version: 66.03
glider: 5
mission: 3
dive: 162
start: 7 14 108 6 58 49
data:
$ID,5
$MISSION,3
$DIVE,162
$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,-79630.383
$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,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
$GPS1,065238,6215.010,-859.002,41,1.0,41,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-49.8
$GPS2,065757,6215.047,-858.948,13,1.9,13,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.057,-0.193
$KALMAN_X,-53404.7,-1639.7,-184.9,93487.6,17784.6
$KALMAN_Y,158045.7,-1487.3,-1590.6,-107224.1,33256.1
$MHEAD_RNG_PITCHd_Wd,205.9,63938,-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,23,begin dive
$GC,26,-1.03,-117.3,0.0,0.0,0,145,0.00,0.00,-112.53,0.000,6,0.000,0.000,424,2177,3098
$GC,149,-1.03,-117.3,3.0,-2.9,6,165,10.60,2.50,0.00,0.000,4,0.139,0.054,2465,3567,3098
$GC,289,-0.68,-117.3,21.7,-10.3,11,294,0.40,2.50,0.00,0.000,6,0.087,0.044,2551,2144,3097
$GC,606,-0.62,-117.3,43.8,-7.2,26,610,0.00,2.58,0.00,0.000,4,0.000,0.058,2550,3565,3097
$GC,616,-0.54,-117.3,44.8,-7.3,26,623,0.15,2.50,0.00,0.000,6,0.087,0.044,2582,2147,3097
$GC,933,-0.54,-117.3,61.9,-4.7,42,937,0.00,2.50,0.00,0.000,4,0.000,0.058,2582,743,3097
$GC,1028,-0.54,-117.3,66.8,-5.4,46,1032,0.00,2.47,0.00,0.000,6,0.000,0.050,2582,2127,3097
$GC,1345,-0.59,-117.3,83.0,-5.0,61,1350,0.00,2.55,0.00,0.000,4,0.000,0.060,2582,3558,3097
$GC,1357,-0.59,-117.3,83.6,-4.8,61,1363,0.00,2.53,0.00,0.000,6,0.000,0.047,2582,2132,3097
$GC,1674,-0.63,-117.3,96.7,-4.0,77,1678,0.00,2.60,0.00,0.000,4,0.000,0.059,2582,3561,3097
$GC,1696,-0.63,-117.3,97.7,-4.2,78,1700,0.00,2.53,0.00,0.000,6,0.000,0.045,2582,2131,3097
$GC,2018,-0.68,-117.3,110.0,-4.0,94,2020,0.15,0.00,0.00,0.000,6,0.048,0.000,2538,2132,3097
$GC,2327,-0.60,-117.3,128.3,-6.6,109,2329,0.15,0.00,0.00,0.000,6,0.088,0.000,2570,2131,3097
$GC,2637,-0.60,-117.3,150.4,-7.7,124,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2131,3097
$GC,2945,-0.60,-117.3,176.7,-8.5,139,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2131,3097
$GC,3254,-0.60,-117.3,201.6,-7.7,154,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2131,3097
$GC,3563,-0.60,-117.3,222.3,-6.3,169,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2131,3096
$GC,3873,-0.60,-117.3,241.2,-5.9,184,3877,0.00,2.60,0.00,0.000,4,0.000,0.063,2570,3563,3096
$GC,3883,-0.60,-117.3,241.8,-5.8,184,3890,0.00,2.50,0.00,0.000,6,0.000,0.051,2569,2152,3096
$GC,4200,-0.60,-117.3,259.6,-5.7,200,4204,0.00,2.58,0.00,0.000,4,0.000,0.064,2570,3563,3096
$GC,4211,-0.60,-117.3,260.3,-5.6,200,4217,0.00,2.55,0.00,0.000,6,0.000,0.054,2569,2141,3096
$GC,4527,-0.60,-117.3,276.8,-5.1,216,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2140,3096
$GC,4837,-0.60,-117.3,291.9,-4.6,231,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2139,3095
$GC,5146,-0.60,-117.3,307.3,-5.1,246,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2139,3095
$GC,5455,-0.60,-117.3,321.3,-4.5,261,5459,0.00,2.60,0.00,0.000,4,0.000,0.064,2569,3565,3095
$GC,5466,-0.60,-117.3,322.0,-4.6,261,5472,0.00,2.55,0.00,0.000,6,0.000,0.054,2570,2142,3095
$GC,5782,-0.60,-117.3,334.8,-3.7,277,5786,0.00,2.58,0.00,0.000,4,0.000,0.064,2570,3557,3095
$GC,5794,-0.60,-117.3,335.3,-3.6,277,5800,0.00,2.53,0.00,0.000,6,0.000,0.053,2570,2144,3095
$GC,6111,-0.60,-117.3,346.1,-3.5,293,6115,0.00,2.58,0.00,0.000,4,0.000,0.065,2570,3556,3094
$GC,6121,-0.60,-117.3,346.6,-3.3,293,6127,0.00,2.53,0.00,0.000,6,0.000,0.054,2570,2148,3095
$GC,6437,-0.60,-117.3,359.8,-4.6,309,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2147,3095
$GC,6748,-0.60,-117.3,375.2,-5.1,324,6752,0.00,2.58,0.00,0.000,4,0.000,0.067,2569,3556,3094
$GC,6759,-0.60,-117.3,376.0,-5.4,324,6765,0.00,2.50,0.00,0.000,6,0.000,0.054,2570,2158,3094
$GC,7075,-0.60,-117.3,391.8,-4.6,340,7079,0.00,2.58,0.00,0.000,4,0.000,0.065,2570,3562,3094
$GC,7093,-0.60,-117.3,392.7,-4.7,341,7097,0.00,2.50,0.00,0.000,6,0.000,0.054,2570,2164,3094
$STATE,7396,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7396,begin apogee
$GC,7404,-0.33,0.0,410.7,4.4,356,7503,0.28,0.00,96.57,1.068,6,0.081,0.000,2624,2063,2620
$STATE,7504,end apogee,CONTROL_FINISHED_OK
$STATE,7504,begin climb
$GC,7507,1.03,117.3,412.2,0.0,361,7612,1.42,2.72,95.85,1.042,4,0.074,0.066,2926,3509,2140
$GC,7669,1.04,122.1,405.9,5.8,369,7679,0.00,2.55,5.55,0.772,6,0.000,0.054,2926,2113,2122
$GC,7991,1.01,130.0,385.9,5.7,384,8001,0.00,0.00,8.10,0.876,6,0.000,0.000,2926,2097,2090
$GC,8299,1.01,130.0,365.1,6.6,399,8303,0.00,2.58,0.00,0.000,4,0.000,0.064,2926,3506,2089
$GC,8400,1.01,130.0,357.0,8.0,403,8406,0.00,2.53,0.00,0.000,6,0.000,0.054,2926,2112,2089
$GC,8716,1.01,130.0,334.8,7.5,419,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2112,2089
$GC,9025,1.01,130.0,311.4,7.3,434,9029,0.00,2.58,0.00,0.000,4,0.000,0.064,2926,3508,2088
$GC,9109,1.01,130.0,305.1,7.3,438,9114,0.00,2.50,0.00,0.000,6,0.000,0.053,2926,2117,2088
$GC,9437,1.01,130.0,282.9,6.9,454,9438,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2117,2088
$GC,9745,1.01,130.0,263.2,6.0,469,9750,0.00,2.55,0.00,0.000,4,0.000,0.063,2926,3507,2088
$GC,9835,1.01,130.0,256.8,7.1,473,9839,0.00,2.47,0.00,0.000,6,0.000,0.053,2926,2134,2087
$GC,10156,1.01,130.0,235.4,6.8,489,10157,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2135,2088
$GC,10465,1.01,130.0,213.5,7.4,504,10469,0.00,2.50,0.00,0.000,4,0.000,0.062,2926,3507,2088
$GC,10543,1.01,130.0,207.3,7.9,507,10549,0.00,2.45,0.00,0.000,6,0.000,0.051,2926,2143,2087
$GC,10859,1.01,130.0,184.2,7.1,523,10860,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2143,2088
$GC,11168,1.01,130.0,162.3,7.3,538,11172,0.00,2.50,0.00,0.000,4,0.000,0.061,2926,3510,2087
$GC,11230,1.01,130.0,157.3,8.2,540,11236,0.00,2.42,0.00,0.000,6,0.000,0.051,2926,2155,2087
$GC,11546,1.01,130.0,134.1,7.4,556,11547,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2155,2087
$GC,11855,1.01,130.0,114.1,6.1,571,11859,0.00,2.45,0.00,0.000,4,0.000,0.061,2926,3507,2087
$GC,11905,1.01,130.0,110.9,6.4,573,11909,0.00,2.40,0.00,0.000,6,0.000,0.051,2926,2161,2087
$GC,12227,1.05,151.9,93.6,5.2,589,12248,0.00,0.00,18.62,0.828,6,0.000,0.000,2926,2161,1999
$GC,12560,1.09,151.9,72.7,6.6,605,12564,0.00,2.47,0.00,0.000,4,0.000,0.060,2927,3512,1999
$GC,12605,1.13,151.9,69.5,7.2,607,12609,0.00,2.40,0.00,0.000,6,0.000,0.050,2926,2170,1999
$GC,12927,1.19,156.1,49.7,5.9,623,12938,0.15,2.67,5.12,0.642,4,0.045,0.063,2978,683,1983
$GC,13006,1.09,156.1,42.7,9.2,626,13013,0.20,2.67,0.00,0.000,6,0.076,0.051,2937,2178,1982
$GC,13322,1.10,161.3,22.4,5.8,642,13333,0.00,2.40,5.95,0.663,4,0.000,0.059,2937,3511,1961
$GC,13378,1.11,168.1,19.2,5.8,644,13390,0.00,2.40,6.80,0.680,6,0.000,0.049,2937,2163,1934
$STATE,13688,end climb,SURFACE_DEPTH_REACHED
$STATE,13689,begin surface coast
$FINISH,0.2,1.027044
$STATE,13713,end surface coast,CONTROL_FINISHED_OK
$STATE,13713,begin surface
$SM_CCo,13735,223.20,0.759,0,0,390,547.02
$SM_GC,0.33,0.00,0.00,223.20,0.000,0.000,0.759,425,2150,390,-10.47,0.00,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1666
$TCM_TEMP,17.60
$XPDR_PINGS,466
$ALTIM_TOP_PING,20.0,999.0
$ALTIM_BOTTOM_PING,400.5,19.9
$24V_AH,24.0,33.230
$10V_AH,10.1,16.138
$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,24.400,111.325,242.575,223.200,0.000,39.028,24.418,135.068,119.750,0.000,0.000,13.701,1222.985,10551.434,646.121,1402.004,459.354,33.366,1344.340,0.000,1382.767,0.000,23.221
$DEVICE_MAMPS,138.827,69.797,1068.431,758.563,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.943,488.528,558.137,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34863,661
$CAP_FILE_SIZE,102377,0
$CFSIZE,254472192,240783360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,140708,105238,6214.884,-856.966,31,1.5,31,-9.5