version: 66.04
glider: 5
mission: 7
dive: 166
start: 9 26 109 15 4 21
data:
$ID,5
$MISSION,7
$DIVE,166
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,-103364.58
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2831
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.674383
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,9
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,145707,6357.308,-1334.524,42,0.9,42,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-58.1
$GPS2,150331,6357.363,-1334.401,16,0.9,33,-12.7
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.040,0.169
$KALMAN_X,-40957.2,-1178.8,-541.2,-216651.9,4811.9
$KALMAN_Y,-12014.9,-692.5,-53.0,273435.4,692.4
$MHEAD_RNG_PITCHd_Wd,359.5,6051,-22.1,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.58,-69.3,0.0,0.0,0,59,0.00,0.00,-41.40,0.000,2,0.000,0.000,422,2149,2472
$GC,63,-1.65,-108.8,2.3,-5.0,2,114,11.02,2.62,-34.35,0.000,4,0.166,0.069,2379,718,3274
$GC,339,-1.60,-108.8,43.4,-18.6,14,343,0.00,2.47,0.00,0.000,6,0.000,0.048,2379,2117,3274
$GC,656,-1.54,-108.8,100.2,-17.0,29,661,0.15,2.53,0.00,0.000,4,0.110,0.055,2407,713,3274
$GC,815,-1.54,-108.8,125.0,-14.9,36,819,0.00,2.47,0.00,0.000,6,0.000,0.046,2407,2114,3275
$GC,1133,-1.54,-108.8,171.5,-14.6,54,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2114,3275
$GC,1445,-1.54,-108.8,218.0,-15.2,74,1448,0.00,2.53,0.00,0.000,4,0.000,0.059,2407,715,3275
$GC,1557,-1.57,-108.8,234.6,-14.0,80,1563,0.00,2.45,0.00,0.000,6,0.000,0.048,2407,2099,3275
$GC,1877,-1.79,-108.8,272.9,-8.6,101,1882,0.22,2.58,0.00,0.000,4,0.043,0.066,2344,3530,3275
$GC,2136,-2.13,-146.6,272.9,0.1,116,2143,0.28,2.53,0.00,0.000,6,0.045,0.054,2273,2124,3275
$STATE,2203,end dive,NO_VERTICAL_VELOCITY
$STATE,2203,begin apogee
$GC,2211,-0.33,0.0,272.9,0.0,121,2310,1.83,0.00,91.18,0.974,6,0.065,0.000,2671,1846,2830
$STATE,2311,end apogee,CONTROL_FINISHED_OK
$STATE,2311,begin climb
$GC,2314,1.71,146.6,272.8,0.0,128,2444,2.00,2.58,121.30,0.943,4,0.054,0.063,3121,443,2233
$GC,2627,1.58,146.6,241.1,13.4,147,2632,0.17,2.50,0.00,0.000,6,0.104,0.047,3089,1850,2232
$GC,2946,1.58,146.6,208.7,9.8,167,2951,0.00,2.58,0.00,0.000,4,0.000,0.064,3089,448,2232
$GC,3003,1.52,146.6,202.9,10.8,170,3009,0.00,2.47,0.00,0.000,6,0.000,0.048,3089,1845,2232
$GC,3322,1.52,146.6,173.2,9.5,191,3327,0.00,2.58,0.00,0.000,4,0.000,0.064,3089,439,2231
$GC,3412,1.46,146.6,163.7,10.5,196,3419,0.12,2.45,0.00,0.000,6,0.107,0.048,3066,1823,2232
$GC,3741,1.51,146.6,134.3,8.9,215,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1838,2231
$GC,4051,1.57,146.6,105.7,9.9,230,4055,0.00,2.55,0.00,0.000,4,0.000,0.058,3066,3255,2231
$GC,4091,1.65,146.6,101.9,9.7,232,4096,0.17,2.55,0.00,0.000,6,0.054,0.051,3110,1821,2232
$GC,4419,1.65,146.6,71.5,9.3,248,4423,0.00,2.47,0.00,0.000,4,0.000,0.063,3110,433,2231
$GC,4597,1.56,146.6,52.5,9.3,256,4602,0.12,2.40,0.00,0.000,6,0.106,0.045,3087,1804,2231
$GC,4926,1.56,146.6,24.0,8.4,272,4930,0.00,2.58,0.00,0.000,4,0.000,0.058,3088,3257,2231
$GC,4976,1.56,146.6,18.4,9.3,274,4981,0.00,2.58,0.00,0.000,6,0.000,0.049,3088,1810,2231
$STATE,5145,end climb,SURFACE_DEPTH_REACHED
$STATE,5145,begin surface coast
$FINISH,0.7,1.027017
$STATE,5169,end surface coast,CONTROL_FINISHED_OK
$STATE,5169,begin surface
$SM_CCo,5192,80.97,0.779,0,0,1607,300.00
$SM_GC,1.39,0.00,0.00,80.97,0.000,0.000,0.779,419,2130,1607,-10.70,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1813
$TCM_TEMP,17.40
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,220.6,73.2
$24V_AH,24.0,29.881
$10V_AH,10.1,13.530
$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,Compass2
$DEVICE_SECS,27.725,51.475,212.475,80.975,0.000,37.761,25.581,168.765,5.000,0.000,0.000,35.996,576.219,3484.381,373.005,825.399,395.571,33.360,786.421,0.000,788.708,0.000,12.880,0.000
$DEVICE_MAMPS,165.672,69.030,974.090,778.505,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,192.374,209.318,265.477,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12864,283
$CAP_FILE_SIZE,53707,0
$CFSIZE,254472192,242511872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,260909,163308,6358.149,-1334.586,13,1.6,14,-12.7