version: 66.03
glider: 5
mission: 3
dive: 166
start: 7 14 108 22 4 30
data:
$ID,5
$MISSION,3
$DIVE,166
$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,-79695.305
$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,24
$R_STBD_OVSHOOT,21
$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
$GPS1,215425,6216.941,-852.584,27,1.0,45,-9.4
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-50.0
$GPS2,220338,6216.979,-852.376,11,1.2,16,-9.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.070,-0.210
$KALMAN_X,-47639.6,-1038.0,-821.0,93503.6,18325.5
$KALMAN_Y,173211.6,-2074.8,-1912.5,-117836.7,37730.4
$MHEAD_RNG_PITCHd_Wd,207.7,68611,-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,-117.3,0.0,0.0,0,139,0.00,0.00,-112.15,0.000,6,0.000,0.000,421,2151,3100
$GC,143,-1.30,-117.3,2.0,-1.6,5,159,10.27,2.55,0.00,0.000,4,0.137,0.058,2406,3565,3099
$GC,266,-0.95,-117.3,20.6,-13.6,9,273,0.40,2.53,0.00,0.000,6,0.097,0.047,2488,2141,3098
$GC,585,-0.86,-117.3,46.7,-7.6,25,590,0.10,2.58,0.00,0.000,4,0.100,0.058,2509,3562,3097
$GC,596,-0.78,-117.3,47.7,-7.5,25,602,0.00,2.55,0.00,0.000,6,0.000,0.048,2509,2124,3097
$GC,915,-0.78,-117.3,68.6,-7.2,41,919,0.00,2.47,0.00,0.000,4,0.000,0.061,2509,741,3098
$GC,1023,-0.78,-117.3,78.2,-9.7,46,1027,0.00,2.42,0.00,0.000,6,0.000,0.050,2509,2107,3098
$GC,1351,-0.78,-117.3,117.0,-12.8,62,1355,0.00,2.47,0.00,0.000,4,0.000,0.060,2510,748,3098
$GC,1379,-0.78,-117.3,120.8,-12.7,63,1383,0.00,2.42,0.00,0.000,6,0.000,0.050,2510,2103,3098
$GC,1695,-0.78,-117.3,148.3,-6.4,78,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2102,3097
$GC,2004,-0.78,-117.3,166.7,-6.0,93,2008,0.00,2.60,0.00,0.000,4,0.000,0.061,2509,3555,3097
$GC,2116,-0.78,-117.3,174.4,-7.0,98,2121,0.00,2.58,0.00,0.000,6,0.000,0.049,2509,2110,3097
$GC,2437,-0.78,-117.3,196.1,-7.2,114,2442,0.00,2.65,0.00,0.000,4,0.000,0.061,2509,3563,3097
$GC,2505,-0.78,-117.3,201.4,-8.2,117,2509,0.00,2.58,0.00,0.000,6,0.000,0.050,2509,2117,3097
$GC,2826,-0.78,-117.3,224.7,-7.0,133,2834,0.00,2.62,0.00,0.000,4,0.000,0.062,2509,3571,3097
$GC,2901,-0.78,-117.3,230.3,-7.8,136,2906,0.00,2.58,0.00,0.000,6,0.000,0.051,2509,2125,3097
$GC,3224,-0.78,-117.3,251.1,-6.1,152,3228,0.00,2.62,0.00,0.000,4,0.000,0.064,2509,3557,3097
$GC,3241,-0.78,-117.3,252.2,-6.0,153,3246,0.00,2.55,0.00,0.000,6,0.000,0.052,2509,2118,3097
$GC,3569,-0.78,-117.3,271.5,-6.1,169,3573,0.00,2.62,0.00,0.000,4,0.000,0.063,2510,3563,3097
$GC,3631,-0.78,-117.3,275.9,-7.4,172,3635,0.00,2.55,0.00,0.000,6,0.000,0.051,2509,2131,3096
$GC,3960,-0.78,-117.3,300.1,-7.7,188,3964,0.00,2.60,0.00,0.000,4,0.000,0.065,2509,3554,3096
$GC,4049,-0.78,-117.3,307.9,-9.3,192,4054,0.00,2.53,0.00,0.000,6,0.000,0.051,2509,2138,3095
$GC,4371,-0.78,-117.3,330.4,-6.5,208,4375,0.00,2.58,0.00,0.000,4,0.000,0.064,2510,3554,3096
$GC,4630,-0.78,-117.3,348.2,-6.5,219,4636,0.00,2.47,0.00,0.000,6,0.000,0.051,2509,2163,3095
$GC,4947,-0.78,-117.3,368.0,-5.9,235,4951,0.00,2.58,0.00,0.000,4,0.000,0.066,2509,3560,3095
$GC,4965,-0.78,-117.3,368.9,-5.6,236,4969,0.00,2.53,0.00,0.000,6,0.000,0.054,2509,2146,3095
$GC,5292,-1.29,-117.3,369.5,-0.0,252,5295,0.40,0.00,0.00,0.000,6,0.042,0.000,2408,2120,3095
$GC,5601,-1.80,-117.3,369.6,-0.1,267,5603,0.47,0.00,0.00,0.000,6,0.051,0.000,2294,2117,3094
$STATE,5639,end dive,NO_VERTICAL_VELOCITY
$STATE,5639,begin apogee
$GC,5646,-0.33,0.0,369.6,0.0,269,5746,1.50,0.00,96.18,1.045,6,0.062,0.000,2625,2118,2620
$STATE,5747,end apogee,CONTROL_FINISHED_OK
$STATE,5747,begin climb
$GC,5750,1.30,117.3,369.4,0.0,274,5853,1.65,2.58,95.38,1.016,4,0.063,0.064,2982,3503,2140
$GC,5907,1.30,117.3,359.0,9.0,282,5912,0.00,2.55,0.00,0.000,6,0.000,0.056,2982,2105,2140
$GC,6234,1.31,123.8,331.6,7.7,298,6247,0.00,2.67,6.78,0.810,4,0.000,0.067,2982,681,2114
$GC,6288,1.31,123.8,327.0,8.9,300,6292,0.00,2.58,0.00,0.000,6,0.000,0.054,2982,2100,2114
$GC,6604,1.34,138.6,302.5,7.3,315,6626,0.00,2.62,13.35,0.921,4,0.000,0.064,2982,3502,2054
$GC,6711,1.35,147.2,294.2,7.6,319,6725,0.00,2.53,8.65,0.863,6,0.000,0.053,2982,2111,2019
$GC,7049,1.35,147.2,268.6,8.1,336,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2111,2018
$GC,7357,1.35,147.2,242.0,8.5,351,7362,0.00,2.58,0.00,0.000,4,0.000,0.062,2982,3508,2018
$GC,7430,1.35,147.2,235.3,9.1,354,7434,0.00,2.50,0.00,0.000,6,0.000,0.053,2982,2119,2018
$GC,7746,1.35,147.2,208.3,8.6,369,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2119,2018
$GC,8055,1.35,147.2,180.3,9.7,384,8059,0.00,2.55,0.00,0.000,4,0.000,0.061,2982,3509,2018
$GC,8127,1.35,147.2,172.8,10.5,387,8131,0.00,2.50,0.00,0.000,6,0.000,0.052,2982,2120,2018
$GC,8445,1.35,147.2,144.6,8.6,402,8446,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2120,2018
$GC,8753,1.37,156.1,119.7,7.6,417,8767,0.00,2.58,8.73,0.782,4,0.000,0.060,2982,3504,1983
$GC,8830,1.37,157.5,113.2,7.9,420,8834,0.00,2.45,0.00,0.000,6,0.000,0.051,2981,2142,1983
$GC,9148,1.42,191.6,91.5,6.4,435,9184,0.12,2.70,29.15,0.851,4,0.050,0.064,3022,692,1838
$GC,9224,1.37,191.6,84.9,10.1,438,9229,0.15,2.62,0.00,0.000,6,0.090,0.052,2995,2146,1838
$GC,9541,1.41,191.6,59.4,8.0,453,9545,0.00,2.45,0.00,0.000,4,0.000,0.061,2995,3508,1837
$GC,9619,1.47,195.9,53.0,7.8,456,9630,0.12,2.45,4.93,0.637,6,0.050,0.051,3030,2147,1821
$GC,9961,1.40,195.9,17.0,11.4,473,9966,0.15,2.62,0.00,0.000,4,0.090,0.063,2999,686,1820
$GC,10061,1.40,195.9,5.5,10.7,477,10067,0.00,2.60,0.00,0.000,6,0.000,0.049,2999,2157,1820
$STATE,10106,end climb,SURFACE_DEPTH_REACHED
$STATE,10106,begin surface coast
$FINISH,-0.2,1.027047
$STATE,10130,end surface coast,CONTROL_FINISHED_OK
$STATE,10130,begin surface
$SM_CCo,10152,205.27,0.773,0,0,389,547.02
$SM_GC,0.26,0.00,0.00,205.27,0.000,0.000,0.773,425,2163,389,-10.46,0.37,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1663
$TCM_TEMP,17.40
$XPDR_PINGS,390
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,24.0,33.819
$10V_AH,10.1,16.398
$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,26.550,107.350,263.125,205.275,0.000,75.518,58.743,246.115,100.000,0.000,0.000,18.425,970.390,7505.085,622.987,1218.149,604.123,33.365,1250.543,0.000,1195.895,0.000,17.144
$DEVICE_MAMPS,137.293,67.496,1045.421,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,328.592,359.096,389.263,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25470,481
$CAP_FILE_SIZE,91525,0
$CFSIZE,254472192,240603136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,150708,005826,6216.433,-852.196,37,1.3,37,-9.4