2525,3559,3097
$GC,1879,-0.78,-117.3,66.9,0.6,87,1885,0.00,2.47,0.00,0.000,6,0.000,0.049,2525,2166,3097
$GC,2195,-0.78,-117.3,75.3,-4.4,103,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2166,3097
$GC,2507,-0.83,-117.3,95.0,-6.0,118,2511,0.00,2.53,0.00,0.000,4,0.000,0.060,2525,3561,3097
$GC,2518,-0.83,-117.3,96.0,-6.0,118,2524,0.00,2.50,0.00,0.000,6,0.000,0.051,2525,2160,3097
$GC,2836,-0.83,-117.3,110.1,-2.4,134,2840,0.00,2.53,0.00,0.000,4,0.000,0.060,2525,3557,3097
$GC,2859,-0.83,-117.3,110.5,-1.6,135,2864,0.00,2.47,0.00,0.000,6,0.000,0.048,2525,2164,3097
$GC,3182,-0.88,-117.3,120.8,-4.8,151,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2164,3097
$GC,3493,-0.92,-117.3,139.2,-6.5,166,3498,0.12,2.53,0.00,0.000,4,0.051,0.060,2487,3557,3097
$GC,3504,-0.92,-117.3,140.3,-6.6,166,3511,0.00,2.45,0.00,0.000,6,0.000,0.052,2488,2186,3097
$GC,3820,-0.85,-117.3,169.1,-10.1,182,3825,0.12,2.58,0.00,0.000,4,0.097,0.064,2514,744,3096
$GC,3831,-0.79,-117.3,170.2,-10.2,182,3838,0.00,2.55,0.00,0.000,6,0.000,0.052,2514,2174,3096
$GC,4148,-0.79,-117.3,200.3,-9.4,198,4153,0.00,2.62,0.00,0.000,4,0.000,0.065,2514,741,3095
$GC,4159,-0.79,-117.3,201.5,-9.4,198,4165,0.00,2.58,0.00,0.000,6,0.000,0.053,2514,2179,3096
$GC,4475,-0.79,-117.3,230.0,-8.9,214,4479,0.00,2.62,0.00,0.000,4,0.000,0.062,2514,738,3095
$GC,4485,-0.79,-117.3,230.9,-9.0,214,4491,0.00,2.58,0.00,0.000,6,0.000,0.053,2514,2174,3095
$GC,4801,-0.79,-117.3,257.1,-8.1,230,4805,0.00,2.60,0.00,0.000,4,0.000,0.066,2514,743,3095
$GC,4845,-0.79,-117.3,260.8,-8.5,232,4849,0.00,2.55,0.00,0.000,6,0.000,0.054,2514,2165,3095
$GC,5167,-0.79,-117.3,285.3,-7.5,248,5171,0.00,2.60,0.00,0.000,4,0.000,0.064,2514,742,3095
$GC,5188,-0.79,-117.3,287.2,-8.3,249,5193,0.00,2.55,0.00,0.000,6,0.000,0.054,2514,2162,3095
$GC,5510,-0.79,-117.3,313.8,-8.3,265,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2162,3095
$GC,5820,-0.79,-117.3,339.4,-8.1,280,5824,0.00,2.58,0.00,0.000,4,0.000,0.065,2514,743,3094
$GC,5837,-0.79,-117.3,340.8,-8.1,281,5841,0.00,2.53,0.00,0.000,6,0.000,0.054,2514,2152,3094
$GC,6164,-0.79,-117.3,366.2,-7.9,297,6168,0.00,2.58,0.00,0.000,4,0.000,0.064,2514,741,3094
$GC,6187,-0.79,-117.3,368.1,-8.3,298,6191,0.00,2.53,0.00,0.000,6,0.000,0.054,2514,2146,3094
$GC,6508,-0.79,-117.3,395.0,-8.6,314,6512,0.00,2.55,0.00,0.000,4,0.000,0.066,2514,3561,3094
$GC,6518,-0.79,-117.3,395.7,-8.2,314,6525,0.00,2.53,0.00,0.000,6,0.000,0.054,2514,2146,3094
$GC,6835,-0.79,-117.3,416.9,-7.0,330,6839,0.00,2.60,0.00,0.000,4,0.000,0.066,2514,3562,3094
$GC,6942,-0.79,-117.3,424.3,-5.4,335,6947,0.00,2.50,0.00,0.000,6,0.000,0.054,2514,2152,3094
$GC,7270,-1.16,-117.3,425.4,0.1,351,7275,0.25,2.53,0.00,0.000,4,0.042,0.067,2440,743,3093
$GC,7528,-1.43,-117.3,425.5,0.1,362,7535,0.22,2.55,0.00,0.000,6,0.046,0.056,2378,2160,3094
$STATE,7635,end dive,NO_VERTICAL_VELOCITY
$STATE,7635,begin apogee
$GC,7643,-0.33,0.0,425.5,0.0,368,7743,1.15,0.00,96.60,1.079,6,0.075,0.000,2624,2079,2620
$STATE,7744,end apogee,CONTROL_FINISHED_OK
$STATE,7744,begin climb
$GC,7747,1.30,117.3,425.2,0.0,373,7851,1.65,2.72,95.62,1.056,4,0.075,0.064,2976,3511,2141
$GC,8103,1.30,117.3,395.8,10.7,389,8107,0.00,2.53,0.00,0.000,6,0.000,0.054,2976,2122,2140
$GC,8424,1.30,117.3,365.4,9.1,405,8429,0.00,2.58,0.00,0.000,4,0.000,0.066,2976,3507,2139
$GC,8536,1.30,117.3,355.6,8.1,410,8540,0.00,2.50,0.00,0.000,6,0.000,0.052,2976,2125,2139
$GC,8858,1.31,123.5,332.1,7.7,426,8866,0.00,0.00,6.53,0.841,6,0.000,0.000,2976,2126,2115
$GC,9167,1.33,134.5,308.9,7.5,441,9183,0.00,2.58,10.65,0.924,4,0.000,0.063,2976,3508,2070
$GC,9256,1.33,134.5,301.6,8.3,444,9260,0.00,2.47,0.00,0.000,6,0.000,0.051,2977,2136,2070
$GC,9577,1.33,134.5,274.8,8.7,460,9578,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2136,2070
$GC,9886,1.33,134.5,247.1,8.7,475,9891,0.00,2.53,0.00,0.000,4,0.000,0.062,2976,3511,2069
$GC,9959,1.33,134.5,240.9,8.4,478,9963,0.00,2.45,0.00,0.000,6,0.000,0.050,2976,2144,2070
$GC,10275,1.33,134.5,214.0,9.6,493,10276,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2144,2069
$GC,10584,1.37,134.5,183.6,9.8,508,10589,0.10,2.50,0.00,0.000,4,0.064,0.060,3007,3508,2069
$GC,10663,1.32,134.5,174.5,11.7,511,10668,0.00,2.45,0.00,0.000,6,0.000,0.051,3007,2144,2069
$GC,10980,1.27,134.5,138.5,10.9,527,10981,0.15,0.00,0.00,0.000,6,0.089,0.000,2978,2142,2069
$GC,11289,1.36,166.3,115.9,6.6,542,11320,0.00,2.53,26.02,0.860,4,0.000,0.059,2978,3507,1941
$GC,11383,1.48,197.6,109.6,6.6,546,11416,0.20,2.42,25.73,0.853,6,0.042,0.049,3031,2160,1814
$GC,11728,1.43,197.6,79.8,8.6,563,11733,0.00,2.65,0.00,0.000,4,0.000,0.064,3031,684,1813
$GC,11762,1.36,197.6,75.7,11.0,564,11769,0.20,2.67,0.00,0.000,6,0.084,0.052,2992,2179,1813
$GC,12079,1.39,217.2,50.7,7.1,580,12102,0.00,2.83,16.83,0.796,4,0.000,0.062,2992,681,1733
$GC,12164,1.50,245.5,45.0,6.7,583,12195,0.17,2.62,23.42,0.797,6,0.043,0.050,3040,2151,1618
$GC,12523,1.50,245.5,5.8,11.7,601,12527,0.00,2.42,0.00,0.000,4,0.000,0.057,3039,3513,1618
$STATE,12548,end climb,SURFACE_DEPTH_REACHED
$STATE,12548,begin surface coast
$FINISH,1.2,1.027034
$STATE,12555,end surface coast,CONTROL_FINISHED_OK
$STATE,12555,begin surface
$SM_CCo,12580,181.40,0.765,0,0,390,547.02
$SM_GC,0.54,0.00,0.00,181.40,0.000,0.000,0.765,419,2131,390,-10.49,-0.54,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1667
$TCM_TEMP,19.30
$XPDR_PINGS,463
$ALTIM_TOP_PING,18.1,17.4
$24V_AH,24.0,36.131
$10V_AH,10.1,17.285
$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,26.725,137.525,301.400,181.400,0.000,75.522,53.961,139.598,119.000,0.000,0.000,13.267,1184.315,9353.921,647.766,1493.028,525.143,29.244,1405.714,0.000,1467.157,0.000,21.934
$DEVICE_MAMPS,143.429,67.496,1079.169,765.466,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.250,443.396,556.198,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31770,602
$CAP_FILE_SIZE,107692,0
$CFSIZE,254472192,239951872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,160708,230901,6206.209,-901.534,37,1.6,37,-9.4