version: 66.03
glider: 5
mission: 3
dive: 157
start: 7 13 108 9 53 38
data:
$ID,5
$MISSION,3
$DIVE,157
$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,-79561.938
$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,22
$R_STBD_OVSHOOT,41
$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
$GPS1,094408,6214.351,-900.430,37,1.4,37,-9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-48.7
$GPS2,095245,6214.372,-900.424,13,1.5,13,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.060,-0.192
$KALMAN_X,-59637.9,-1702.1,-809.2,99124.8,18447.0
$KALMAN_Y,143852.4,-1148.5,-2051.0,-94115.6,27252.8
$MHEAD_RNG_PITCHd_Wd,206.8,62500,-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,-117.3,0.0,0.0,0,140,0.00,0.00,-113.15,0.000,6,0.000,0.000,421,2170,3099
$GC,144,-1.03,-117.3,1.9,-1.7,5,160,10.62,2.47,0.00,0.000,4,0.139,0.058,2469,3542,3098
$GC,199,-0.68,-117.3,11.8,-12.8,6,207,0.38,2.47,0.00,0.000,6,0.086,0.044,2549,2143,3097
$GC,516,-0.61,-117.3,34.5,-6.3,22,521,0.00,2.55,0.00,0.000,4,0.000,0.059,2549,3540,3096
$GC,562,-0.52,-117.3,36.5,-3.7,24,566,0.17,2.45,0.00,0.000,6,0.091,0.045,2584,2157,3096
$GC,884,-0.52,-117.3,51.0,-4.4,40,888,0.00,2.53,0.00,0.000,4,0.000,0.058,2584,3543,3096
$GC,1007,-0.52,-117.3,57.5,-4.3,45,1013,0.00,2.45,0.00,0.000,6,0.000,0.046,2584,2160,3096
$GC,1323,-0.52,-117.3,70.5,-4.4,61,1328,0.00,2.50,0.00,0.000,4,0.000,0.058,2583,3540,3096
$GC,1357,-0.52,-117.3,72.1,-4.5,62,1364,0.00,2.42,0.00,0.000,6,0.000,0.047,2584,2169,3096
$GC,1676,-0.58,-117.3,81.8,-2.3,78,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2166,3096
$GC,1983,-0.63,-117.3,95.1,-5.3,93,1988,0.00,2.55,0.00,0.000,4,0.000,0.063,2584,745,3096
$GC,2012,-0.63,-117.3,96.8,-6.0,94,2016,0.00,2.50,0.00,0.000,6,0.000,0.051,2584,2145,3096
$GC,2329,-0.69,-117.3,109.7,-2.2,109,2334,0.15,2.55,0.00,0.000,4,0.050,0.062,2537,750,3096
$GC,2449,-0.58,-117.3,114.0,-4.1,114,2455,0.17,2.55,0.00,0.000,6,0.089,0.051,2573,2174,3097
$GC,2766,-0.58,-117.3,125.4,-4.5,129,2770,0.00,2.60,0.00,0.000,4,0.000,0.063,2573,751,3096
$GC,2788,-0.58,-117.3,126.6,-4.9,130,2792,0.00,2.53,0.00,0.000,6,0.000,0.052,2573,2164,3096
$GC,3111,-0.58,-117.3,146.7,-6.9,146,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2165,3096
$GC,3419,-0.58,-117.3,167.1,-5.9,161,3423,0.00,2.60,0.00,0.000,4,0.000,0.064,2573,744,3096
$GC,3429,-0.58,-117.3,167.9,-6.0,161,3435,0.00,2.55,0.00,0.000,6,0.000,0.053,2573,2164,3096
$GC,3746,-0.58,-117.3,184.6,-5.1,177,3750,0.00,2.60,0.00,0.000,4,0.000,0.064,2573,744,3096
$GC,3789,-0.58,-117.3,187.1,-6.1,179,3794,0.00,2.50,0.00,0.000,6,0.000,0.053,2573,2151,3095
$GC,4111,-0.58,-117.3,203.7,-5.4,195,4115,0.00,2.58,0.00,0.000,4,0.000,0.064,2573,748,3095
$GC,4133,-0.58,-117.3,205.1,-5.6,196,4138,0.00,2.53,0.00,0.000,6,0.000,0.053,2573,2152,3095
$GC,4455,-0.58,-117.3,222.8,-5.8,212,4459,0.00,2.55,0.00,0.000,4,0.000,0.064,2573,751,3095
$GC,4466,-0.58,-117.3,223.6,-5.9,212,4472,0.00,2.53,0.00,0.000,6,0.000,0.053,2573,2157,3095
$GC,4782,-0.58,-117.3,243.3,-6.7,228,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2155,3095
$GC,5092,-0.58,-117.3,262.1,-5.7,243,5096,0.00,2.58,0.00,0.000,4,0.000,0.064,2573,751,3095
$GC,5102,-0.58,-117.3,262.7,-5.5,243,5108,0.00,2.53,0.00,0.000,6,0.000,0.054,2573,2157,3095
$GC,5419,-0.58,-117.3,278.9,-5.0,259,5423,0.00,2.58,0.00,0.000,4,0.000,0.064,2573,750,3094
$GC,5440,-0.58,-117.3,279.9,-4.2,260,5445,0.00,2.53,0.00,0.000,6,0.000,0.053,2573,2155,3095
$GC,5762,-0.58,-117.3,295.6,-4.7,276,5767,0.00,2.58,0.00,0.000,4,0.000,0.065,2573,743,3094
$GC,5785,-0.58,-117.3,296.6,-4.2,277,5790,0.00,2.53,0.00,0.000,6,0.000,0.054,2573,2149,3094
$GC,6107,-0.58,-117.3,312.1,-4.7,293,6111,0.00,2.55,0.00,0.000,4,0.000,0.066,2573,747,3094
$GC,6117,-0.58,-117.3,312.6,-4.7,293,6123,0.00,2.53,0.00,0.000,6,0.000,0.054,2573,2150,3094
$GC,6434,-0.58,-117.3,328.2,-4.5,309,6438,0.00,2.55,0.00,0.000,4,0.000,0.067,2573,752,3094
$GC,6467,-0.58,-117.3,329.8,-4.9,310,6474,0.00,2.50,0.00,0.000,6,0.000,0.054,2573,2142,3094
$GC,6784,-0.58,-117.3,341.5,-3.4,326,6788,0.00,2.55,0.00,0.000,4,0.000,0.067,2573,746,3094
$GC,6851,-0.58,-117.3,344.0,-3.8,329,6855,0.00,2.50,0.00,0.000,6,0.000,0.054,2573,2133,3094
$GC,7172,-0.58,-117.3,350.7,-1.4,345,7176,0.00,2.55,0.00,0.000,4,0.000,0.064,2573,743,3094
$GC,7217,-0.58,-117.3,351.2,-1.3,347,7221,0.00,2.50,0.00,0.000,6,0.000,0.054,2573,2134,3093
$GC,7538,-0.58,-117.3,352.5,-0.9,363,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2134,3093
$GC,7847,-0.58,-117.3,362.1,-4.2,378,7848,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2134,3093
$GC,8157,-0.58,-117.3,369.9,-0.7,393,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2134,3093
$GC,8466,-0.62,-117.3,369.0,0.5,408,8471,0.00,2.55,0.00,0.000,4,0.000,0.065,2573,744,3093
$GC,8517,-0.62,-117.3,368.8,-0.2,410,8521,0.00,2.47,0.00,0.000,6,0.000,0.054,2573,2118,3093
$GC,8833,-0.62,-117.3,376.2,-4.4,425,8838,0.00,2.62,0.00,0.000,4,0.000,0.069,2573,3563,3093
$GC,8867,-0.62,-117.3,377.4,-3.8,426,8873,0.00,2.58,0.00,0.000,6,0.000,0.052,2573,2121,3092
$GC,9183,-0.67,-117.3,387.2,-4.5,442,9188,0.00,2.65,0.00,0.000,4,0.000,0.067,2573,3563,3093
$GC,9196,-0.72,-117.3,387.6,-4.7,442,9202,0.15,2.58,0.00,0.000,6,0.050,0.054,2528,2123,3093
$GC,9512,-0.64,-117.3,408.2,-7.7,458,9517,0.15,2.65,0.00,0.000,4,0.093,0.067,2560,3560,3092
$GC,9579,-0.64,-117.3,413.1,-7.0,461,9584,0.00,2.55,0.00,0.000,6,0.000,0.051,2560,2128,3092
$STATE,9753,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9753,begin apogee
$GC,9759,-0.33,0.0,423.7,6.2,470,9859,0.32,0.00,97.05,1.083,6,0.079,0.000,2627,2111,2620
$STATE,9860,end apogee,CONTROL_FINISHED_OK
$STATE,9861,begin climb
$GC,9863,1.03,117.3,426.1,0.0,475,9969,1.35,2.72,96.47,1.056,4,0.069,0.068,2921,685,2140
$GC,10001,1.06,135.8,420.3,5.4,481,10024,0.00,2.58,16.65,0.974,6,0.000,0.055,2921,2101,2066
$GC,10341,1.10,158.0,404.9,5.2,498,10366,0.00,2.62,19.70,0.996,4,0.000,0.067,2921,3506,1976
$GC,10456,1.10,158.0,396.1,8.3,503,10461,0.00,2.53,0.00,0.000,6,0.000,0.054,2921,2118,1975
$GC,10772,1.15,158.0,367.6,11.6,518,10774,0.12,0.00,0.00,0.000,6,0.051,0.000,2960,2118,1975
$GC,11082,1.11,183.1,344.4,5.1,533,11111,0.00,2.67,21.48,0.996,4,0.000,0.064,2960,3514,1873
$GC,11164,1.05,183.1,339.7,6.5,536,11171,0.15,2.53,0.00,0.000,6,0.082,0.054,2930,2126,1873
$GC,11480,1.05,183.1,316.0,7.9,552,11484,0.00,2.60,0.00,0.000,4,0.000,0.067,2930,688,1872
$GC,11524,1.05,183.1,312.4,8.2,554,11529,0.00,2.60,0.00,0.000,6,0.000,0.055,2930,2131,1872
$GC,11845,1.05,183.1,290.5,6.2,570,11849,0.00,2.50,0.00,0.000,4,0.000,0.064,2930,3511,1872
$GC,11900,1.05,183.1,287.0,6.9,572,11906,0.00,2.47,0.00,0.000,6,0.000,0.051,2930,2132,1872
$GC,12216,1.07,190.1,268.2,5.8,588,12230,0.00,2.70,7.22,0.841,4,0.000,0.066,2930,681,1845
$GC,12265,1.07,190.1,264.7,6.9,590,12270,0.00,2.62,0.00,0.000,6,0.000,0.053,2929,2136,1845
$GC,12588,1.10,211.0,246.7,5.3,606,12612,0.00,2.55,18.52,0.936,4,0.000,0.063,2930,3502,1758
$GC,12663,1.17,211.0,242.2,6.2,609,12668,0.10,2.47,0.00,0.000,6,0.054,0.051,2964,2135,1758
$GC,12980,1.13,211.0,218.1,8.5,624,12984,0.00,2.60,0.00,0.000,4,0.000,0.065,2964,691,1758
$GC,13020,1.13,211.0,214.5,9.2,626,13024,0.00,2.62,0.00,0.000,6,0.000,0.054,2963,2149,1758
$GC,13346,1.13,211.0,186.5,8.4,642,13350,0.00,2.45,0.00,0.000,4,0.000,0.062,2963,3512,1758
$GC,13419,1.13,211.0,179.7,9.3,645,13423,0.00,2.45,0.00,0.000,6,0.000,0.051,2963,2151,1758
$GC,13735,1.13,211.0,151.1,9.0,660,13736,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2150,1758
$GC,14046,1.09,211.0,124.3,8.5,675,14048,0.12,0.00,0.00,0.000,6,0.083,0.000,2937,2150,1758
$GC,14354,1.13,211.0,101.9,7.3,690,14356,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2150,1758
$GC,14663,1.19,211.0,77.3,8.0,705,14667,0.00,2.47,0.00,0.000,4,0.000,0.061,2937,3514,1758
$GC,14708,1.26,211.0,73.6,8.8,707,14713,0.15,2.40,0.00,0.000,6,0.044,0.050,2982,2163,1758
$GC,15031,1.17,211.0,39.4,10.8,723,15033,0.15,0.00,0.00,0.000,6,0.079,0.000,2951,2143,1758
$GC,15340,1.17,211.0,14.9,6.7,738,15344,0.00,2.45,0.00,0.000,4,0.000,0.059,2950,3509,1758
$GC,15407,1.21,211.0,9.7,8.2,741,15411,0.00,2.38,0.00,0.000,6,0.000,0.047,2951,2173,1758
$STATE,15519,end climb,SURFACE_DEPTH_REACHED
$STATE,15519,begin surface coast
$FINISH,-0.0,1.027042
$STATE,15541,end surface coast,CONTROL_FINISHED_OK
$STATE,15541,begin surface
$SM_CCo,15563,195.52,0.768,0,0,390,547.02
$SM_GC,0.35,0.00,0.00,195.52,0.000,0.000,0.768,421,2162,390,-10.48,0.23,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1674
$TCM_TEMP,17.40
$XPDR_PINGS,579
$ALTIM_TOP_PING,18.9,999.0
$ALTIM_BOTTOM_PING,375.3,57.6
$24V_AH,24.0,32.497
$10V_AH,10.1,15.779
$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,25.200,167.725,277.100,195.525,0.000,75.523,64.445,187.110,147.750,0.000,0.000,15.739,1424.682,11899.807,662.987,1650.608,640.372,33.370,1517.765,0.000,1622.155,0.000,22.044
$DEVICE_MAMPS,138.827,69.030,1083.004,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,511.714,560.386,583.208,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37949,748
$CAP_FILE_SIZE,130593,0
$CFSIZE,254472192,241012736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,130708,141738,6212.901,-902.297,41,0.9,41,-9.5