version: 66.03
glider: 5
mission: 3
dive: 184
start: 7 16 108 23 15 3
data:
$ID,5
$MISSION,3
$DIVE,184
$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,-80075.344
$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,21
$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
$GPS1,230901,6206.209,-901.534,37,1.6,37,-9.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-54.8
$GPS2,231415,6206.169,-901.476,14,1.7,14,-9.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.007,-0.222
$KALMAN_X,701.3,701.3,701.3,26.9,-987.8
$KALMAN_Y,785.2,785.2,785.2,-4662.0,-1106.0
$MHEAD_RNG_PITCHd_Wd,191.2,47359,-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,21,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,-110.93,0.000,6,0.000,0.000,419,2135,3099
$GC,142,-1.30,-117.3,2.4,-2.1,6,158,10.48,2.58,0.00,0.000,4,0.146,0.056,2406,3558,3098
$GC,411,-0.95,-117.3,40.2,-13.0,17,416,0.40,2.53,0.00,0.000,6,0.100,0.045,2487,2135,3097
$GC,735,-0.88,-117.3,74.2,-10.6,33,739,0.00,2.47,0.00,0.000,4,0.000,0.060,2487,740,3097
$GC,808,-0.79,-117.3,82.7,-11.8,36,813,0.20,2.47,0.00,0.000,6,0.090,0.048,2530,2124,3097
$GC,1125,-0.83,-117.3,108.6,-7.0,51,1129,0.00,2.53,0.00,0.000,4,0.000,0.061,2530,743,3097
$GC,1144,-0.87,-117.3,109.9,-7.1,52,1148,0.00,2.47,0.00,0.000,6,0.000,0.050,2530,2128,3097
$GC,1472,-0.93,-117.3,134.1,-6.9,68,1477,0.15,2.53,0.00,0.000,4,0.050,0.060,2482,745,3097
$GC,1558,-0.82,-117.3,142.0,-9.9,72,1563,0.17,2.42,0.00,0.000,6,0.091,0.050,2518,2105,3097
$GC,1885,-0.82,-117.3,173.2,-10.4,88,1889,0.00,2.47,0.00,0.000,4,0.000,0.061,2518,749,3097
$GC,1895,-0.82,-117.3,174.4,-10.5,88,1901,0.00,2.40,0.00,0.000,6,0.000,0.051,2518,2087,3097
$GC,2211,-0.82,-117.3,207.5,-10.5,104,2215,0.00,2.62,0.00,0.000,4,0.000,0.061,2518,3555,3097
$GC,2221,-0.82,-117.3,208.6,-10.3,104,2227,0.00,2.62,0.00,0.000,6,0.000,0.050,2518,2082,3097
$GC,2537,-0.82,-117.3,239.2,-9.5,120,2541,0.00,2.67,0.00,0.000,4,0.000,0.061,2518,3558,3097
$GC,2547,-0.82,-117.3,240.3,-9.5,120,2554,0.00,2.62,0.00,0.000,6,0.000,0.051,2518,2083,3097
$GC,2864,-0.82,-117.3,268.8,-8.9,136,2868,0.00,2.65,0.00,0.000,4,0.000,0.063,2518,3555,3097
$GC,2874,-0.82,-117.3,269.8,-8.6,136,2880,0.00,2.60,0.00,0.000,6,0.000,0.050,2518,2091,3097
$GC,3190,-0.82,-117.3,297.6,-8.7,152,3194,0.00,2.65,0.00,0.000,4,0.000,0.062,2518,3555,3096
$GC,3200,-0.82,-117.3,298.6,-8.9,152,3206,0.00,2.62,0.00,0.000,6,0.000,0.051,2518,2084,3096
$GC,3517,-0.82,-117.3,326.8,-9.1,168,3522,0.00,2.67,0.00,0.000,4,0.000,0.063,2518,3555,3096
$GC,3568,-0.82,-117.3,331.8,-9.5,170,3572,0.00,2.58,0.00,0.000,6,0.000,0.051,2518,2106,3096
$GC,3884,-0.82,-117.3,358.0,-8.0,185,3888,0.00,2.65,0.00,0.000,4,0.000,0.063,2518,3555,3096
$GC,3894,-0.82,-117.3,358.9,-7.9,185,3901,0.00,2.60,0.00,0.000,6,0.000,0.051,2518,2102,3096
$GC,4211,-0.87,-117.3,384.4,-8.1,201,4215,0.00,2.62,0.00,0.000,4,0.000,0.064,2518,3554,3096
$GC,4223,-0.87,-117.3,385.4,-7.8,201,4229,0.00,2.60,0.00,0.000,6,0.000,0.053,2518,2102,3096
$GC,4540,-0.91,-117.3,406.4,-6.1,217,4544,0.00,2.65,0.00,0.000,4,0.000,0.064,2518,3563,3095
$GC,4625,-0.91,-117.3,411.8,-6.7,221,4629,0.00,2.58,0.00,0.000,6,0.000,0.051,2518,2115,3095
$GC,4953,-0.96,-117.3,433.2,-7.3,237,4958,0.12,2.65,0.00,0.000,4,0.053,0.064,2480,3557,3095
$GC,5144,-1.28,-117.3,444.2,-0.4,245,5151,0.28,2.55,0.00,0.000,6,0.041,0.051,2404,2104,3095
$GC,5461,-1.65,-117.3,444.2,-0.1,261,5466,0.28,2.65,0.00,0.000,4,0.042,0.066,2328,3558,3094
$GC,5473,-2.01,-117.3,444.1,0.4,261,5479,0.30,2.53,0.00,0.000,6,0.041,0.052,2247,2127,3094
$STATE,5703,end dive,NO_VERTICAL_VELOCITY
$STATE,5703,begin apogee
$GC,5710,-0.33,0.0,444.2,0.0,273,5811,1.73,0.00,96.88,1.091,6,0.065,0.000,2624,2126,2620
$STATE,5812,end apogee,CONTROL_FINISHED_OK
$STATE,5812,begin climb
$GC,5815,1.30,117.3,444.0,0.0,278,5919,1.62,2.65,95.40,1.068,4,0.067,0.065,2977,718,2140
$GC,6172,1.30,117.3,412.2,11.3,294,6177,0.00,2.53,0.00,0.000,6,0.000,0.055,2977,2101,2140
$GC,6493,1.30,117.3,385.2,8.0,310,6497,0.00,2.55,0.00,0.000,4,0.000,0.065,2977,3505,2139
$GC,6638,1.30,117.3,373.0,8.9,316,6644,0.00,2.47,0.00,0.000,6,0.000,0.052,2977,2137,2138
$GC,6954,1.30,117.3,348.2,8.0,332,6956,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2137,2138
$GC,7264,1.31,120.4,323.3,7.9,347,7273,0.00,2.55,3.67,0.624,4,0.000,0.062,2977,3504,2129
$GC,7359,1.31,120.4,315.2,8.3,351,7363,0.00,2.50,0.00,0.000,6,0.000,0.051,2977,2119,2129
$GC,7680,1.31,120.4,288.3,8.5,367,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2119,2129
$GC,7989,1.31,120.4,261.4,9.1,382,7994,0.00,2.55,0.00,0.000,4,0.000,0.061,2977,3510,2128
$GC,8097,1.31,120.4,251.0,9.8,387,8101,0.00,2.47,0.00,0.000,6,0.000,0.051,2977,2125,2128
$GC,8423,1.31,120.4,219.6,9.6,403,8428,0.00,2.53,0.00,0.000,4,0.000,0.061,2977,3511,2128
$GC,8491,1.31,120.4,212.8,10.1,406,8495,0.00,2.42,0.00,0.000,6,0.000,0.051,2977,2155,2128
$GC,8812,1.31,120.4,181.4,10.2,422,8813,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2155,2128
$GC,9122,1.31,120.4,146.5,12.0,437,9126,0.00,2.47,0.00,0.000,4,0.000,0.061,2977,3516,2128
$GC,9222,1.31,120.4,134.1,12.2,441,9228,0.00,2.42,0.00,0.000,6,0.000,0.051,2977,2164,2128
$GC,9540,1.31,120.4,98.0,11.5,457,9541,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2163,2128
$GC,9847,1.31,120.4,64.6,10.1,472,9852,0.00,2.45,0.00,0.000,4,0.000,0.060,2977,3516,2128
$GC,9933,1.31,120.4,55.7,10.5,476,9938,0.00,2.38,0.00,0.000,6,0.000,0.049,2977,2172,2128
$GC,10261,1.36,149.4,30.8,6.7,492,10292,0.00,2.72,24.55,0.792,4,0.000,0.062,2977,683,2009
$GC,10339,1.42,149.4,24.8,8.7,495,10346,0.15,2.67,0.00,0.000,6,0.044,0.051,3022,2178,2009
$STATE,10570,end climb,SURFACE_DEPTH_REACHED
$STATE,10570,begin surface coast
$FINISH,0.1,1.013441
$STATE,10593,end surface coast,CONTROL_FINISHED_OK
$STATE,10593,begin surface
$SM_CCo,10616,236.68,0.765,0,0,390,547.02
$SM_GC,0.54,0.00,0.00,236.68,0.000,0.000,0.765,426,2196,390,-10.46,1.27,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1674
$TCM_TEMP,17.30
$XPDR_PINGS,404
$ALTIM_TOP_PING,18.3,999.0
$24V_AH,23.9,36.271
$10V_AH,10.1,17.344
$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,27.175,117.625,220.500,236.675,0.000,37.758,29.369,133.399,104.250,0.000,0.000,14.218,1005.726,7834.123,634.556,1270.416,426.723,30.192,1284.366,0.000,1247.342,0.000,21.977
$DEVICE_MAMPS,146.497,65.962,1091.441,764.699,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,346.532,378.041,380.358,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25449,508
$CAP_FILE_SIZE,90596,0
$CFSIZE,254472192,239923200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,170708,021708,6203.626,-901.300,32,2.0,32,-9.4