version: 66.03
glider: 5
mission: 3
dive: 167
start: 7 15 108 1 3 47
data:
$ID,5
$MISSION,3
$DIVE,167
$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,-79706.922
$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,25
$R_STBD_OVSHOOT,21
$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
$GPS1,005826,6216.433,-852.196,37,1.3,37,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-53.7
$GPS2,010256,6216.447,-852.162,8,1.4,8,-9.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.071,-0.210
$KALMAN_X,-47824.3,-894.3,-1226.3,94156.6,17161.1
$KALMAN_Y,172690.2,-2137.3,-1962.9,-118180.3,34340.8
$MHEAD_RNG_PITCHd_Wd,208.0,67701,-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,-112.32,0.000,6,0.000,0.000,426,2157,3099
$GC,143,-1.30,-117.3,2.0,-1.4,5,159,10.32,2.53,0.00,0.000,4,0.141,0.057,2407,3567,3098
$GC,266,-0.96,-117.3,22.2,-14.3,9,273,0.40,2.53,0.00,0.000,6,0.097,0.047,2488,2143,3097
$GC,584,-0.88,-117.3,51.4,-8.6,25,589,0.00,2.60,0.00,0.000,4,0.000,0.058,2489,3566,3097
$GC,670,-0.77,-117.3,59.0,-8.5,29,675,0.20,2.50,0.00,0.000,6,0.092,0.045,2531,2151,3097
$GC,999,-0.82,-117.3,78.3,-5.0,45,1003,0.00,2.53,0.00,0.000,4,0.000,0.061,2531,743,3098
$GC,1017,-0.82,-117.3,79.1,-4.2,46,1021,0.00,2.50,0.00,0.000,6,0.000,0.049,2531,2150,3098
$GC,1345,-0.88,-117.3,93.7,-5.0,62,1350,0.00,2.55,0.00,0.000,4,0.000,0.061,2531,753,3097
$GC,1357,-0.93,-117.3,94.4,-5.2,62,1364,0.15,2.50,0.00,0.000,6,0.048,0.050,2486,2154,3097
$GC,1674,-0.86,-117.3,114.1,-6.2,78,1679,0.12,2.55,0.00,0.000,4,0.093,0.059,2513,751,3097
$GC,1685,-0.79,-117.3,114.9,-6.1,78,1692,0.00,2.50,0.00,0.000,6,0.000,0.051,2513,2151,3098
$GC,2002,-0.79,-117.3,129.5,-4.3,94,2006,0.00,2.58,0.00,0.000,4,0.000,0.061,2513,741,3098
$GC,2091,-0.79,-117.3,133.7,-4.7,98,2096,0.00,2.50,0.00,0.000,6,0.000,0.051,2513,2136,3097
$GC,2414,-0.79,-117.3,146.8,-4.1,114,2418,0.00,2.53,0.00,0.000,4,0.000,0.061,2513,749,3098
$GC,2442,-0.79,-117.3,148.1,-4.6,115,2446,0.00,2.47,0.00,0.000,6,0.000,0.051,2513,2133,3097
$GC,2758,-0.79,-117.3,163.8,-5.2,130,2762,0.00,2.50,0.00,0.000,4,0.000,0.061,2512,751,3097
$GC,2776,-0.79,-117.3,164.7,-5.2,131,2780,0.00,2.45,0.00,0.000,6,0.000,0.052,2513,2124,3097
$GC,3103,-0.79,-117.3,184.5,-6.7,147,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2124,3097
$GC,3412,-0.79,-117.3,206.8,-7.3,162,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2124,3097
$GC,3722,-0.79,-117.3,229.5,-7.6,177,3726,0.00,2.58,0.00,0.000,4,0.000,0.064,2513,3557,3097
$GC,3734,-0.79,-117.3,230.4,-7.3,177,3740,0.00,2.55,0.00,0.000,6,0.000,0.051,2513,2126,3096
$GC,4050,-0.79,-117.3,253.5,-7.4,193,4054,0.00,2.62,0.00,0.000,4,0.000,0.064,2513,3560,3096
$GC,4061,-0.79,-117.3,254.3,-7.0,193,4067,0.00,2.55,0.00,0.000,6,0.000,0.051,2513,2128,3096
$GC,4380,-0.79,-117.3,276.4,-6.7,209,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2128,3096
$GC,4687,-0.79,-117.3,299.4,-7.9,224,4691,0.00,2.60,0.00,0.000,4,0.000,0.064,2513,3561,3096
$GC,4704,-0.79,-117.3,300.9,-8.2,225,4708,0.00,2.55,0.00,0.000,6,0.000,0.050,2513,2121,3095
$GC,5031,-0.79,-117.3,328.4,-7.8,241,5035,0.00,2.47,0.00,0.000,4,0.000,0.065,2513,747,3096
$GC,5093,-0.79,-117.3,333.1,-8.0,244,5098,0.00,2.42,0.00,0.000,6,0.000,0.053,2513,2101,3096
$STATE,5336,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5336,begin apogee
$GC,5343,-0.33,0.0,351.6,7.2,256,5442,0.52,0.00,96.10,1.027,6,0.084,0.000,2623,2100,2620
$STATE,5443,end apogee,CONTROL_FINISHED_OK
$STATE,5443,begin climb
$GC,5446,1.30,117.3,355.9,0.0,261,5548,1.67,0.00,95.15,1.002,6,0.074,0.000,2980,2100,2141
$GC,5862,1.35,147.0,330.7,6.6,281,5892,0.00,2.62,25.17,0.955,4,0.000,0.064,2980,3509,2020
$GC,5926,1.38,167.8,325.7,7.1,284,5950,0.00,2.58,18.20,0.932,6,0.000,0.052,2980,2090,1934
$GC,6277,1.45,169.5,299.8,7.9,301,6279,0.15,0.00,0.00,0.000,6,0.048,0.000,3024,2090,1933
$GC,6583,1.38,169.5,266.9,11.0,316,6588,0.12,2.60,0.00,0.000,4,0.094,0.062,3003,3507,1932
$GC,6697,1.38,169.5,254.2,11.6,321,6701,0.00,2.53,0.00,0.000,6,0.000,0.051,3003,2107,1932
$GC,7018,1.38,169.5,221.2,9.9,337,7022,0.00,2.58,0.00,0.000,4,0.000,0.062,3003,3505,1931
$GC,7073,1.38,169.5,215.5,10.7,339,7079,0.00,2.50,0.00,0.000,6,0.000,0.052,3003,2120,1932
$GC,7389,1.38,169.5,187.3,8.8,355,7393,0.00,2.53,0.00,0.000,4,0.000,0.061,3003,3504,1932
$GC,7451,1.38,169.5,182.0,8.5,358,7455,0.00,2.42,0.00,0.000,6,0.000,0.051,3003,2144,1931
$GC,7778,1.39,174.5,156.4,7.8,374,7786,0.00,0.00,6.43,0.745,6,0.000,0.000,3003,2144,1908
$GC,8087,1.39,174.5,129.3,9.6,389,8092,0.00,2.50,0.00,0.000,4,0.000,0.061,3003,3507,1907
$GC,8150,1.39,174.5,122.6,10.4,392,8155,0.00,2.42,0.00,0.000,6,0.000,0.051,3003,2149,1907
$GC,8478,1.39,174.5,92.0,9.7,408,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2149,1908
$GC,8787,1.39,174.5,62.6,8.9,423,8791,0.00,2.47,0.00,0.000,4,0.000,0.061,3003,3510,1907
$GC,8865,1.39,174.5,55.5,8.7,426,8872,0.00,2.42,0.00,0.000,6,0.000,0.049,3003,2151,1908
$GC,9182,1.39,174.5,29.1,9.2,442,9186,0.00,2.62,0.00,0.000,4,0.000,0.064,3003,682,1907
$GC,9222,1.39,174.5,25.0,10.8,444,9226,0.00,2.62,0.00,0.000,6,0.000,0.051,3003,2149,1908
$STATE,9484,end climb,SURFACE_DEPTH_REACHED
$STATE,9484,begin surface coast
$FINISH,-0.1,1.027053
$STATE,9507,end surface coast,CONTROL_FINISHED_OK
$STATE,9508,begin surface
$SM_CCo,9530,218.57,0.775,0,0,390,547.02
$SM_GC,0.46,0.00,0.00,218.57,0.000,0.000,0.775,422,2167,390,-10.48,0.48,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1670
$TCM_TEMP,17.20
$XPDR_PINGS,343
$ALTIM_TOP_PING,18.3,999.0
$ALTIM_BOTTOM_PING,276.4,83.8
$24V_AH,24.0,33.953
$10V_AH,10.1,16.451
$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,24.825,96.075,241.050,218.575,0.000,37.759,27.707,103.272,87.750,0.000,0.000,10.995,890.023,7100.514,619.434,1044.096,372.367,33.369,1155.313,0.000,1033.237,0.000,15.314
$DEVICE_MAMPS,141.128,65.195,1027.013,774.670,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,312.844,337.474,428.711,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22274,458
$CAP_FILE_SIZE,78730,0
$CFSIZE,254472192,240574464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,150708,034732,6216.250,-852.497,35,1.3,35,-9.4