version: 66.03
glider: 5
mission: 3
dive: 165
start: 7 14 108 19 10 30
data:
$ID,5
$MISSION,3
$DIVE,165
$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,-79676.258
$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,19
$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
$GPS1,190101,6216.411,-855.760,38,1.1,38,-9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-48.9
$GPS2,190939,6216.506,-855.539,12,1.3,12,-9.5
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.058,-0.214
$KALMAN_X,-50885.7,-1138.7,-552.7,93812.3,12326.6
$KALMAN_Y,170138.2,-2561.3,-1243.3,-115858.1,30397.4
$MHEAD_RNG_PITCHd_Wd,204.6,67145,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.30,-117.3,0.0,0.0,0,141,0.00,0.00,-111.70,0.000,6,0.000,0.000,418,2127,3098
$GC,145,-1.30,-117.3,2.0,-1.8,6,161,10.32,2.58,0.00,0.000,4,0.139,0.054,2408,3567,3098
$GC,230,-0.95,-117.3,14.5,-13.0,9,235,0.40,2.53,0.00,0.000,6,0.094,0.047,2490,2144,3097
$GC,558,-0.87,-117.3,45.5,-9.6,25,562,0.00,2.58,0.00,0.000,4,0.000,0.058,2490,3560,3097
$GC,653,-0.80,-117.3,54.7,-9.7,29,658,0.15,2.50,0.00,0.000,6,0.094,0.045,2521,2154,3096
$GC,969,-0.80,-117.3,81.5,-8.5,44,973,0.00,2.55,0.00,0.000,4,0.000,0.058,2521,3561,3097
$GC,1122,-0.80,-117.3,95.0,-8.9,51,1126,0.00,2.45,0.00,0.000,6,0.000,0.046,2521,2183,3097
$GC,1449,-0.80,-117.3,120.7,-7.8,67,1453,0.00,2.58,0.00,0.000,4,0.000,0.061,2521,743,3097
$GC,1460,-0.80,-117.3,121.6,-7.8,67,1466,0.00,2.58,0.00,0.000,6,0.000,0.051,2521,2184,3097
$GC,1776,-0.80,-117.3,145.9,-7.6,83,1781,0.00,2.62,0.00,0.000,4,0.000,0.061,2522,743,3097
$GC,1788,-0.80,-117.3,146.8,-7.3,83,1794,0.00,2.55,0.00,0.000,6,0.000,0.051,2521,2176,3097
$GC,2104,-0.80,-117.3,169.2,-7.1,99,2108,0.00,2.60,0.00,0.000,4,0.000,0.061,2522,750,3097
$GC,2132,-0.80,-117.3,171.3,-7.2,100,2136,0.00,2.55,0.00,0.000,6,0.000,0.051,2521,2173,3097
$GC,2448,-0.80,-117.3,194.9,-7.8,115,2452,0.00,2.58,0.00,0.000,4,0.000,0.063,2521,746,3097
$GC,2475,-0.80,-117.3,197.2,-8.4,116,2480,0.00,2.53,0.00,0.000,6,0.000,0.052,2521,2151,3097
$GC,2792,-0.84,-117.3,222.9,-8.1,131,2796,0.00,2.58,0.00,0.000,4,0.000,0.064,2522,746,3097
$GC,2820,-0.84,-117.3,225.4,-8.6,132,2824,0.00,2.53,0.00,0.000,6,0.000,0.053,2521,2150,3096
$GC,3137,-0.88,-117.3,249.4,-7.5,147,3144,0.00,2.58,0.00,0.000,4,0.000,0.064,2522,746,3096
$GC,3172,-0.88,-117.3,252.4,-8.3,148,3176,0.00,2.53,0.00,0.000,6,0.000,0.053,2521,2149,3096
$GC,3488,-0.93,-117.3,278.5,-8.5,163,3493,0.12,2.58,0.00,0.000,4,0.053,0.064,2483,746,3096
$GC,3523,-0.84,-117.3,281.9,-10.4,164,3529,0.15,2.50,0.00,0.000,6,0.095,0.053,2515,2136,3095
$GC,3838,-0.84,-117.3,310.4,-8.6,180,3843,0.00,2.55,0.00,0.000,4,0.000,0.063,2515,741,3095
$GC,3866,-0.84,-117.3,312.9,-8.2,181,3870,0.00,2.50,0.00,0.000,6,0.000,0.054,2515,2132,3095
$GC,4183,-0.84,-117.3,336.2,-6.7,196,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2132,3095
$GC,4492,-0.84,-117.3,354.5,-6.0,211,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2132,3095
$GC,4801,-0.84,-117.3,376.0,-6.2,226,4806,0.00,2.58,0.00,0.000,4,0.000,0.065,2515,3562,3095
$GC,4842,-0.84,-117.3,378.7,-6.4,228,4846,0.00,2.53,0.00,0.000,6,0.000,0.052,2515,2140,3095
$STATE,4940,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4940,begin apogee
$GC,4947,-0.33,0.0,385.6,7.1,233,5046,0.52,0.00,96.57,1.052,6,0.081,0.000,2624,2121,2620
$STATE,5047,end apogee,CONTROL_FINISHED_OK
$STATE,5047,begin climb
$GC,5050,1.30,117.3,388.8,0.0,238,5155,1.65,2.70,95.60,1.023,4,0.072,0.067,2979,685,2140
$GC,5234,1.30,117.3,374.9,9.0,246,5238,0.00,2.58,0.00,0.000,6,0.000,0.053,2979,2109,2140
$GC,5550,1.30,117.3,346.8,9.1,261,5554,0.00,2.53,0.00,0.000,4,0.000,0.064,2979,3510,2139
$GC,5690,1.30,117.3,331.6,10.6,267,5694,0.00,2.50,0.00,0.000,6,0.000,0.050,2979,2118,2138
$GC,6006,1.30,117.9,303.9,8.0,282,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2118,2139
$GC,6316,1.33,136.6,281.1,7.1,297,6338,0.00,2.65,16.60,0.930,4,0.000,0.061,2979,3510,2063
$GC,6439,1.34,139.2,271.9,7.9,302,6451,0.00,2.47,3.90,0.628,6,0.000,0.051,2979,2135,2051
$GC,6761,1.34,142.8,248.2,7.8,318,6767,0.00,0.00,4.78,0.702,6,0.000,0.000,2979,2134,2036
$GC,7070,1.42,161.7,225.8,7.1,333,7093,0.12,2.60,16.62,0.905,4,0.050,0.060,3018,3508,1960
$GC,7172,1.37,161.7,216.5,9.5,337,7176,0.00,2.45,0.00,0.000,6,0.000,0.051,3018,2151,1959
$GC,7488,1.31,161.7,186.2,10.2,352,7490,0.17,0.00,0.00,0.000,6,0.086,0.000,2983,2151,1959
$GC,7797,1.36,161.7,157.6,9.3,367,7801,0.00,2.47,0.00,0.000,4,0.000,0.062,2983,3515,1959
$GC,7883,1.41,161.7,149.0,10.0,371,7887,0.10,2.40,0.00,0.000,6,0.054,0.052,3012,2162,1959
$GC,8210,1.41,161.7,117.3,8.9,387,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2162,1959
$GC,8519,1.41,161.7,91.1,8.7,402,8523,0.00,2.45,0.00,0.000,4,0.000,0.060,3013,3509,1959
$GC,8563,1.41,161.7,86.8,10.0,404,8567,0.00,2.40,0.00,0.000,6,0.000,0.050,3013,2171,1959
$GC,8885,1.41,161.7,60.2,8.6,420,8886,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2171,1959
$GC,9196,1.41,161.7,29.8,10.2,435,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2171,1959
$STATE,9480,end climb,SURFACE_DEPTH_REACHED
$STATE,9480,begin surface coast
$FINISH,-0.1,1.026568
$STATE,9502,end surface coast,CONTROL_FINISHED_OK
$STATE,9502,begin surface
$SM_CCo,9525,224.75,0.772,0,0,390,547.02
$SM_GC,0.41,0.00,0.00,224.75,0.000,0.000,0.772,421,2151,390,-10.48,-0.08,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1672
$TCM_TEMP,17.50
$XPDR_PINGS,343
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,326.4,68.1
$24V_AH,24.0,33.669
$10V_AH,10.1,16.338
$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,24.900,91.375,234.075,224.750,0.000,75.522,59.609,202.079,88.250,0.000,0.000,12.338,881.188,7169.776,603.650,1066.401,549.888,33.363,1153.918,0.000,1047.874,0.000,18.518
$DEVICE_MAMPS,138.827,66.729,1051.557,771.602,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,307.363,331.261,382.369,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22219,450
$CAP_FILE_SIZE,81354,0
$CFSIZE,254472192,240656384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,140708,215425,6216.941,-852.584,27,1.0,45,-9.4