version: 66.03
glider: 5
mission: 3
dive: 163
start: 7 14 108 10 58 43
data:
$ID,5
$MISSION,3
$DIVE,163
$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,-79647.125
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,105238,6214.884,-856.966,31,1.5,31,-9.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-49.9
$GPS2,105751,6214.885,-856.926,16,1.5,16,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.070,-0.188
$KALMAN_X,-50817.5,-1445.5,-1240.1,93537.5,23213.0
$KALMAN_Y,159996.5,-1256.6,-1355.8,-109895.8,32416.1
$MHEAD_RNG_PITCHd_Wd,210.0,63961,-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,-117.3,0.0,0.0,0,138,0.00,0.00,-111.90,0.000,6,0.000,0.000,425,2137,3099
$GC,142,-1.03,-117.3,1.9,-1.5,5,158,10.60,2.55,0.00,0.000,4,0.138,0.058,2468,3558,3098
$GC,394,-0.70,-117.3,33.7,-10.3,15,399,0.38,2.50,0.00,0.000,6,0.091,0.046,2547,2146,3097
$GC,712,-0.62,-117.3,53.3,-5.9,30,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2147,3097
$GC,1020,-0.54,-117.3,70.3,-5.1,45,1025,0.15,2.50,0.00,0.000,4,0.089,0.059,2582,749,3097
$GC,1032,-0.49,-117.3,71.0,-4.9,45,1038,0.00,2.47,0.00,0.000,6,0.000,0.050,2582,2137,3097
$GC,1349,-0.54,-117.3,82.1,-3.3,61,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2137,3098
$GC,1658,-0.58,-117.3,92.8,-3.6,76,1662,0.00,2.53,0.00,0.000,4,0.000,0.060,2582,750,3097
$GC,1670,-0.62,-117.3,93.2,-3.6,76,1677,0.00,2.50,0.00,0.000,6,0.000,0.051,2582,2151,3098
$GC,1988,-0.69,-117.3,106.1,-4.2,92,1993,0.15,2.58,0.00,0.000,4,0.048,0.061,2535,743,3098
$GC,2073,-0.58,-117.3,111.3,-6.4,96,2078,0.17,2.47,0.00,0.000,6,0.087,0.052,2572,2128,3098
$GC,2402,-0.58,-117.3,128.6,-5.2,112,2406,0.00,2.53,0.00,0.000,4,0.000,0.062,2571,746,3098
$GC,2414,-0.58,-117.3,129.5,-5.5,112,2420,0.00,2.47,0.00,0.000,6,0.000,0.051,2571,2130,3098
$GC,2731,-0.58,-117.3,149.1,-6.6,128,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2129,3098
$GC,3039,-0.58,-117.3,172.0,-7.6,143,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2130,3097
$GC,3348,-0.58,-117.3,195.8,-7.7,158,3353,0.00,2.58,0.00,0.000,4,0.000,0.063,2571,3566,3097
$GC,3359,-0.58,-117.3,196.7,-8.0,158,3366,0.00,2.55,0.00,0.000,6,0.000,0.050,2571,2131,3096
$GC,3675,-0.58,-117.3,221.7,-7.8,174,3679,0.00,2.60,0.00,0.000,4,0.000,0.062,2571,3557,3096
$GC,3685,-0.58,-117.3,222.6,-7.7,174,3691,0.00,2.55,0.00,0.000,6,0.000,0.050,2571,2123,3096
$GC,4002,-0.58,-117.3,246.7,-7.8,190,4006,0.00,2.62,0.00,0.000,4,0.000,0.064,2571,3557,3096
$GC,4019,-0.58,-117.3,248.0,-7.2,191,4023,0.00,2.55,0.00,0.000,6,0.000,0.050,2571,2122,3096
$GC,4345,-0.58,-117.3,270.7,-6.9,207,4350,0.00,2.62,0.00,0.000,4,0.000,0.065,2571,3562,3096
$GC,4408,-0.58,-117.3,275.5,-7.9,210,4413,0.00,2.55,0.00,0.000,6,0.000,0.051,2571,2128,3096
$GC,4735,-0.58,-117.3,299.0,-7.2,226,4740,0.00,2.60,0.00,0.000,4,0.000,0.065,2571,3557,3096
$GC,4791,-0.58,-117.3,303.3,-7.7,228,4797,0.00,2.55,0.00,0.000,6,0.000,0.050,2571,2120,3095
$GC,5107,-0.58,-117.3,322.8,-5.8,244,5111,0.00,2.62,0.00,0.000,4,0.000,0.065,2571,3565,3095
$GC,5117,-0.58,-117.3,323.5,-5.8,244,5123,0.00,2.55,0.00,0.000,6,0.000,0.051,2571,2134,3095
$GC,5434,-0.58,-117.3,340.1,-5.0,260,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2134,3095
$GC,5743,-0.58,-117.3,356.5,-4.6,275,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2134,3095
$GC,6052,-0.58,-117.3,369.4,-4.1,290,6056,0.00,2.60,0.00,0.000,4,0.000,0.065,2571,3555,3095
$GC,6115,-0.58,-117.3,371.8,-4.7,293,6119,0.00,2.50,0.00,0.000,6,0.000,0.050,2571,2141,3095
$GC,6442,-0.58,-117.3,385.6,-4.6,309,6447,0.00,2.60,0.00,0.000,4,0.000,0.066,2571,3557,3095
$GC,6493,-0.58,-117.3,388.0,-4.7,311,6497,0.00,2.50,0.00,0.000,6,0.000,0.051,2571,2149,3094
$GC,6810,-0.63,-117.3,403.8,-4.7,326,6811,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2131,3094
$GC,7119,-1.06,-117.3,414.0,-0.0,341,7124,0.43,2.53,0.00,0.000,4,0.044,0.064,2460,747,3094
$GC,7377,-1.28,-117.3,414.0,0.1,352,7384,0.17,2.55,0.00,0.000,6,0.047,0.057,2411,2159,3093
$STATE,7690,end dive,NO_VERTICAL_VELOCITY
$STATE,7690,begin apogee
$GC,7698,-0.33,0.0,414.0,0.0,368,7798,0.98,0.00,96.62,1.071,6,0.067,0.000,2624,2079,2620
$STATE,7799,end apogee,CONTROL_FINISHED_OK
$STATE,7799,begin climb
$GC,7802,1.03,117.3,413.8,0.0,373,7906,1.38,2.72,96.03,1.045,4,0.071,0.064,2922,3509,2141
$GC,7979,1.09,151.6,404.7,4.8,381,8015,0.00,2.53,29.27,1.002,6,0.000,0.052,2923,2121,2001
$GC,8326,1.10,160.4,383.3,5.7,398,8336,0.00,0.00,8.75,0.887,6,0.000,0.000,2923,2121,1966
$GC,8634,1.10,160.4,364.1,6.1,413,8638,0.00,2.55,0.00,0.000,4,0.000,0.067,2923,3505,1965
$GC,8678,1.10,160.4,361.3,6.1,415,8682,0.00,2.53,0.00,0.000,6,0.000,0.052,2922,2107,1965
$GC,9000,1.10,160.4,342.3,6.1,431,9004,0.00,2.60,0.00,0.000,4,0.000,0.064,2923,3514,1965
$GC,9050,1.10,160.4,339.0,6.8,433,9054,0.00,2.53,0.00,0.000,6,0.000,0.052,2923,2115,1965
$GC,9366,1.10,160.4,319.0,6.7,448,9367,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2115,1965
$GC,9674,1.10,160.4,300.0,6.5,463,9679,0.00,2.55,0.00,0.000,4,0.000,0.063,2922,3508,1964
$GC,9741,1.10,160.4,295.0,7.8,466,9746,0.00,2.47,0.00,0.000,6,0.000,0.051,2922,2134,1964
$GC,10063,1.10,160.4,274.4,6.0,482,10067,0.00,2.60,0.00,0.000,4,0.000,0.066,2922,689,1964
$GC,10107,1.10,160.4,271.5,6.5,484,10111,0.00,2.60,0.00,0.000,6,0.000,0.054,2923,2135,1964
$GC,10428,1.13,180.1,253.8,5.3,500,10451,0.10,2.60,17.10,0.930,4,0.054,0.064,2957,3515,1885
$GC,10538,1.08,180.1,245.5,8.2,504,10544,0.00,2.50,0.00,0.000,6,0.000,0.054,2957,2139,1885
$GC,10854,1.04,180.1,222.2,7.1,520,10859,0.15,2.60,0.00,0.000,4,0.080,0.065,2922,688,1884
$GC,10888,1.10,180.1,220.0,6.3,521,10894,0.00,2.62,0.00,0.000,6,0.000,0.054,2922,2152,1884
$GC,11204,1.16,180.1,200.5,6.7,537,11209,0.12,2.45,0.00,0.000,4,0.049,0.062,2963,3512,1884
$GC,11260,1.10,180.1,195.5,9.3,539,11267,0.12,2.45,0.00,0.000,6,0.084,0.051,2937,2148,1884
$GC,11576,1.10,180.1,170.7,7.9,555,11577,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2149,1884
$GC,11885,1.10,180.1,145.5,8.0,570,11889,0.00,2.50,0.00,0.000,4,0.000,0.062,2937,3512,1884
$GC,11935,1.10,180.1,141.2,8.2,572,11940,0.00,2.42,0.00,0.000,6,0.000,0.051,2937,2152,1884
$GC,12252,1.10,180.1,117.5,7.4,587,12256,0.00,2.62,0.00,0.000,4,0.000,0.064,2937,685,1885
$GC,12292,1.10,180.1,114.4,8.0,589,12296,0.00,2.65,0.00,0.000,6,0.000,0.054,2937,2165,1885
$GC,12619,1.11,185.3,93.5,5.8,605,12630,0.00,2.42,6.05,0.711,4,0.000,0.061,2937,3510,1863
$GC,12670,1.15,185.3,90.4,6.3,607,12675,0.00,2.45,0.00,0.000,6,0.000,0.049,2937,2147,1863
$GC,12986,1.15,185.3,69.2,7.5,622,12987,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2147,1863
$GC,13297,1.21,185.3,48.6,6.5,637,13302,0.12,2.47,0.00,0.000,4,0.048,0.059,2977,3511,1863
$GC,13337,1.13,185.3,45.3,8.5,639,13342,0.15,2.38,0.00,0.000,6,0.079,0.047,2946,2161,1863
$GC,13664,1.13,185.3,23.4,6.7,655,13665,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2161,1863
$GC,13975,1.15,195.2,4.6,5.7,670,13990,0.00,2.50,8.68,0.710,4,0.000,0.058,2946,3509,1824
$STATE,14010,end climb,SURFACE_DEPTH_REACHED
$STATE,14011,begin surface coast
$FINISH,-0.1,1.027035
$STATE,14034,end surface coast,CONTROL_FINISHED_OK
$STATE,14034,begin surface
$SM_CCo,14058,206.90,0.767,0,0,390,547.02
$SM_GC,0.46,0.00,0.00,206.90,0.000,0.000,0.767,421,2137,390,-10.48,-0.37,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1666
$TCM_TEMP,19.40
$XPDR_PINGS,532
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,24.0,33.377
$10V_AH,10.1,16.211
$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,26.100,137.250,262.500,206.900,0.000,37.762,27.193,133.869,136.000,0.000,0.000,16.120,1284.328,10637.155,647.734,1544.352,470.409,33.365,1421.765,0.000,1517.031,0.000,20.356
$DEVICE_MAMPS,138.060,66.729,1070.732,767.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.359,498.440,552.876,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34819,672
$CAP_FILE_SIZE,111753,0
$CFSIZE,254472192,240717824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,140708,145738,6214.528,-858.049,29,1.6,29,-9.5