version: 66.03
glider: 5
mission: 3
dive: 169
start: 7 15 108 7 1 43
data:
$ID,5
$MISSION,3
$DIVE,169
$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,-79755.922
$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,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
$GPS1,065525,6217.349,-851.129,38,1.9,38,-9.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-49.4
$GPS2,070053,6217.413,-850.939,11,3.6,30,-9.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.214,-0.059
$KALMAN_X,-47474.0,-1362.6,-388.6,94484.2,13780.5
$KALMAN_Y,177282.2,-2731.9,-1262.0,-121131.9,34078.5
$MHEAD_RNG_PITCHd_Wd,263.9,69702,-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,-112.53,0.000,6,0.000,0.000,418,2151,3099
$GC,143,-1.30,-117.3,1.8,-1.5,5,158,10.23,2.58,0.00,0.000,4,0.133,0.056,2408,735,3098
$GC,411,-0.98,-117.3,35.9,-11.8,16,416,0.38,2.53,0.00,0.000,6,0.095,0.049,2485,2151,3096
$GC,733,-0.90,-117.3,63.2,-9.5,32,737,0.00,2.53,0.00,0.000,4,0.000,0.059,2485,3563,3097
$GC,933,-0.80,-117.3,81.2,-8.8,41,938,0.20,2.50,0.00,0.000,6,0.091,0.047,2527,2151,3096
$GC,1261,-0.84,-117.3,105.2,-7.5,57,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2133,3097
$GC,1571,-0.88,-117.3,128.6,-7.7,72,1575,0.00,2.53,0.00,0.000,4,0.000,0.062,2527,743,3097
$GC,1598,-0.88,-117.3,131.0,-7.8,73,1603,0.00,2.55,0.00,0.000,6,0.000,0.051,2527,2163,3097
$GC,1915,-0.93,-117.3,153.6,-7.1,88,1917,0.15,0.00,0.00,0.000,6,0.049,0.000,2483,2164,3096
$GC,2224,-0.85,-117.3,177.1,-7.3,103,2229,0.15,2.58,0.00,0.000,4,0.094,0.061,2518,751,3096
$GC,2314,-0.85,-117.3,183.2,-6.9,107,2318,0.00,2.55,0.00,0.000,6,0.000,0.052,2518,2172,3096
$GC,2635,-0.85,-117.3,202.9,-6.2,123,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2171,3096
$GC,2944,-0.85,-117.3,223.2,-6.7,138,2949,0.00,2.60,0.00,0.000,4,0.000,0.063,2517,741,3096
$GC,3012,-0.85,-117.3,228.0,-7.3,141,3017,0.00,2.55,0.00,0.000,6,0.000,0.052,2518,2164,3096
$GC,3334,-0.85,-117.3,252.7,-8.0,157,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2165,3096
$GC,3643,-0.85,-117.3,277.2,-7.7,172,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2165,3096
$GC,3953,-0.85,-117.3,301.3,-8.0,187,3958,0.00,2.58,0.00,0.000,4,0.000,0.064,2518,747,3095
$GC,4021,-0.85,-117.3,306.7,-7.8,190,4025,0.00,2.55,0.00,0.000,6,0.000,0.053,2518,2165,3095
$GC,4343,-0.85,-117.3,327.6,-5.2,206,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2165,3095
$GC,4652,-0.85,-117.3,349.9,-7.9,221,4659,0.00,2.60,0.00,0.000,4,0.000,0.065,2518,747,3094
$STATE,4662,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4662,begin apogee
$GC,4672,-0.33,0.0,351.1,7.6,221,4770,0.47,0.00,95.35,1.026,6,0.084,0.000,2621,2102,2620
$STATE,4771,end apogee,CONTROL_FINISHED_OK
$STATE,4771,begin climb
$GC,4774,1.30,117.3,354.1,0.0,226,4876,1.67,0.00,94.90,0.999,6,0.073,0.000,2980,2102,2140
$GC,5188,1.32,125.2,320.3,7.6,246,5202,0.00,2.62,7.90,0.836,4,0.000,0.064,2980,3504,2109
$GC,5312,1.32,125.2,309.1,9.2,251,5317,0.00,2.53,0.00,0.000,6,0.000,0.052,2980,2104,2109
$GC,5628,1.32,125.2,279.8,8.9,266,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2104,2108
$GC,5938,1.34,137.5,255.3,7.4,281,5958,0.00,2.60,11.25,0.884,4,0.000,0.063,2980,3509,2058
$GC,6043,1.36,150.7,247.1,7.4,285,6062,0.00,2.53,12.18,0.889,6,0.000,0.051,2980,2112,2005
$GC,6379,1.40,150.7,221.3,8.0,302,6384,0.12,2.55,0.00,0.000,4,0.051,0.061,3017,3507,2004
$GC,6436,1.33,150.7,215.6,10.1,304,6442,0.15,2.50,0.00,0.000,6,0.090,0.051,2988,2118,2003
$GC,6751,1.33,150.7,189.0,8.3,320,6756,0.00,2.55,0.00,0.000,4,0.000,0.061,2988,3513,2003
$GC,6824,1.33,150.7,182.4,9.2,323,6828,0.00,2.47,0.00,0.000,6,0.000,0.051,2988,2138,2003
$GC,7140,1.33,150.7,156.0,8.2,338,7144,0.00,2.53,0.00,0.000,4,0.000,0.061,2988,3513,2003
$GC,7173,1.33,150.7,153.2,8.6,339,7179,0.00,2.45,0.00,0.000,6,0.000,0.051,2988,2149,2003
$GC,7489,1.33,150.7,127.0,8.2,355,7493,0.00,2.50,0.00,0.000,4,0.000,0.061,2988,3511,2003
$GC,7529,1.33,150.7,123.5,9.2,357,7533,0.00,2.42,0.00,0.000,6,0.000,0.050,2989,2154,2003
$GC,7863,1.34,156.3,96.5,7.7,373,7873,0.00,2.47,5.97,0.706,4,0.000,0.059,2988,3515,1982
$GC,7919,1.39,156.3,91.5,8.9,375,7925,0.00,2.40,0.00,0.000,6,0.000,0.050,2988,2177,1982
$GC,8235,1.39,156.3,59.8,11.0,391,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2158,1982
$GC,8545,1.39,156.3,32.2,8.7,406,8550,0.00,2.42,0.00,0.000,4,0.000,0.059,2988,3508,1982
$GC,8618,1.39,162.0,25.4,7.7,409,8630,0.00,2.35,6.22,0.676,6,0.000,0.049,2988,2193,1958
$STATE,8875,end climb,SURFACE_DEPTH_REACHED
$STATE,8875,begin surface coast
$FINISH,0.0,1.009666
$STATE,8897,end surface coast,CONTROL_FINISHED_OK
$STATE,8897,begin surface
$SM_CCo,8920,226.32,0.769,0,0,390,547.02
$SM_GC,0.28,0.00,0.00,226.32,0.000,0.000,0.769,417,2180,390,-10.50,0.85,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1670
$TCM_TEMP,17.70
$XPDR_PINGS,327
$ALTIM_TOP_PING,18.8,999.0
$ALTIM_BOTTOM_PING,350.5,8.8
$24V_AH,24.0,34.223
$10V_AH,10.1,16.561
$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,24.600,75.575,233.775,226.325,0.000,37.760,26.455,137.316,84.500,0.000,0.000,31.676,832.961,6593.287,608.245,1055.567,389.956,33.359,1128.892,0.000,1017.700,0.000,19.979
$DEVICE_MAMPS,133.458,65.195,1026.246,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,288.977,312.501,375.492,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22273,423
$CAP_FILE_SIZE,73144,0
$CFSIZE,254472192,240504832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,150708,093531,6218.230,-850.589,36,1.5,42,-9.4