version: 66.03
glider: 5
mission: 3
dive: 159
start: 7 13 108 18 27 31
data:
$ID,5
$MISSION,3
$DIVE,159
$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,-79589.625
$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
$GPS1,181838,6213.557,-901.565,34,1.1,34,-9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-52.6
$GPS2,182639,6213.613,-901.521,12,2.0,12,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.198,-0.038
$KALMAN_X,-62271.4,-857.0,-317.1,99459.4,10728.8
$KALMAN_Y,150185.3,-2058.1,-1214.6,-101815.5,31798.7
$MHEAD_RNG_PITCHd_Wd,268.6,60971,-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,-117.3,0.0,0.0,0,139,0.00,0.00,-112.25,0.000,6,0.000,0.000,425,2152,3099
$GC,143,-1.03,-117.3,2.0,-1.5,5,159,10.60,2.55,0.00,0.000,4,0.138,0.054,2470,742,3098
$GC,187,-0.70,-117.3,9.4,-10.6,6,192,0.35,2.53,0.00,0.000,6,0.091,0.049,2544,2151,3097
$GC,509,-0.61,-117.3,30.4,-7.1,22,514,0.10,2.58,0.00,0.000,4,0.103,0.058,2565,738,3097
$GC,549,-0.61,-117.3,33.4,-6.8,24,554,0.00,2.50,0.00,0.000,6,0.000,0.049,2565,2145,3097
$GC,877,-0.61,-117.3,50.8,-5.1,40,881,0.00,2.55,0.00,0.000,4,0.000,0.058,2565,741,3097
$GC,988,-0.61,-117.3,58.0,-6.9,45,993,0.00,2.47,0.00,0.000,6,0.000,0.050,2565,2128,3096
$GC,1310,-0.61,-117.3,79.5,-6.6,61,1314,0.00,2.55,0.00,0.000,4,0.000,0.060,2565,3557,3096
$GC,1382,-0.61,-117.3,85.1,-8.0,64,1387,0.00,2.53,0.00,0.000,6,0.000,0.046,2565,2132,3096
$GC,1699,-0.61,-117.3,102.6,-5.3,79,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2112,3096
$GC,2009,-0.61,-117.3,122.0,-6.5,94,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2112,3097
$GC,2317,-0.61,-117.3,142.7,-6.4,109,2321,0.00,2.60,0.00,0.000,4,0.000,0.061,2564,3560,3096
$GC,2372,-0.61,-117.3,146.3,-6.7,111,2379,0.00,2.50,0.00,0.000,6,0.000,0.048,2565,2147,3096
$GC,2688,-0.61,-117.3,166.1,-6.3,127,2692,0.00,2.50,0.00,0.000,4,0.000,0.063,2565,751,3096
$GC,2715,-0.61,-117.3,167.8,-6.5,128,2719,0.00,2.47,0.00,0.000,6,0.000,0.052,2564,2145,3096
$GC,3031,-0.61,-117.3,186.4,-6.0,143,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2144,3096
$GC,3340,-0.61,-117.3,203.0,-4.9,158,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2144,3095
$GC,3650,-0.61,-117.3,216.4,-3.9,173,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2144,3096
$GC,3959,-0.61,-117.3,227.3,-3.1,188,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2144,3095
$GC,4268,-0.61,-117.3,237.2,-3.5,203,4272,0.00,2.55,0.00,0.000,4,0.000,0.064,2565,752,3095
$GC,4308,-0.61,-117.3,238.9,-4.4,205,4312,0.00,2.50,0.00,0.000,6,0.000,0.054,2565,2146,3095
$GC,4635,-0.61,-117.3,252.3,-4.2,221,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2145,3095
$GC,4944,-0.61,-117.3,264.6,-3.4,236,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2146,3094
$GC,5253,-0.61,-117.3,281.3,-6.8,251,5257,0.00,2.55,0.00,0.000,4,0.000,0.064,2565,752,3094
$GC,5309,-0.61,-117.3,285.5,-7.6,253,5315,0.00,2.50,0.00,0.000,6,0.000,0.054,2565,2140,3094
$GC,5625,-0.61,-117.3,307.8,-7.6,269,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2140,3094
$GC,5934,-0.61,-117.3,331.1,-8.0,284,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2141,3093
$GC,6244,-0.61,-117.3,357.7,-8.8,299,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2141,3093
$GC,6553,-0.61,-117.3,382.2,-7.6,314,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2141,3093
$GC,6862,-0.61,-117.3,402.0,-6.1,329,6863,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2142,3093
$GC,7172,-0.61,-117.3,418.6,-5.6,344,7177,0.00,2.58,0.00,0.000,4,0.000,0.068,2565,3564,3093
$GC,7222,-0.61,-117.3,421.9,-6.1,346,7227,0.00,2.55,0.00,0.000,6,0.000,0.052,2565,2135,3093
$STATE,7350,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7350,begin apogee
$GC,7356,-0.33,0.0,429.2,5.4,352,7456,0.30,0.00,96.95,1.078,6,0.079,0.000,2628,2115,2620
$STATE,7457,end apogee,CONTROL_FINISHED_OK
$STATE,7457,begin climb
$GC,7460,1.03,117.3,431.7,0.0,357,7561,1.38,0.00,96.95,1.049,6,0.065,0.000,2924,2115,2141
$GC,7866,1.04,125.7,408.8,5.7,377,7877,0.00,0.00,8.52,0.888,6,0.000,0.000,2924,2115,2107
$GC,8172,1.04,125.7,390.1,6.3,392,8177,0.00,2.58,0.00,0.000,4,0.000,0.066,2924,3516,2106
$GC,8223,1.04,125.7,386.4,7.9,394,8227,0.00,2.58,0.00,0.000,6,0.000,0.055,2924,2098,2106
$GC,8538,1.04,125.7,364.0,6.3,409,8543,0.00,2.62,0.00,0.000,4,0.000,0.065,2924,3515,2106
$GC,8580,1.08,147.8,362.1,5.2,411,8604,0.00,2.55,19.20,0.991,6,0.000,0.055,2924,2108,2017
$GC,8933,1.08,150.1,342.5,5.9,428,8937,0.00,2.60,0.00,0.000,4,0.000,0.064,2924,3514,2016
$GC,8972,1.08,150.1,339.9,7.1,430,8976,0.00,2.53,0.00,0.000,6,0.000,0.053,2924,2113,2016
$GC,9300,1.08,150.1,311.0,10.1,446,9304,0.00,2.58,0.00,0.000,4,0.000,0.063,2924,3509,2015
$GC,9339,1.08,150.1,306.7,10.6,448,9343,0.00,2.50,0.00,0.000,6,0.000,0.051,2924,2118,2015
$GC,9665,1.08,150.1,276.2,8.1,464,9670,0.00,2.58,0.00,0.000,4,0.000,0.063,2924,3516,2015
$GC,9706,1.08,150.1,273.1,7.3,466,9710,0.00,2.47,0.00,0.000,6,0.000,0.051,2924,2135,2015
$GC,10033,1.08,150.1,246.0,7.9,482,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2135,2015
$GC,10342,1.08,150.1,222.1,7.3,497,10347,0.00,2.53,0.00,0.000,4,0.000,0.062,2924,3512,2015
$GC,10405,1.08,150.1,217.3,7.4,500,10409,0.00,2.45,0.00,0.000,6,0.000,0.051,2924,2144,2015
$GC,10733,1.08,150.1,194.4,7.2,516,10737,0.00,2.50,0.00,0.000,4,0.000,0.061,2924,3509,2015
$GC,10765,1.08,150.1,191.9,7.3,517,10771,0.00,2.45,0.00,0.000,6,0.000,0.052,2924,2147,2015
$GC,11082,1.08,150.1,167.6,8.2,533,11086,0.00,2.47,0.00,0.000,4,0.000,0.061,2924,3509,2015
$GC,11131,1.08,150.1,163.2,9.3,535,11135,0.00,2.40,0.00,0.000,6,0.000,0.050,2924,2170,2015
$GC,11449,1.08,150.1,139.2,7.2,550,11450,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2170,2016
$GC,11757,1.13,150.1,118.9,6.7,565,11762,0.00,2.45,0.00,0.000,4,0.000,0.061,2924,3517,2015
$GC,11798,1.17,150.1,115.8,7.8,567,11803,0.12,2.40,0.00,0.000,6,0.048,0.048,2965,2167,2015
$GC,12126,1.09,150.1,85.7,8.8,583,12128,0.15,0.00,0.00,0.000,6,0.082,0.000,2935,2167,2015
$GC,12434,1.09,150.1,62.7,7.2,598,12438,0.00,2.45,0.00,0.000,4,0.000,0.060,2935,3509,2015
$GC,12475,1.09,150.1,59.8,7.3,600,12479,0.00,2.35,0.00,0.000,6,0.000,0.047,2935,2181,2015
$GC,12808,1.16,193.5,42.7,4.5,616,12848,0.00,0.00,36.97,0.811,6,0.000,0.000,2935,2180,1830
$GC,13159,1.23,193.5,22.8,6.5,633,13164,0.15,2.67,0.00,0.000,4,0.044,0.063,2986,691,1829
$GC,13182,1.23,193.5,20.9,7.8,634,13186,0.00,2.67,0.00,0.000,6,0.000,0.050,2985,2187,1830
$STATE,13397,end climb,SURFACE_DEPTH_REACHED
$STATE,13397,begin surface coast
$FINISH,0.0,1.014254
$STATE,13419,end surface coast,CONTROL_FINISHED_OK
$STATE,13419,begin surface
$SM_CCo,13443,208.00,0.762,0,0,389,547.02
$SM_GC,0.36,0.00,0.00,208.00,0.000,0.000,0.762,417,2121,389,-10.50,-0.65,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1657
$TCM_TEMP,17.50
$XPDR_PINGS,458
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,375.9,62.4
$24V_AH,24.0,32.793
$10V_AH,10.1,15.920
$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,24.225,101.025,258.600,208.000,0.000,75.524,53.666,171.076,117.500,0.000,0.000,12.482,1191.248,10411.821,633.668,1345.881,554.006,33.362,1296.317,0.000,1329.548,0.000,21.724
$DEVICE_MAMPS,138.060,68.263,1077.635,761.631,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.486,480.869,523.607,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31642,646
$CAP_FILE_SIZE,97889,0
$CFSIZE,254472192,240943104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,130708,221625,6214.163,-902.459,25,1.3,43,-9.5