version: 66.03
glider: 5
mission: 3
dive: 158
start: 7 13 108 14 23 54
data:
$ID,5
$MISSION,3
$DIVE,158
$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,-79576.516
$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,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
$GPS1,141738,6212.901,-902.297,41,0.9,41,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-53.1
$GPS2,142302,6212.933,-902.256,13,1.1,13,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.053,-0.194
$KALMAN_X,-61773.6,-1161.2,-1257.4,99585.7,14101.5
$KALMAN_Y,143732.5,-1830.9,-753.1,-97275.1,21228.0
$MHEAD_RNG_PITCHd_Wd,204.7,59637,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.03,-117.3,0.0,0.0,0,145,0.00,0.00,-112.75,0.000,6,0.000,0.000,421,2149,3098
$GC,149,-1.03,-117.3,3.0,-2.9,6,165,10.65,2.55,0.00,0.000,4,0.139,0.057,2470,3566,3098
$GC,171,0.75,-117.3,8.3,-21.1,6,180,1.88,2.55,0.00,0.000,6,0.089,0.048,2860,2145,3098
$GC,499,-0.01,-117.3,20.8,-3.1,22,504,0.73,2.60,0.00,0.000,4,0.054,0.058,2698,3567,3097
$GC,511,-0.63,-117.3,21.3,-3.1,22,518,0.60,2.38,0.00,0.000,6,0.034,0.044,2545,2194,3097
$GC,828,-0.56,-117.3,39.1,-6.0,38,833,0.15,2.45,0.00,0.000,4,0.087,0.059,2579,3561,3097
$GC,839,-0.49,-117.3,39.8,-5.9,38,845,0.00,2.35,0.00,0.000,6,0.000,0.045,2580,2228,3097
$GC,1155,-0.49,-117.3,59.5,-7.3,54,1159,0.00,2.42,0.00,0.000,4,0.000,0.059,2579,3564,3097
$GC,1401,-0.49,-117.3,76.6,-6.6,65,1405,0.00,2.38,0.00,0.000,6,0.000,0.044,2579,2224,3097
$GC,1722,-0.49,-117.3,93.1,-5.1,81,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2220,3098
$GC,2034,-0.49,-117.3,108.6,-5.2,96,2038,0.00,2.45,0.00,0.000,4,0.000,0.060,2580,3567,3098
$GC,2045,-0.49,-117.3,109.4,-5.4,96,2051,0.00,2.38,0.00,0.000,6,0.000,0.048,2580,2228,3098
$GC,2362,-0.49,-117.3,130.0,-6.9,112,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2210,3098
$GC,2671,-0.54,-117.3,147.9,-5.0,127,2676,0.00,2.62,0.00,0.000,4,0.000,0.063,2579,760,3098
$GC,2694,-0.54,-117.3,149.3,-5.5,128,2698,0.00,2.58,0.00,0.000,6,0.000,0.051,2579,2201,3098
$GC,3016,-0.59,-117.3,165.8,-5.2,144,3020,0.00,2.62,0.00,0.000,4,0.000,0.061,2579,761,3097
$GC,3044,-0.59,-117.3,167.3,-5.1,145,3048,0.00,2.58,0.00,0.000,6,0.000,0.052,2579,2198,3097
$GC,3360,-0.63,-117.3,182.6,-4.9,160,3365,0.00,2.60,0.00,0.000,4,0.000,0.064,2579,763,3097
$GC,3372,-0.68,-117.3,183.2,-4.7,160,3379,0.12,2.55,0.00,0.000,6,0.051,0.053,2541,2189,3097
$GC,3689,-0.61,-117.3,201.2,-5.6,176,3694,0.12,2.58,0.00,0.000,4,0.093,0.062,2566,766,3096
$GC,3701,-0.56,-117.3,202.0,-5.6,176,3707,0.00,2.55,0.00,0.000,6,0.000,0.053,2566,2194,3097
$GC,4017,-0.56,-117.3,216.8,-4.6,192,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2195,3096
$GC,4326,-0.56,-117.3,231.2,-5.0,207,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2195,3096
$GC,4635,-0.56,-117.3,248.0,-5.9,222,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2195,3096
$GC,4944,-0.56,-117.3,269.2,-7.5,237,4949,0.00,2.60,0.00,0.000,4,0.000,0.064,2566,766,3096
$GC,4984,-0.56,-117.3,272.4,-8.3,239,4989,0.00,2.55,0.00,0.000,6,0.000,0.054,2566,2192,3096
$GC,5311,-0.56,-117.3,298.3,-7.7,255,5316,0.00,2.60,0.00,0.000,4,0.000,0.064,2566,762,3096
$GC,5322,-0.56,-117.3,299.2,-7.7,255,5329,0.00,2.58,0.00,0.000,6,0.000,0.054,2566,2197,3095
$GC,5639,-0.56,-117.3,322.8,-7.1,271,5643,0.00,2.60,0.00,0.000,4,0.000,0.064,2566,767,3095
$GC,5649,-0.56,-117.3,323.6,-7.1,271,5655,0.00,2.55,0.00,0.000,6,0.000,0.054,2566,2187,3095
$GC,5965,-0.56,-117.3,346.8,-7.3,287,5969,0.00,2.60,0.00,0.000,4,0.000,0.066,2566,767,3095
$GC,5976,-0.56,-117.3,347.7,-7.3,287,5982,0.00,2.55,0.00,0.000,6,0.000,0.054,2566,2186,3095
$GC,6291,-0.56,-117.3,371.5,-6.9,303,6296,0.00,2.60,0.00,0.000,4,0.000,0.067,2566,763,3095
$GC,6331,-0.56,-117.3,374.3,-7.0,305,6335,0.00,2.55,0.00,0.000,6,0.000,0.055,2566,2185,3095
$GC,6658,-0.56,-117.3,394.9,-5.8,321,6662,0.00,2.58,0.00,0.000,4,0.000,0.066,2566,766,3094
$GC,6669,-0.56,-117.3,395.6,-5.8,321,6675,0.00,2.55,0.00,0.000,6,0.000,0.054,2566,2190,3094
$GC,6985,-0.56,-117.3,413.8,-5.9,337,6989,0.00,2.60,0.00,0.000,4,0.000,0.066,2566,763,3094
$GC,7104,-0.56,-117.3,421.0,-6.1,342,7109,0.00,2.50,0.00,0.000,6,0.000,0.055,2566,2159,3094
$GC,7420,-0.56,-117.3,436.3,-4.6,357,7424,0.00,2.55,0.00,0.000,4,0.000,0.065,2566,764,3094
$STATE,7434,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7435,begin apogee
$GC,7444,-0.33,0.0,437.0,4.4,358,7544,0.30,0.00,97.22,1.081,6,0.081,0.000,2628,2109,2620
$STATE,7545,end apogee,CONTROL_FINISHED_OK
$STATE,7545,begin climb
$GC,7548,1.03,117.3,438.5,0.0,363,7652,1.38,2.62,96.38,1.053,4,0.065,0.064,2923,3508,2141
$GC,7737,1.03,117.3,425.6,8.5,372,7742,0.00,2.53,0.00,0.000,6,0.000,0.053,2923,2122,2141
$GC,8053,1.03,117.3,404.1,6.2,387,8057,0.00,2.60,0.00,0.000,4,0.000,0.069,2923,688,2140
$GC,8119,1.03,117.3,399.2,7.0,390,8123,0.00,2.58,0.00,0.000,6,0.000,0.055,2923,2109,2140
$GC,8441,1.05,130.2,381.2,5.6,406,8462,0.00,2.65,12.00,0.950,4,0.000,0.066,2923,3507,2089
$GC,8547,1.08,150.7,375.1,5.3,410,8574,0.00,2.53,18.48,0.992,6,0.000,0.053,2923,2115,2004
$GC,8884,1.10,162.1,358.0,5.6,427,8896,0.00,0.00,10.50,0.938,6,0.000,0.000,2923,2115,1959
$GC,9192,1.11,168.3,339.7,5.8,442,9206,0.00,2.62,6.80,0.849,4,0.000,0.062,2923,3507,1932
$GC,9269,1.16,168.3,334.5,6.3,445,9274,0.12,2.50,0.00,0.000,6,0.049,0.052,2964,2126,1932
$GC,9586,1.08,168.3,310.4,7.5,460,9588,0.15,0.00,0.00,0.000,6,0.080,0.000,2933,2127,1932
$GC,9894,1.08,168.3,290.4,6.6,475,9898,0.00,2.55,0.00,0.000,4,0.000,0.064,2933,3510,1931
$GC,9956,1.08,168.3,285.8,7.1,478,9960,0.00,2.45,0.00,0.000,6,0.000,0.051,2933,2145,1931
$GC,10283,1.08,168.3,262.7,7.5,494,10287,0.00,2.62,0.00,0.000,4,0.000,0.067,2933,689,1931
$GC,10332,1.08,168.3,258.5,8.9,496,10337,0.00,2.62,0.00,0.000,6,0.000,0.054,2933,2158,1931
$GC,10649,1.08,168.3,234.6,7.7,511,10653,0.00,2.42,0.00,0.000,4,0.000,0.062,2933,3508,1931
$GC,10711,1.08,168.3,229.4,8.7,514,10715,0.00,2.42,0.00,0.000,6,0.000,0.049,2933,2149,1931
$GC,11037,1.08,168.3,203.3,7.7,530,11039,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2149,1931
$GC,11347,1.08,168.3,178.9,8.2,545,11351,0.00,2.47,0.00,0.000,4,0.000,0.062,2933,3508,1931
$GC,11402,1.08,168.3,174.0,9.4,547,11408,0.00,2.42,0.00,0.000,6,0.000,0.050,2933,2153,1931
$GC,11718,1.08,168.3,149.5,7.6,563,11722,0.00,2.60,0.00,0.000,4,0.000,0.064,2933,688,1931
$GC,11762,1.08,168.3,145.7,8.8,565,11767,0.00,2.65,0.00,0.000,6,0.000,0.053,2933,2168,1932
$GC,12084,1.08,168.3,122.1,6.7,581,12088,0.00,2.40,0.00,0.000,4,0.000,0.061,2933,3508,1931
$GC,12140,1.08,168.3,117.8,7.5,583,12147,0.00,2.40,0.00,0.000,6,0.000,0.049,2933,2164,1931
$GC,12457,1.09,177.5,98.6,5.7,599,12471,0.00,2.67,8.82,0.775,4,0.000,0.064,2933,691,1896
$GC,12507,1.14,177.5,95.5,6.4,601,12512,0.00,2.65,0.00,0.000,6,0.000,0.052,2933,2166,1896
$GC,12829,1.19,180.3,76.3,5.9,617,12836,0.10,0.00,4.30,0.606,6,0.052,0.000,2969,2164,1884
$GC,13140,1.13,180.3,50.4,9.4,632,13142,0.10,0.00,0.00,0.000,6,0.085,0.000,2947,2164,1884
$GC,13447,1.13,180.3,21.3,7.7,647,13451,0.00,2.70,0.00,0.000,4,0.000,0.062,2947,680,1884
$GC,13509,1.13,180.3,16.6,6.7,650,13514,0.00,2.60,0.00,0.000,6,0.000,0.049,2946,2149,1884
$STATE,13751,end climb,SURFACE_DEPTH_REACHED
$STATE,13751,begin surface coast
$FINISH,0.2,1.027045
$STATE,13774,end surface coast,CONTROL_FINISHED_OK
$STATE,13774,begin surface
$SM_CCo,13795,213.88,0.762,0,0,390,547.02
$SM_GC,0.38,0.00,0.00,213.88,0.000,0.000,0.762,424,2164,390,-10.47,-0.06,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1677
$TCM_TEMP,16.60
$XPDR_PINGS,514
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,375.3,71.7
$24V_AH,24.0,32.644
$10V_AH,10.1,15.851
$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,27.275,147.475,254.500,213.875,0.000,37.762,26.426,139.065,131.500,0.000,0.000,13.953,1258.962,10444.870,666.733,1485.040,480.188,33.363,1425.086,0.000,1462.149,0.000,21.747
$DEVICE_MAMPS,138.827,69.030,1081.470,762.398,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.131,490.935,545.540,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34856,663
$CAP_FILE_SIZE,111030,0
$CFSIZE,254472192,240975872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,130708,181838,6213.557,-901.565,34,1.1,34,-9.5