version: 66.03
glider: 5
mission: 3
dive: 164
start: 7 14 108 15 4 57
data:
$ID,5
$MISSION,3
$DIVE,164
$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,-79663.297
$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,19
$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
$GPS1,145738,6214.528,-858.049,29,1.6,29,-9.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-51.4
$GPS2,150403,6214.602,-857.951,15,1.6,15,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.053,-0.194
$KALMAN_X,-53417.9,-974.9,-600.9,94151.3,14608.6
$KALMAN_Y,163102.7,-2471.0,-1165.4,-112508.8,33314.9
$MHEAD_RNG_PITCHd_Wd,204.8,63277,-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,-111.30,0.000,6,0.000,0.000,421,2139,3099
$GC,142,-1.03,-117.3,2.4,-2.1,6,159,10.68,2.60,0.00,0.000,4,0.139,0.058,2469,3564,3098
$GC,206,-0.71,-117.3,13.2,-11.5,9,212,0.35,2.53,0.00,0.000,6,0.091,0.047,2543,2147,3097
$GC,523,-0.62,-117.3,37.3,-7.1,24,528,0.10,2.58,0.00,0.000,4,0.107,0.058,2562,3565,3098
$GC,671,-0.58,-117.3,48.6,-8.9,30,678,0.00,2.47,0.00,0.000,6,0.000,0.045,2562,2163,3098
$GC,989,-0.58,-117.3,68.3,-5.7,46,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2161,3097
$GC,1297,-0.58,-117.3,86.5,-6.2,61,1301,0.00,2.53,0.00,0.000,4,0.000,0.059,2562,3560,3097
$GC,1307,-0.58,-117.3,87.2,-6.2,61,1313,0.00,2.47,0.00,0.000,6,0.000,0.048,2562,2163,3097
$GC,1623,-0.58,-117.3,107.9,-7.1,77,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2162,3098
$GC,1932,-0.58,-117.3,132.7,-8.2,92,1936,0.00,2.55,0.00,0.000,4,0.000,0.063,2562,740,3097
$GC,1943,-0.58,-117.3,133.9,-8.2,92,1949,0.00,2.55,0.00,0.000,6,0.000,0.051,2562,2167,3097
$GC,2259,-0.58,-117.3,158.8,-7.7,108,2263,0.00,2.58,0.00,0.000,4,0.000,0.064,2562,750,3097
$GC,2269,-0.58,-117.3,159.6,-7.6,108,2275,0.00,2.53,0.00,0.000,6,0.000,0.052,2562,2167,3097
$GC,2585,-0.58,-117.3,179.3,-5.3,124,2589,0.00,2.60,0.00,0.000,4,0.000,0.063,2562,744,3096
$GC,2596,-0.58,-117.3,179.8,-5.1,124,2602,0.00,2.55,0.00,0.000,6,0.000,0.052,2562,2168,3096
$GC,2912,-0.58,-117.3,193.8,-4.3,140,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2168,3096
$GC,3221,-0.58,-117.3,206.1,-3.7,155,3226,0.00,2.58,0.00,0.000,4,0.000,0.063,2562,743,3096
$GC,3267,-0.58,-117.3,208.0,-4.5,157,3271,0.00,2.53,0.00,0.000,6,0.000,0.053,2562,2157,3096
$GC,3588,-0.58,-117.3,220.6,-4.5,173,3592,0.00,2.58,0.00,0.000,4,0.000,0.063,2562,747,3096
$GC,3599,-0.58,-117.3,221.2,-4.7,173,3605,0.00,2.53,0.00,0.000,6,0.000,0.052,2562,2153,3096
$GC,3915,-0.58,-117.3,239.5,-6.4,189,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2154,3096
$GC,4224,-0.58,-117.3,260.4,-6.7,204,4228,0.00,2.55,0.00,0.000,4,0.000,0.063,2562,747,3095
$GC,4240,-0.58,-117.3,261.5,-6.8,205,4245,0.00,2.50,0.00,0.000,6,0.000,0.053,2562,2146,3096
$GC,4568,-0.58,-117.3,283.3,-6.5,221,4573,0.00,2.55,0.00,0.000,4,0.000,0.063,2562,749,3095
$GC,4586,-0.58,-117.3,284.5,-6.7,222,4590,0.00,2.50,0.00,0.000,6,0.000,0.054,2562,2146,3095
$GC,4912,-0.58,-117.3,303.4,-5.4,238,4917,0.00,2.55,0.00,0.000,4,0.000,0.064,2562,744,3095
$GC,4924,-0.58,-117.3,304.0,-5.3,238,4930,0.00,2.53,0.00,0.000,6,0.000,0.054,2562,2149,3095
$GC,5240,-0.58,-117.3,320.2,-4.8,254,5244,0.00,2.55,0.00,0.000,4,0.000,0.064,2562,747,3094
$GC,5251,-0.58,-117.3,320.8,-4.9,254,5257,0.00,2.53,0.00,0.000,6,0.000,0.054,2562,2150,3095
$GC,5567,-0.58,-117.3,334.9,-4.5,270,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2150,3094
$GC,5876,-0.58,-117.3,348.7,-4.3,285,5880,0.00,2.58,0.00,0.000,4,0.000,0.065,2562,747,3094
$GC,5898,-0.58,-117.3,349.8,-4.8,286,5902,0.00,2.50,0.00,0.000,6,0.000,0.054,2562,2137,3094
$GC,6225,-0.58,-117.3,365.7,-4.9,302,6229,0.00,2.55,0.00,0.000,4,0.000,0.064,2562,745,3094
$GC,6265,-0.58,-117.3,368.0,-5.7,304,6269,0.00,2.50,0.00,0.000,6,0.000,0.054,2561,2136,3094
$GC,6592,-0.58,-117.3,385.9,-5.7,320,6596,0.00,2.53,0.00,0.000,4,0.000,0.065,2562,741,3093
$GC,6648,-0.58,-117.3,389.2,-5.3,322,6653,0.00,2.47,0.00,0.000,6,0.000,0.054,2562,2121,3094
$GC,6964,-0.58,-117.3,406.1,-5.7,338,6968,0.00,2.60,0.00,0.000,4,0.000,0.068,2562,3563,3093
$GC,6974,-0.58,-117.3,406.6,-4.5,338,6980,0.00,2.55,0.00,0.000,6,0.000,0.053,2562,2133,3093
$GC,7291,-0.95,-117.3,417.9,-0.1,354,7296,0.28,2.60,0.00,0.000,4,0.048,0.064,2484,3558,3093
$GC,7303,-1.35,-117.3,417.9,-0.1,354,7310,0.35,2.53,0.00,0.000,6,0.042,0.051,2393,2139,3093
$GC,7619,-1.68,-117.3,417.9,-0.0,370,7624,0.22,2.62,0.00,0.000,4,0.048,0.065,2327,3566,3093
$GC,7631,-2.02,-117.3,417.9,0.1,370,7638,0.30,2.55,0.00,0.000,6,0.044,0.054,2246,2141,3093
$STATE,7861,end dive,NO_VERTICAL_VELOCITY
$STATE,7861,begin apogee
$GC,7868,-0.33,0.0,417.9,0.0,382,7968,1.70,0.00,96.62,1.076,6,0.054,0.000,2628,2111,2620
$STATE,7969,end apogee,CONTROL_FINISHED_OK
$STATE,7969,begin climb
$GC,7973,1.03,117.3,417.7,0.0,387,8076,1.35,2.72,95.57,1.052,4,0.066,0.067,2923,691,2141
$GC,8139,0.96,117.3,407.8,9.6,394,8145,0.00,2.55,0.00,0.000,6,0.000,0.054,2923,2101,2141
$GC,8455,0.98,128.5,386.5,5.6,410,8471,0.00,2.60,10.68,0.926,4,0.000,0.064,2924,3508,2096
$GC,8572,0.98,128.5,377.4,8.2,414,8576,0.00,2.50,0.00,0.000,6,0.000,0.053,2923,2127,2095
$GC,8888,0.98,128.5,354.6,7.5,429,8892,0.00,2.60,0.00,0.000,4,0.000,0.068,2923,689,2095
$GC,8932,0.98,128.5,350.8,8.8,431,8936,0.00,2.60,0.00,0.000,6,0.000,0.054,2923,2133,2095
$GC,9253,0.98,128.5,324.8,8.4,447,9257,0.00,2.50,0.00,0.000,4,0.000,0.064,2923,3512,2095
$GC,9348,0.98,128.5,316.1,8.6,451,9352,0.00,2.47,0.00,0.000,6,0.000,0.051,2923,2139,2094
$GC,9664,0.98,128.5,290.3,8.0,466,9669,0.00,2.60,0.00,0.000,4,0.000,0.067,2923,689,2094
$GC,9709,0.98,128.5,286.5,8.9,468,9713,0.00,2.62,0.00,0.000,6,0.000,0.054,2923,2161,2094
$GC,10030,0.98,128.5,260.6,8.3,484,10034,0.00,2.45,0.00,0.000,4,0.000,0.064,2924,3516,2094
$GC,10102,0.98,128.5,254.1,9.3,487,10106,0.00,2.45,0.00,0.000,6,0.000,0.051,2923,2156,2094
$GC,10418,0.98,128.5,229.6,7.4,502,10419,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2156,2094
$GC,10727,0.98,128.5,207.2,7.1,517,10732,0.00,2.50,0.00,0.000,4,0.000,0.061,2923,3520,2095
$GC,10783,0.98,128.5,202.9,7.7,519,10789,0.00,2.42,0.00,0.000,6,0.000,0.051,2923,2170,2094
$GC,11099,0.98,128.5,181.3,6.9,535,11103,0.00,2.67,0.00,0.000,4,0.000,0.067,2923,682,2094
$GC,11154,0.98,128.5,177.1,7.3,537,11160,0.00,2.67,0.00,0.000,6,0.000,0.053,2923,2179,2094
$GC,11470,0.98,128.5,157.2,6.1,553,11474,0.00,2.38,0.00,0.000,4,0.000,0.062,2923,3511,2094
$GC,11542,0.98,128.5,152.1,7.0,556,11547,0.00,2.40,0.00,0.000,6,0.000,0.050,2923,2170,2094
$GC,11865,1.00,138.4,132.8,5.7,572,11879,0.00,2.70,9.35,0.799,4,0.000,0.067,2923,691,2055
$GC,11926,1.00,138.4,129.2,6.1,574,11931,0.00,2.70,0.00,0.000,6,0.000,0.054,2923,2186,2054
$GC,12255,1.06,176.7,112.7,4.7,590,12292,0.00,2.42,31.40,0.863,4,0.000,0.060,2923,3511,1898
$GC,12340,1.14,187.1,108.3,5.6,593,12355,0.10,2.40,9.90,0.787,6,0.053,0.049,2957,2174,1857
$GC,12668,1.14,187.1,86.1,6.7,608,12672,0.00,2.65,0.00,0.000,4,0.000,0.064,2957,692,1856
$GC,12746,1.14,187.1,79.6,8.5,611,12752,0.00,2.65,0.00,0.000,6,0.000,0.053,2958,2172,1856
$GC,13063,1.14,187.1,55.3,7.5,627,13068,0.00,2.40,0.00,0.000,4,0.000,0.061,2957,3511,1856
$GC,13136,1.14,187.1,49.1,8.1,630,13140,0.00,2.38,0.00,0.000,6,0.000,0.048,2957,2180,1856
$GC,13453,1.14,187.8,27.9,6.0,645,13457,0.00,2.70,0.00,0.000,4,0.000,0.067,2958,683,1856
$GC,13497,1.14,187.8,25.1,6.3,647,13501,0.00,2.65,0.00,0.000,6,0.000,0.050,2958,2184,1857
$GC,13818,1.14,187.8,2.7,6.4,663,13822,0.00,2.38,0.00,0.000,4,0.000,0.058,2958,3515,1856
$STATE,13826,end climb,SURFACE_DEPTH_REACHED
$STATE,13826,begin surface coast
$FINISH,-0.0,1.027032
$STATE,13849,end surface coast,CONTROL_FINISHED_OK
$STATE,13849,begin surface
$SM_CCo,13874,212.32,0.771,0,0,390,547.02
$SM_GC,0.36,0.00,0.00,212.32,0.000,0.000,0.771,417,2139,390,-10.50,-0.31,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1658
$TCM_TEMP,19.40
$XPDR_PINGS,531
$ALTIM_TOP_PING,18.9,18.3
$24V_AH,23.9,33.526
$10V_AH,10.1,16.283
$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,26.350,167.775,253.525,212.325,0.000,37.760,26.995,164.970,135.750,0.000,0.000,15.548,1269.382,10490.527,662.726,1504.942,550.146,33.367,1447.860,0.000,1474.876,0.000,20.330
$DEVICE_MAMPS,138.827,68.263,1076.101,770.835,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.198,489.564,514.914,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34831,664
$CAP_FILE_SIZE,114750,0
$CFSIZE,254472192,240660480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,140708,190101,6216.411,-855.760,38,1.1,38,-9.5