version: 66.03
glider: 5
mission: 3
dive: 160
start: 7 13 108 22 22 13
data:
$ID,5
$MISSION,3
$DIVE,160
$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,550
$T_MISSION,580
$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,-79602.633
$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,38
$R_STBD_OVSHOOT,20
$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
$GPS1,221625,6214.163,-902.459,25,1.3,43,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-50.6
$GPS2,222121,6214.181,-902.358,12,1.7,12,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.055,-0.193
$KALMAN_X,-57290.9,-355.8,-711.8,93613.8,17824.9
$KALMAN_Y,148645.9,-1400.9,-1969.8,-99081.4,27990.9
$MHEAD_RNG_PITCHd_Wd,205.3,61918,-12.6,-6.000
$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,-1.03,-117.3,0.0,0.0,0,139,0.00,0.00,-112.15,0.000,6,0.000,0.000,417,2120,3098
$GC,143,-1.03,-117.3,1.9,-1.4,5,159,10.65,2.58,0.00,0.000,4,0.139,0.057,2467,3561,3098
$GC,291,-0.68,-117.3,19.6,-10.3,10,298,0.40,2.47,0.00,0.000,6,0.085,0.046,2552,2162,3096
$GC,608,-0.61,-117.3,36.4,-4.6,26,612,0.00,2.55,0.00,0.000,4,0.000,0.058,2552,3560,3096
$GC,658,-0.53,-117.3,38.9,-5.4,28,663,0.15,2.50,0.00,0.000,6,0.087,0.045,2583,2147,3096
$GC,975,-0.57,-117.3,49.9,-3.2,43,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2145,3096
$GC,1284,-0.62,-117.3,58.8,-2.6,58,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2144,3097
$GC,1595,-0.66,-117.3,67.1,-3.1,73,1600,0.12,2.50,0.00,0.000,4,0.051,0.060,2545,750,3097
$GC,1629,-0.57,-117.3,68.9,-5.2,74,1636,0.15,2.50,0.00,0.000,6,0.090,0.050,2576,2149,3096
$GC,1945,-0.57,-117.3,86.8,-6.9,90,1949,0.00,2.55,0.00,0.000,4,0.000,0.061,2576,750,3096
$GC,1985,-0.57,-117.3,89.9,-8.3,92,1990,0.00,2.50,0.00,0.000,6,0.000,0.051,2577,2150,3097
$GC,2313,-0.57,-117.3,114.1,-6.9,108,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2149,3096
$GC,2623,-0.57,-117.3,134.9,-6.6,123,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2149,3096
$GC,2932,-0.57,-117.3,152.4,-5.1,138,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2150,3096
$GC,3240,-0.57,-117.3,167.0,-4.4,153,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2150,3096
$GC,3550,-0.57,-117.3,182.1,-5.1,168,3554,0.00,2.58,0.00,0.000,4,0.000,0.064,2576,743,3096
$GC,3561,-0.57,-117.3,182.7,-5.0,168,3567,0.00,2.50,0.00,0.000,6,0.000,0.053,2576,2145,3096
$GC,3876,-0.57,-117.3,201.4,-6.6,184,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2144,3095
$GC,4186,-0.57,-117.3,222.3,-7.0,199,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2144,3095
$GC,4496,-0.61,-117.3,243.4,-6.7,214,4500,0.00,2.55,0.00,0.000,4,0.000,0.063,2576,749,3095
$GC,4506,-0.61,-117.3,244.2,-6.6,214,4512,0.00,2.50,0.00,0.000,6,0.000,0.054,2577,2139,3095
$GC,4822,-0.66,-117.3,263.8,-6.1,230,4826,0.00,2.55,0.00,0.000,4,0.000,0.064,2576,747,3095
$GC,4833,-0.66,-117.3,264.4,-6.0,230,4840,0.00,2.50,0.00,0.000,6,0.000,0.054,2576,2142,3095
$GC,5150,-0.70,-117.3,281.9,-5.2,246,5152,0.15,0.00,0.00,0.000,6,0.051,0.000,2532,2142,3094
$GC,5459,-0.62,-117.3,301.5,-6.4,261,5461,0.15,0.00,0.00,0.000,6,0.091,0.000,2564,2141,3094
$GC,5769,-0.62,-117.3,318.9,-5.4,276,5773,0.00,2.55,0.00,0.000,4,0.000,0.065,2564,750,3094
$GC,5779,-0.62,-117.3,319.6,-5.6,276,5785,0.00,2.53,0.00,0.000,6,0.000,0.054,2563,2155,3094
$GC,6095,-0.62,-117.3,334.4,-4.7,292,6100,0.00,2.58,0.00,0.000,4,0.000,0.064,2564,750,3094
$GC,6109,-0.62,-117.3,334.8,-4.6,292,6115,0.00,2.50,0.00,0.000,6,0.000,0.054,2563,2138,3094
$GC,6425,-0.62,-117.3,349.7,-4.5,308,6429,0.00,2.55,0.00,0.000,4,0.000,0.064,2563,746,3094
$GC,6442,-0.62,-117.3,350.4,-4.4,309,6447,0.00,2.50,0.00,0.000,6,0.000,0.054,2564,2140,3094
$GC,6770,-0.62,-117.3,361.8,-3.2,325,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2138,3093
$GC,7079,-0.62,-117.3,373.0,-3.9,340,7083,0.00,2.53,0.00,0.000,4,0.000,0.066,2563,748,3093
$GC,7141,-0.62,-117.3,375.3,-3.8,343,7146,0.00,2.50,0.00,0.000,6,0.000,0.054,2563,2142,3093
$GC,7468,-0.62,-117.3,386.2,-3.2,359,7473,0.00,2.55,0.00,0.000,4,0.000,0.068,2563,751,3093
$GC,7541,-0.62,-117.3,389.2,-4.8,362,7546,0.00,2.45,0.00,0.000,6,0.000,0.054,2563,2120,3093
$GC,7858,-0.62,-117.3,402.5,-4.6,377,7862,0.00,2.53,0.00,0.000,4,0.000,0.067,2563,747,3092
$GC,7880,-0.62,-117.3,403.6,-5.1,378,7884,0.00,2.47,0.00,0.000,6,0.000,0.055,2563,2123,3092
$GC,8201,-0.62,-117.3,417.1,-3.4,394,8206,0.00,2.53,0.00,0.000,4,0.000,0.067,2563,751,3092
$GC,8213,-0.62,-117.3,417.5,-3.2,394,8219,0.00,2.45,0.00,0.000,6,0.000,0.056,2563,2114,3092
$GC,8529,-0.62,-117.3,429.8,-4.2,410,8533,0.00,2.50,0.00,0.000,4,0.000,0.067,2563,747,3092
$GC,8586,-0.62,-117.3,432.8,-6.2,412,8592,0.00,2.47,0.00,0.000,6,0.000,0.057,2563,2118,3092
$STATE,8653,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8653,begin apogee
$GC,8660,-0.33,0.0,436.1,4.8,416,8759,0.30,0.00,96.78,1.092,6,0.080,0.000,2625,2118,2620
$STATE,8760,end apogee,CONTROL_FINISHED_OK
$STATE,8760,begin climb
$GC,8763,1.03,117.3,437.7,0.0,421,8863,1.40,0.00,96.05,1.062,6,0.069,0.000,2923,2118,2141
$GC,9168,1.03,117.3,406.8,7.8,441,9173,0.00,2.55,0.00,0.000,4,0.000,0.067,2922,3508,2140
$GC,9225,1.03,117.3,402.3,8.0,443,9231,0.00,2.55,0.00,0.000,6,0.000,0.054,2923,2103,2139
$GC,9540,1.03,117.3,381.4,6.3,459,9542,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2103,2139
$GC,9850,1.05,128.1,363.3,5.6,474,9865,0.00,2.62,10.35,0.935,4,0.000,0.065,2923,3505,2096
$GC,9912,1.05,128.1,359.4,6.8,476,9916,0.00,2.55,0.00,0.000,6,0.000,0.054,2922,2100,2096
$GC,10239,1.06,137.9,341.0,5.7,492,10250,0.00,0.00,9.40,0.917,6,0.000,0.000,2923,2100,2057
$GC,10548,1.06,137.9,321.0,6.6,507,10552,0.00,2.60,0.00,0.000,4,0.000,0.065,2923,3510,2056
$GC,10598,1.06,137.9,317.3,7.3,509,10602,0.00,2.53,0.00,0.000,6,0.000,0.051,2922,2111,2056
$GC,10914,1.06,137.9,296.1,6.8,524,10915,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2111,2056
$GC,11224,1.07,139.8,276.1,5.9,539,11228,0.00,2.58,0.00,0.000,4,0.000,0.063,2923,3511,2056
$GC,11296,1.07,139.8,271.3,6.9,542,11300,0.00,2.50,0.00,0.000,6,0.000,0.052,2923,2119,2056
$GC,11611,1.07,139.8,251.8,6.8,557,11613,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2120,2056
$GC,11921,1.07,139.8,231.2,6.7,572,11925,0.00,2.55,0.00,0.000,4,0.000,0.061,2923,3513,2056
$GC,11993,1.07,139.8,226.0,6.8,575,11997,0.00,2.47,0.00,0.000,6,0.000,0.051,2923,2131,2056
$GC,12309,1.07,139.8,204.2,7.9,590,12310,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2131,2056
$GC,12618,1.07,139.8,178.9,8.4,605,12623,0.00,2.53,0.00,0.000,4,0.000,0.061,2923,3515,2056
$GC,12681,1.07,139.8,173.8,7.6,608,12685,0.00,2.45,0.00,0.000,6,0.000,0.051,2923,2144,2056
$GC,13007,1.07,139.8,151.5,7.0,624,13012,0.00,2.60,0.00,0.000,4,0.000,0.064,2923,689,2056
$GC,13048,1.07,139.8,148.5,7.9,626,13053,0.00,2.62,0.00,0.000,6,0.000,0.054,2923,2156,2056
$GC,13375,1.07,139.8,128.0,6.4,642,13379,0.00,2.42,0.00,0.000,4,0.000,0.061,2923,3510,2056
$GC,13447,1.07,139.8,123.2,6.5,645,13451,0.00,2.42,0.00,0.000,6,0.000,0.049,2923,2152,2056
$GC,13765,1.15,195.2,108.4,4.1,660,13814,0.12,0.00,46.40,0.863,6,0.048,0.000,2966,2152,1824
$GC,14119,1.10,195.2,80.9,8.8,677,14123,0.12,2.47,0.00,0.000,4,0.083,0.061,2939,3509,1824
$GC,14169,1.16,195.2,76.9,6.9,679,14173,0.00,2.40,0.00,0.000,6,0.000,0.049,2939,2168,1823
$GC,14487,1.16,195.2,53.2,7.2,694,14491,0.00,2.65,0.00,0.000,4,0.000,0.063,2939,688,1823
$GC,14559,1.16,195.2,47.0,8.3,697,14563,0.00,2.65,0.00,0.000,6,0.000,0.052,2940,2169,1823
$GC,14876,1.22,206.9,26.2,5.6,712,14893,0.12,2.42,11.02,0.750,4,0.048,0.058,2977,3508,1775
$GC,14955,1.17,206.9,20.6,7.4,714,14962,0.12,2.38,0.00,0.000,6,0.084,0.048,2951,2173,1775
$STATE,15247,end climb,SURFACE_DEPTH_REACHED
$STATE,15247,begin surface coast
$FINISH,0.0,1.027219
$STATE,15272,end surface coast,CONTROL_FINISHED_OK
$STATE,15272,begin surface
$SM_CCo,15294,198.93,0.764,0,0,390,547.02
$SM_GC,0.39,0.00,0.00,198.93,0.000,0.000,0.764,417,2144,390,-10.50,-0.11,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1659
$TCM_TEMP,16.60
$XPDR_PINGS,528
$ALTIM_TOP_PING,18.8,999.0
$ALTIM_BOTTOM_PING,400.5,45.5
$24V_AH,23.9,32.939
$10V_AH,10.1,15.995
$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,24.900,131.025,270.000,198.925,0.000,37.761,27.416,117.469,135.250,0.000,0.000,12.381,1363.929,11758.011,660.091,1546.087,466.314,33.360,1429.991,0.000,1524.057,0.000,23.287
$DEVICE_MAMPS,138.827,68.263,1092.208,763.932,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,499.584,541.982,582.141,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37922,730
$CAP_FILE_SIZE,114301,0
$CFSIZE,254472192,240873472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,140708,024137,6213.729,-901.844,31,1.0,31,-9.5