version: 66.03
glider: 5
mission: 3
dive: 185
start: 7 17 108 2 25 51
data:
$ID,5
$MISSION,3
$DIVE,185
$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,-80089.969
$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,25
$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
$GPS1,021708,6203.626,-901.300,32,2.0,32,-9.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-55.0
$GPS2,022502,6203.571,-901.377,14,1.3,14,-9.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.105,-0.195
$KALMAN_X,1988.9,450.4,-240.1,71.0,2112.6
$KALMAN_Y,2399.6,546.6,-164.7,-9844.5,2370.2
$MHEAD_RNG_PITCHd_Wd,217.7,42647,-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,-111.22,0.000,6,0.000,0.000,426,2178,3098
$GC,142,-1.30,-117.3,2.0,-1.6,5,158,10.45,2.47,0.00,0.000,4,0.146,0.057,2408,3558,3097
$GC,323,-0.97,-117.3,29.7,-13.5,12,328,0.40,2.50,0.00,0.000,6,0.098,0.044,2489,2145,3096
$GC,646,-0.89,-117.3,57.4,-8.2,28,650,0.00,2.50,0.00,0.000,4,0.000,0.058,2489,746,3096
$GC,735,-0.79,-117.3,65.5,-8.9,32,740,0.17,2.45,0.00,0.000,6,0.091,0.049,2525,2120,3096
$GC,1059,-0.79,-117.3,89.4,-7.9,48,1063,0.00,2.50,0.00,0.000,4,0.000,0.060,2525,751,3096
$GC,1131,-0.79,-117.3,96.0,-8.9,51,1135,0.00,2.42,0.00,0.000,6,0.000,0.049,2525,2107,3096
$GC,1447,-0.79,-117.3,122.9,-8.8,66,1451,0.00,2.47,0.00,0.000,4,0.000,0.059,2525,747,3096
$GC,1457,-0.79,-117.3,124.1,-9.0,66,1463,0.00,2.42,0.00,0.000,6,0.000,0.051,2525,2100,3096
$GC,1774,-0.84,-117.3,152.6,-8.8,82,1778,0.00,2.47,0.00,0.000,4,0.000,0.060,2525,743,3096
$GC,1813,-0.84,-117.3,156.4,-9.4,84,1817,0.00,2.42,0.00,0.000,6,0.000,0.051,2525,2097,3096
$GC,2141,-0.84,-117.3,185.6,-8.7,100,2145,0.00,2.45,0.00,0.000,4,0.000,0.063,2525,749,3096
$GC,2180,-0.84,-117.3,189.1,-9.6,102,2184,0.00,2.38,0.00,0.000,6,0.000,0.051,2525,2079,3096
$GC,2507,-0.84,-117.3,214.3,-7.1,118,2511,0.00,2.42,0.00,0.000,4,0.000,0.064,2525,751,3096
$GC,2574,-0.84,-117.3,219.1,-7.9,121,2578,0.00,2.38,0.00,0.000,6,0.000,0.051,2525,2078,3096
$GC,2901,-0.88,-117.3,237.9,-5.9,137,2906,0.00,2.45,0.00,0.000,4,0.000,0.064,2525,743,3095
$GC,2920,-0.92,-117.3,238.8,-5.7,138,2925,0.12,2.38,0.00,0.000,6,0.051,0.053,2488,2065,3095
$GC,3249,-0.86,-117.3,259.2,-5.9,154,3251,0.12,0.00,0.00,0.000,6,0.097,0.000,2514,2065,3094
$GC,3556,-0.86,-117.3,278.3,-7.1,169,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2065,3095
$GC,3865,-0.86,-117.3,304.5,-9.1,184,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2065,3095
$GC,4174,-0.86,-117.3,332.8,-9.1,199,4178,0.00,2.40,0.00,0.000,4,0.000,0.064,2514,749,3095
$GC,4184,-0.86,-117.3,333.9,-9.2,199,4190,0.00,2.38,0.00,0.000,6,0.000,0.053,2514,2072,3094
$GC,4501,-0.86,-117.3,362.2,-8.9,215,4505,0.00,2.45,0.00,0.000,4,0.000,0.065,2514,741,3094
$GC,4568,-0.86,-117.3,368.4,-8.8,218,4572,0.00,2.35,0.00,0.000,6,0.000,0.053,2514,2049,3094
$GC,4889,-0.86,-117.3,395.6,-8.3,234,4893,0.00,2.38,0.00,0.000,4,0.000,0.065,2514,751,3094
$GC,5019,-0.86,-117.3,406.1,-8.6,240,5023,0.00,2.30,0.00,0.000,6,0.000,0.052,2514,2034,3094
$GC,5346,-0.86,-117.3,430.0,-6.8,256,5348,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2035,3094
$STATE,5487,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5487,begin apogee
$GC,5495,-0.33,0.0,438.2,5.4,263,5595,0.52,0.00,97.05,1.082,6,0.082,0.000,2624,2101,2620
$STATE,5596,end apogee,CONTROL_FINISHED_OK
$STATE,5596,begin climb
$GC,5599,1.30,117.3,440.0,0.0,268,5705,1.65,2.65,96.32,1.055,4,0.068,0.063,2980,3503,2140
$GC,5772,1.30,117.3,425.5,10.6,276,5777,0.00,2.55,0.00,0.000,6,0.000,0.051,2980,2096,2140
$GC,6094,1.30,117.3,394.2,9.9,292,6098,0.00,2.58,0.00,0.000,4,0.000,0.064,2980,3504,2140
$GC,6183,1.30,117.3,384.6,10.7,296,6187,0.00,2.50,0.00,0.000,6,0.000,0.051,2980,2110,2139
$GC,6504,1.30,117.3,353.5,9.5,312,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2111,2139
$GC,6813,1.30,117.3,325.0,9.4,327,6817,0.00,2.55,0.00,0.000,4,0.000,0.061,2980,3504,2139
$GC,6902,1.30,117.3,315.3,10.3,331,6906,0.00,2.47,0.00,0.000,6,0.000,0.051,2980,2130,2139
$GC,7223,1.30,117.3,283.4,9.6,347,7224,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2130,2139
$GC,7532,1.31,119.4,258.2,7.9,362,7536,0.00,2.53,0.00,0.000,4,0.000,0.061,2980,3506,2139
$GC,7610,1.31,119.4,251.6,8.5,365,7616,0.00,2.45,0.00,0.000,6,0.000,0.050,2980,2135,2139
$GC,7926,1.31,119.4,226.5,8.1,381,7930,0.00,2.50,0.00,0.000,4,0.000,0.060,2980,3505,2139
$GC,7995,1.31,119.4,220.6,8.6,384,7999,0.00,2.42,0.00,0.000,6,0.000,0.049,2980,2150,2138
$GC,8316,1.31,123.2,195.0,7.8,400,8330,0.00,2.65,6.30,0.759,4,0.000,0.063,2980,682,2116
$GC,8371,1.31,123.2,190.0,9.0,402,8375,0.00,2.65,0.00,0.000,6,0.000,0.052,2980,2161,2116
$GC,8686,1.31,123.2,163.7,8.0,417,8690,0.00,2.42,0.00,0.000,4,0.000,0.061,2980,3511,2116
$GC,8794,1.31,123.2,154.4,8.3,422,8798,0.00,2.38,0.00,0.000,6,0.000,0.048,2979,2172,2115
$GC,9122,1.36,154.6,131.2,6.6,438,9150,0.00,0.00,26.27,0.866,6,0.000,0.000,2980,2171,1989
$GC,9452,1.47,190.8,109.9,6.4,454,9488,0.15,2.50,29.80,0.854,4,0.046,0.060,3029,3510,1842
$GC,9551,1.40,190.8,100.1,10.5,458,9555,0.15,2.40,0.00,0.000,6,0.089,0.048,3002,2180,1842
$GC,9868,1.40,190.8,73.1,8.9,473,9869,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2180,1841
$GC,10176,1.40,190.8,43.6,10.4,488,10178,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2179,1841
$GC,10485,1.40,190.8,12.8,10.0,503,10489,0.00,2.40,0.00,0.000,4,0.000,0.058,3002,3506,1841
$GC,10575,1.40,190.8,3.0,9.3,507,10579,0.00,2.35,0.00,0.000,6,0.000,0.049,3002,2194,1841
$STATE,10604,end climb,SURFACE_DEPTH_REACHED
$STATE,10604,begin surface coast
$FINISH,-0.2,1.001545
$STATE,10626,end surface coast,CONTROL_FINISHED_OK
$STATE,10626,begin surface
$SM_CCo,10649,211.68,0.767,0,0,390,547.02
$SM_GC,0.42,0.00,0.00,211.68,0.000,0.000,0.767,418,2180,390,-10.50,0.85,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1667
$TCM_TEMP,17.60
$XPDR_PINGS,401
$ALTIM_TOP_PING,19.0,999.0
$ALTIM_BOTTOM_PING,425.9,22.2
$24V_AH,24.0,36.417
$10V_AH,10.1,17.403
$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,24.875,98.400,255.750,211.675,0.000,75.521,59.916,162.471,103.750,0.000,0.000,14.001,996.939,7978.665,610.585,1230.047,525.562,31.434,1234.481,0.000,1207.681,0.000,24.845
$DEVICE_MAMPS,146.497,79.768,1082.237,767.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,348.840,376.752,402.710,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25380,510
$CAP_FILE_SIZE,88727,0
$CFSIZE,254472192,239882240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,170708,052808,6201.481,-902.570,36,1.0,36,-9.4