version: 66.03
glider: 5
mission: 3
dive: 168
start: 7 15 108 3 53 2
data:
$ID,5
$MISSION,3
$DIVE,168
$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,-79723.617
$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
$GPS1,034732,6216.250,-852.497,35,1.3,35,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-49.8
$GPS2,035210,6216.294,-852.412,12,1.8,13,-9.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.067,-0.211
$KALMAN_X,-48484.6,-1232.6,-806.5,94508.6,15333.7
$KALMAN_Y,173543.6,-2804.9,-1214.1,-119422.6,33864.0
$MHEAD_RNG_PITCHd_Wd,207.1,67374,-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,-112.35,0.000,6,0.000,0.000,422,2151,3099
$GC,143,-1.30,-117.3,2.0,-1.8,5,158,10.23,2.53,0.00,0.000,4,0.135,0.058,2407,3558,3098
$GC,290,-0.94,-117.3,24.5,-14.7,10,297,0.43,2.50,0.00,0.000,6,0.097,0.046,2494,2147,3096
$GC,606,-0.87,-117.3,55.4,-8.1,26,611,0.00,2.58,0.00,0.000,4,0.000,0.059,2494,3564,3097
$GC,618,-0.81,-117.3,56.3,-8.0,26,625,0.12,2.55,0.00,0.000,6,0.097,0.046,2519,2121,3097
$GC,935,-0.81,-117.3,76.5,-6.0,42,939,0.00,2.45,0.00,0.000,4,0.000,0.059,2519,748,3097
$GC,963,-0.81,-117.3,78.3,-6.2,43,967,0.00,2.45,0.00,0.000,6,0.000,0.049,2519,2119,3097
$GC,1281,-0.81,-117.3,98.1,-6.5,58,1285,0.00,2.58,0.00,0.000,4,0.000,0.061,2519,3557,3097
$GC,1293,-0.81,-117.3,99.3,-6.7,58,1299,0.00,2.55,0.00,0.000,6,0.000,0.048,2519,2122,3097
$GC,1611,-0.81,-117.3,120.6,-6.7,74,1615,0.00,2.60,0.00,0.000,4,0.000,0.061,2519,3557,3097
$GC,1621,-0.81,-117.3,121.4,-7.0,74,1628,0.00,2.55,0.00,0.000,6,0.000,0.048,2519,2125,3097
$GC,1940,-0.81,-117.3,144.2,-7.0,90,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2124,3097
$GC,2246,-0.81,-117.3,166.0,-6.7,105,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2124,3097
$GC,2556,-0.81,-117.3,184.5,-6.0,120,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2124,3097
$GC,2865,-0.81,-117.3,201.7,-5.1,135,2870,0.00,2.47,0.00,0.000,4,0.000,0.063,2519,745,3097
$GC,2878,-0.81,-117.3,202.3,-5.1,135,2884,0.00,2.47,0.00,0.000,6,0.000,0.053,2519,2125,3097
$GC,3195,-0.81,-117.3,220.2,-5.6,151,3199,0.00,2.58,0.00,0.000,4,0.000,0.064,2519,3559,3096
$GC,3222,-0.81,-117.3,222.0,-6.2,152,3227,0.00,2.55,0.00,0.000,6,0.000,0.051,2519,2131,3096
$GC,3539,-0.81,-117.3,240.7,-6.0,167,3543,0.00,2.60,0.00,0.000,4,0.000,0.064,2519,3557,3096
$GC,3572,-0.81,-117.3,242.9,-6.2,168,3578,0.00,2.53,0.00,0.000,6,0.000,0.050,2519,2143,3096
$GC,3888,-0.81,-117.3,263.4,-6.7,184,3893,0.00,2.58,0.00,0.000,4,0.000,0.063,2519,3557,3096
$GC,4000,-0.81,-117.3,271.9,-8.1,189,4005,0.00,2.50,0.00,0.000,6,0.000,0.049,2519,2152,3096
$GC,4323,-0.85,-117.3,294.8,-7.3,205,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2152,3096
$GC,4632,-0.90,-117.3,316.3,-7.0,220,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2152,3096
$GC,4941,-0.94,-117.3,335.5,-6.1,235,4946,0.12,2.53,0.00,0.000,4,0.054,0.064,2482,740,3095
$GC,4959,-0.94,-117.3,336.7,-5.9,236,4964,0.00,2.53,0.00,0.000,6,0.000,0.054,2482,2149,3095
$GC,5287,-0.87,-117.3,361.1,-7.7,252,5292,0.12,2.55,0.00,0.000,4,0.099,0.066,2508,3560,3095
$GC,5350,-0.87,-117.3,364.7,-5.7,255,5354,0.00,2.53,0.00,0.000,6,0.000,0.055,2508,2151,3095
$GC,5678,-1.41,-117.3,371.8,-0.0,271,5680,0.50,0.00,0.00,0.000,6,0.042,0.000,2382,2140,3095
$GC,5987,-1.90,-117.3,371.9,0.1,286,5992,0.40,2.58,0.00,0.000,4,0.043,0.065,2277,3560,3094
$GC,5999,-2.40,-117.3,371.8,-0.1,286,6005,0.45,2.53,0.00,0.000,6,0.040,0.054,2160,2152,3094
$STATE,6188,end dive,NO_VERTICAL_VELOCITY
$STATE,6189,begin apogee
$GC,6196,-0.33,0.0,371.8,0.0,296,6296,2.10,0.00,95.80,1.047,6,0.058,0.000,2629,2077,2620
$STATE,6297,end apogee,CONTROL_FINISHED_OK
$STATE,6297,begin climb
$GC,6300,1.30,117.3,371.6,0.0,301,6404,1.60,2.67,94.88,1.025,4,0.064,0.065,2978,3509,2140
$GC,6510,1.30,117.3,353.6,12.4,310,6516,0.00,2.53,0.00,0.000,6,0.000,0.052,2978,2118,2140
$GC,6826,1.30,117.3,325.9,8.3,326,6830,0.00,2.58,0.00,0.000,4,0.000,0.064,2978,3506,2139
$GC,6882,1.30,117.3,320.4,9.5,328,6888,0.00,2.55,0.00,0.000,6,0.000,0.052,2978,2099,2139
$GC,7197,1.30,117.3,293.1,8.7,344,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2099,2139
$GC,7506,1.30,117.3,266.7,8.6,359,7511,0.00,2.60,0.00,0.000,4,0.000,0.064,2978,3511,2138
$GC,7596,1.30,117.3,258.5,9.5,363,7601,0.00,2.53,0.00,0.000,6,0.000,0.051,2978,2113,2138
$GC,7918,1.30,117.3,229.8,9.0,379,7922,0.00,2.58,0.00,0.000,4,0.000,0.062,2978,3508,2138
$GC,8013,1.30,117.3,220.5,9.9,383,8017,0.00,2.45,0.00,0.000,6,0.000,0.051,2978,2143,2138
$GC,8328,1.30,117.3,190.5,9.5,398,8333,0.00,2.60,0.00,0.000,4,0.000,0.063,2978,688,2138
$GC,8373,1.30,117.3,185.9,10.8,400,8377,0.00,2.62,0.00,0.000,6,0.000,0.054,2978,2149,2138
$GC,8695,1.30,117.3,156.6,9.3,416,8699,0.00,2.45,0.00,0.000,4,0.000,0.062,2978,3512,2138
$GC,8790,1.30,117.3,147.2,9.5,420,8794,0.00,2.42,0.00,0.000,6,0.000,0.049,2978,2156,2138
$GC,9106,1.30,117.3,119.7,8.5,435,9107,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2156,2138
$GC,9417,1.32,124.4,95.5,7.7,450,9431,0.00,2.50,6.72,0.741,4,0.000,0.060,2978,3507,2112
$GC,9552,1.32,124.4,84.2,8.0,456,9556,0.00,2.38,0.00,0.000,6,0.000,0.049,2978,2178,2112
$GC,9880,1.36,153.0,60.1,6.7,472,9906,0.00,0.00,24.02,0.823,6,0.000,0.000,2978,2177,1996
$GC,10210,1.44,175.4,35.7,7.0,488,10237,0.15,2.50,18.67,0.795,4,0.046,0.058,3023,3507,1904
$GC,10288,1.37,175.4,28.4,10.2,491,10294,0.15,2.38,0.00,0.000,6,0.088,0.048,2995,2183,1904
$STATE,10601,end climb,SURFACE_DEPTH_REACHED
$STATE,10601,begin surface coast
$FINISH,-0.1,1.027078
$STATE,10625,end surface coast,CONTROL_FINISHED_OK
$STATE,10625,begin surface
$SM_CCo,10648,217.10,0.769,0,0,390,547.02
$SM_GC,0.33,0.00,0.00,217.10,0.000,0.000,0.769,417,2152,390,-10.50,0.03,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1662
$TCM_TEMP,17.50
$XPDR_PINGS,409
$ALTIM_TOP_PING,19.2,999.0
$24V_AH,24.0,34.089
$10V_AH,10.1,16.509
$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,27.600,101.200,240.100,217.100,0.000,37.755,29.336,108.222,104.750,0.000,0.000,16.072,982.430,7996.622,629.763,1151.076,392.682,33.355,1217.770,0.000,1134.384,0.000,17.127
$DEVICE_MAMPS,134.992,105.846,1046.955,769.301,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,346.826,378.491,425.264,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25353,508
$CAP_FILE_SIZE,85923,0
$CFSIZE,254472192,240529408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,150708,065525,6217.349,-851.129,38,1.9,38,-9.4