version: 66.03
glider: 5
mission: 3
dive: 161
start: 7 14 108 2 47 49
data:
$ID,5
$MISSION,3
$DIVE,161
$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,-79616.055
$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
$GPS1,024137,6213.729,-901.844,31,1.0,31,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-48.6
$GPS2,024657,6213.764,-901.734,12,1.1,12,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.056,-0.193
$KALMAN_X,-56375.7,-579.0,-1069.2,93854.4,15841.5
$KALMAN_Y,149883.6,-1729.4,-272.5,-102488.2,21348.1
$MHEAD_RNG_PITCHd_Wd,205.8,61223,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.03,-117.3,0.0,0.0,0,145,0.00,0.00,-112.53,0.000,6,0.000,0.000,417,2151,3099
$GC,149,-1.03,-117.3,3.2,-3.1,6,165,10.65,2.53,0.00,0.000,4,0.138,0.056,2469,3558,3098
$GC,273,-0.71,-117.3,21.1,-11.4,10,280,0.35,2.50,0.00,0.000,6,0.094,0.045,2543,2144,3097
$GC,591,-0.61,-117.3,48.3,-8.1,26,596,0.12,2.60,0.00,0.000,4,0.099,0.059,2568,3564,3097
$GC,725,-0.61,-117.3,58.7,-6.4,32,729,0.00,2.50,0.00,0.000,6,0.000,0.044,2568,2147,3097
$GC,1047,-0.61,-117.3,72.1,-2.2,48,1051,0.00,2.55,0.00,0.000,4,0.000,0.059,2568,3558,3098
$GC,1170,-0.61,-117.3,74.4,-2.1,53,1176,0.00,2.47,0.00,0.000,6,0.000,0.045,2568,2159,3098
$GC,1487,-0.61,-117.3,82.2,-3.8,69,1491,0.00,2.53,0.00,0.000,4,0.000,0.058,2568,3558,3098
$GC,1497,-0.61,-117.3,82.8,-3.8,69,1503,0.00,2.47,0.00,0.000,6,0.000,0.046,2568,2160,3098
$GC,1813,-0.61,-117.3,101.7,-6.9,85,1818,0.00,2.53,0.00,0.000,4,0.000,0.059,2568,3558,3098
$GC,1836,-0.61,-117.3,103.4,-7.3,86,1840,0.00,2.45,0.00,0.000,6,0.000,0.046,2568,2171,3098
$GC,2158,-0.61,-117.3,125.2,-6.6,102,2162,0.00,2.53,0.00,0.000,4,0.000,0.061,2568,3561,3098
$GC,2168,-0.61,-117.3,125.9,-6.4,102,2174,0.00,2.47,0.00,0.000,6,0.000,0.048,2568,2165,3098
$GC,2486,-0.61,-117.3,139.0,-3.7,118,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2164,3098
$GC,2793,-0.61,-117.3,150.8,-3.3,133,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2164,3098
$GC,3102,-0.61,-117.3,161.3,-3.4,148,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2164,3098
$GC,3412,-0.61,-117.3,173.6,-4.5,163,3416,0.00,2.53,0.00,0.000,4,0.000,0.063,2568,751,3098
$GC,3429,-0.61,-117.3,174.3,-4.4,164,3434,0.00,2.53,0.00,0.000,6,0.000,0.052,2568,2163,3097
$GC,3757,-0.61,-117.3,190.1,-5.0,180,3761,0.00,2.58,0.00,0.000,4,0.000,0.063,2568,746,3097
$GC,3775,-0.61,-117.3,191.1,-4.9,181,3779,0.00,2.53,0.00,0.000,6,0.000,0.053,2568,2158,3097
$GC,4101,-0.61,-117.3,209.1,-5.6,197,4106,0.00,2.58,0.00,0.000,4,0.000,0.062,2568,745,3097
$GC,4129,-0.61,-117.3,210.8,-6.0,198,4134,0.00,2.53,0.00,0.000,6,0.000,0.053,2568,2151,3097
$GC,4446,-0.61,-117.3,228.9,-5.7,213,4450,0.00,2.58,0.00,0.000,4,0.000,0.064,2568,746,3097
$GC,4479,-0.61,-117.3,230.9,-5.7,214,4485,0.00,2.50,0.00,0.000,6,0.000,0.053,2568,2138,3097
$GC,4795,-0.61,-117.3,246.7,-4.4,230,4799,0.00,2.53,0.00,0.000,4,0.000,0.063,2568,748,3096
$GC,4829,-0.61,-117.3,248.6,-5.1,231,4835,0.00,2.50,0.00,0.000,6,0.000,0.053,2568,2143,3097
$GC,5145,-0.61,-117.3,263.3,-4.6,247,5149,0.00,2.55,0.00,0.000,4,0.000,0.064,2567,748,3096
$GC,5157,-0.61,-117.3,263.8,-4.5,247,5163,0.00,2.50,0.00,0.000,6,0.000,0.054,2568,2138,3096
$GC,5474,-0.61,-117.3,279.3,-4.9,263,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2138,3096
$GC,5782,-0.61,-117.3,294.0,-4.6,278,5787,0.00,2.55,0.00,0.000,4,0.000,0.064,2568,747,3096
$GC,5816,-0.61,-117.3,295.8,-4.8,279,5822,0.00,2.50,0.00,0.000,6,0.000,0.054,2568,2137,3096
$GC,6132,-0.61,-117.3,309.9,-4.8,295,6137,0.00,2.55,0.00,0.000,4,0.000,0.064,2568,741,3096
$GC,6144,-0.61,-117.3,310.5,-4.8,295,6150,0.00,2.50,0.00,0.000,6,0.000,0.054,2568,2132,3096
$GC,6460,-0.61,-117.3,323.2,-3.9,311,6464,0.00,2.53,0.00,0.000,4,0.000,0.064,2568,749,3095
$GC,6471,-0.61,-117.3,323.6,-3.5,311,6477,0.00,2.47,0.00,0.000,6,0.000,0.054,2568,2124,3095
$GC,6787,-0.61,-117.3,336.0,-3.8,327,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2123,3095
$GC,7096,-0.61,-117.3,345.7,-2.8,342,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2124,3095
$GC,7406,-0.61,-117.3,354.8,-3.4,357,7410,0.00,2.60,0.00,0.000,4,0.000,0.067,2568,3563,3095
$GC,7439,-0.61,-117.3,356.0,-3.8,358,7445,0.00,2.58,0.00,0.000,6,0.000,0.052,2568,2122,3095
$GC,7756,-0.61,-117.3,368.3,-4.4,374,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2121,3095
$GC,8065,-0.61,-117.3,382.5,-4.2,389,8069,0.00,2.47,0.00,0.000,4,0.000,0.068,2568,747,3095
$GC,8098,-0.61,-117.3,384.3,-5.3,390,8104,0.00,2.47,0.00,0.000,6,0.000,0.055,2568,2123,3095
$GC,8415,-0.61,-117.3,399.3,-4.3,406,8419,0.00,2.60,0.00,0.000,4,0.000,0.069,2568,3564,3094
$GC,8504,-0.61,-117.3,404.3,-6.6,410,8509,0.00,2.53,0.00,0.000,6,0.000,0.052,2568,2150,3094
$STATE,8740,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8740,begin apogee
$GC,8746,-0.33,0.0,417.7,7.0,422,8846,0.28,0.00,96.70,1.075,6,0.081,0.000,2624,2129,2620
$STATE,8846,end apogee,CONTROL_FINISHED_OK
$STATE,8847,begin climb
$GC,8850,1.03,117.3,420.7,0.0,427,8954,1.38,2.72,95.82,1.052,4,0.069,0.067,2922,684,2140
$GC,9001,0.98,117.3,412.9,9.1,434,9005,0.00,2.58,0.00,0.000,6,0.000,0.056,2922,2103,2140
$GC,9328,1.08,182.6,400.3,3.8,450,9390,0.00,2.65,53.72,1.039,4,0.000,0.066,2922,3502,1874
$GC,9493,1.13,182.6,391.7,6.1,457,9498,0.10,2.53,0.00,0.000,6,0.056,0.054,2956,2117,1874
$GC,9810,1.11,202.5,374.0,5.3,472,9834,0.00,2.67,17.40,0.989,4,0.000,0.067,2956,693,1795
$GC,9899,1.11,202.5,368.1,6.7,476,9904,0.00,2.60,0.00,0.000,6,0.000,0.056,2956,2119,1794
$GC,10226,1.11,202.5,346.2,7.0,492,10230,0.00,2.55,0.00,0.000,4,0.000,0.066,2956,3516,1793
$GC,10321,1.11,202.5,338.3,9.0,496,10325,0.00,2.50,0.00,0.000,6,0.000,0.055,2956,2139,1793
$GC,10637,1.11,202.5,312.7,8.2,511,10641,0.00,2.62,0.00,0.000,4,0.000,0.067,2956,681,1792
$GC,10676,1.11,202.5,309.2,9.2,513,10681,0.00,2.62,0.00,0.000,6,0.000,0.054,2956,2144,1793
$GC,11003,1.11,202.5,279.9,9.1,529,11007,0.00,2.47,0.00,0.000,4,0.000,0.064,2956,3514,1792
$GC,11052,1.11,202.5,275.1,9.4,531,11057,0.00,2.47,0.00,0.000,6,0.000,0.054,2956,2136,1792
$GC,11370,1.11,202.5,247.3,8.7,546,11371,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2135,1792
$GC,11678,1.11,202.5,221.7,8.7,561,11679,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2134,1792
$GC,11987,1.11,202.5,196.8,7.7,576,11988,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2135,1792
$GC,12296,1.11,202.5,171.7,8.5,591,12301,0.00,2.53,0.00,0.000,4,0.000,0.061,2956,3515,1792
$GC,12352,1.11,202.5,166.3,9.5,593,12358,0.00,2.47,0.00,0.000,6,0.000,0.053,2956,2142,1792
$GC,12669,1.11,202.5,138.7,8.9,609,12673,0.00,2.62,0.00,0.000,4,0.000,0.066,2956,680,1793
$GC,12709,1.11,202.5,134.9,10.1,611,12713,0.00,2.65,0.00,0.000,6,0.000,0.052,2956,2168,1793
$GC,13036,1.11,202.5,101.0,10.6,627,13040,0.00,2.40,0.00,0.000,4,0.000,0.061,2956,3510,1792
$GC,13080,1.11,202.5,96.2,10.5,629,13084,0.00,2.42,0.00,0.000,6,0.000,0.051,2956,2145,1792
$GC,13402,1.11,202.5,67.3,8.5,645,13403,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2145,1793
$GC,13711,1.13,215.2,48.0,5.6,660,13732,0.00,2.70,11.57,0.769,4,0.000,0.061,2956,683,1742
$GC,13788,1.13,215.2,42.5,6.7,663,13792,0.00,2.65,0.00,0.000,6,0.000,0.050,2955,2166,1742
$GC,14105,1.13,215.2,21.5,6.6,678,14106,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2166,1741
$STATE,14369,end climb,SURFACE_DEPTH_REACHED
$STATE,14369,begin surface coast
$FINISH,-0.1,1.013651
$STATE,14391,end surface coast,CONTROL_FINISHED_OK
$STATE,14391,begin surface
$SM_CCo,14414,194.50,0.765,0,0,390,547.02
$SM_GC,0.42,0.00,0.00,194.50,0.000,0.000,0.765,423,2179,390,-10.47,0.68,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1662
$TCM_TEMP,17.60
$XPDR_PINGS,509
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,350.0,76.7
$24V_AH,24.0,33.089
$10V_AH,10.1,16.068
$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,23.850,142.325,275.225,194.500,0.000,37.759,27.349,137.401,130.000,0.000,0.000,12.799,1291.492,10969.043,652.161,1537.488,482.253,33.366,1442.284,0.000,1513.726,0.000,20.144
$DEVICE_MAMPS,138.060,69.030,1074.567,764.699,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,472.826,511.988,542.628,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34806,692
$CAP_FILE_SIZE,110922,0
$CFSIZE,254472192,240820224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,140708,065238,6215.010,-859.002,41,1.0,41,-9.5