version: 66.03
glider: 5
mission: 3
dive: 144
start: 7 10 108 19 46 9
data:
$ID,5
$MISSION,3
$DIVE,144
$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,-79366.586
$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,17
$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
$GPS1,193507,6148.968,-913.930,28,1.1,28,-9.5
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-53.7
$GPS2,194515,6149.117,-913.899,16,1.9,16,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.142,-0.143
$KALMAN_X,-68144.4,-197.1,4.6,93439.8,-3199.9
$KALMAN_Y,60384.3,3153.1,1587.1,-65601.8,-3771.1
$MHEAD_RNG_PITCHd_Wd,144.8,15247,-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,-117.3,0.0,0.0,0,137,0.00,0.00,-110.95,0.000,6,0.000,0.000,417,2174,3099
$GC,141,-1.03,-117.3,2.0,-1.4,5,157,10.60,2.58,0.00,0.000,4,0.135,0.056,2468,744,3099
$GC,409,-0.70,-117.3,34.0,-10.0,16,415,0.38,2.53,0.00,0.000,6,0.085,0.049,2549,2158,3098
$GC,733,-0.62,-117.3,59.1,-7.8,32,738,0.00,2.58,0.00,0.000,4,0.000,0.058,2549,741,3098
$GC,879,-0.55,-117.3,70.7,-7.7,38,886,0.15,2.45,0.00,0.000,6,0.095,0.050,2579,2116,3098
$GC,1196,-0.55,-117.3,91.5,-6.8,54,1200,0.00,2.58,0.00,0.000,4,0.000,0.060,2579,3553,3098
$GC,1206,-0.55,-117.3,92.2,-6.7,54,1213,0.00,2.55,0.00,0.000,6,0.000,0.048,2579,2114,3099
$GC,1523,-0.55,-117.3,112.3,-5.6,70,1527,0.00,2.45,0.00,0.000,4,0.000,0.061,2579,747,3099
$GC,1534,-0.55,-117.3,113.0,-5.6,70,1540,0.00,2.42,0.00,0.000,6,0.000,0.049,2579,2104,3098
$GC,1851,-0.55,-117.3,125.6,-3.2,86,1855,0.00,2.47,0.00,0.000,4,0.000,0.061,2579,748,3098
$GC,1901,-0.59,-117.3,127.5,-3.8,88,1905,0.00,2.40,0.00,0.000,6,0.000,0.050,2579,2087,3098
$GC,2218,-0.63,-117.3,140.2,-4.9,103,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2087,3098
$GC,2527,-0.68,-117.3,157.6,-5.8,118,2529,0.12,0.00,0.00,0.000,6,0.052,0.000,2542,2088,3098
$GC,2838,-0.61,-117.3,175.8,-5.6,133,2840,0.12,0.00,0.00,0.000,6,0.091,0.000,2568,2087,3098
$GC,3145,-0.61,-117.3,189.1,-4.2,148,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2087,3098
$GC,3454,-0.61,-117.3,201.5,-4.2,163,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2087,3098
$GC,3763,-0.61,-117.3,216.8,-5.3,178,3768,0.00,2.45,0.00,0.000,4,0.000,0.062,2567,747,3097
$GC,3808,-0.61,-117.3,219.4,-6.2,180,3813,0.00,2.42,0.00,0.000,6,0.000,0.052,2567,2096,3097
$GC,4130,-0.61,-117.3,236.3,-4.9,196,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2096,3097
$GC,4440,-0.61,-117.3,250.5,-4.3,211,4442,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2097,3097
$GC,4749,-0.61,-117.3,262.5,-3.8,226,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2096,3097
$GC,5058,-0.61,-117.3,274.0,-3.7,241,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2097,3096
$GC,5368,-0.61,-117.3,285.6,-3.7,256,5372,0.00,2.62,0.00,0.000,4,0.000,0.066,2567,3553,3096
$GC,5379,-0.61,-117.3,286.0,-3.5,256,5385,0.00,2.62,0.00,0.000,6,0.000,0.052,2567,2084,3096
$GC,5695,-0.61,-117.3,298.1,-3.8,272,5699,0.00,2.67,0.00,0.000,4,0.000,0.064,2567,3553,3096
$GC,5722,-0.61,-117.3,299.3,-4.0,273,5727,0.00,2.60,0.00,0.000,6,0.000,0.051,2567,2096,3096
$GC,6039,-0.61,-117.3,313.2,-4.8,288,6043,0.00,2.67,0.00,0.000,4,0.000,0.064,2567,3564,3096
$GC,6101,-0.61,-117.3,316.7,-5.9,291,6106,0.00,2.58,0.00,0.000,6,0.000,0.049,2567,2108,3096
$GC,6429,-0.61,-117.3,335.9,-6.3,307,6433,0.00,2.65,0.00,0.000,4,0.000,0.064,2567,3562,3095
$GC,6478,-0.61,-117.3,339.6,-8.1,309,6483,0.00,2.55,0.00,0.000,6,0.000,0.050,2567,2131,3095
$GC,6794,-0.61,-117.3,363.5,-8.2,324,6798,0.00,2.60,0.00,0.000,4,0.000,0.066,2568,3557,3095
$GC,6815,-0.61,-117.3,365.5,-8.8,325,6820,0.00,2.53,0.00,0.000,6,0.000,0.051,2567,2140,3095
$GC,7138,-0.61,-117.3,392.1,-8.7,341,7139,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2139,3095
$GC,7446,-0.61,-117.3,420.4,-8.7,356,7451,0.00,2.60,0.00,0.000,4,0.000,0.064,2567,3556,3095
$GC,7457,-0.61,-117.3,421.5,-8.7,356,7463,0.00,2.55,0.00,0.000,6,0.000,0.053,2567,2131,3095
$GC,7774,-0.61,-117.3,447.9,-8.2,372,7778,0.00,2.60,0.00,0.000,4,0.000,0.065,2567,3553,3095
$GC,7817,-0.61,-117.3,451.7,-8.5,374,7822,0.00,2.47,0.00,0.000,6,0.000,0.052,2567,2159,3095
$GC,8140,-0.61,-117.3,475.2,-6.2,390,8144,0.00,2.58,0.00,0.000,4,0.000,0.065,2567,3555,3095
$GC,8184,-0.61,-117.3,478.3,-6.9,392,8188,0.00,2.47,0.00,0.000,6,0.000,0.052,2567,2173,3095
$GC,8505,-0.61,-117.3,496.2,-5.1,408,8509,0.00,2.55,0.00,0.000,4,0.000,0.067,2567,3553,3095
$GC,8555,-0.61,-117.3,499.2,-6.0,410,8560,0.00,2.42,0.00,0.000,6,0.000,0.052,2567,2198,3094
$GC,8871,-0.61,-117.3,510.9,-4.1,425,8876,0.00,2.60,0.00,0.000,4,0.000,0.067,2567,748,3094
$GC,8899,-0.61,-117.3,512.2,-5.0,426,8904,0.00,2.60,0.00,0.000,6,0.000,0.056,2567,2197,3094
$GC,9216,-0.61,-117.3,529.6,-5.4,441,9221,0.00,2.65,0.00,0.000,4,0.000,0.067,2567,747,3094
$GC,9311,-0.61,-117.3,533.9,-3.6,445,9316,0.00,2.58,0.00,0.000,6,0.000,0.058,2567,2170,3094
$GC,9627,-0.61,-117.3,542.5,-2.6,460,9632,0.00,2.60,0.00,0.000,4,0.000,0.068,2567,743,3093
$GC,9746,-0.65,-117.3,546.3,-2.7,465,9751,0.00,2.55,0.00,0.000,6,0.000,0.059,2567,2148,3094
$GC,10063,-0.72,-117.3,549.8,-0.6,480,10065,0.12,0.00,0.00,0.000,6,0.057,0.000,2532,2148,3094
$GC,10372,-0.58,-117.3,570.2,-8.6,495,10377,0.20,2.58,0.00,0.000,4,0.083,0.073,2578,3556,3093
$GC,10509,-0.69,-117.3,581.1,-13.3,501,10514,0.12,2.47,0.00,0.000,6,0.055,0.060,2541,2187,3093
$GC,10833,-0.63,-117.3,601.6,-5.5,517,10837,0.00,2.60,0.00,0.000,4,0.000,0.079,2541,3563,3092
$GC,11016,-0.54,-117.3,625.3,-14.0,525,11021,0.20,2.47,0.00,0.000,6,0.091,0.065,2582,2213,3092
$STATE,11273,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11273,begin apogee
$GC,11280,-0.33,0.0,657.1,13.1,538,11383,0.22,0.00,99.60,1.302,6,0.087,0.000,2627,2101,2620
$STATE,11383,end apogee,CONTROL_FINISHED_OK
$STATE,11384,begin climb
$GC,11386,1.03,117.3,662.2,0.0,543,11493,1.38,2.72,98.93,1.276,4,0.071,0.082,2922,691,2141
$GC,11640,0.93,118.2,652.0,6.0,555,11645,0.00,2.60,0.00,0.000,6,0.000,0.068,2921,2098,2140
$GC,11968,0.83,118.2,621.1,15.0,571,11973,0.17,2.65,0.00,0.000,4,0.094,0.081,2883,3507,2138
$GC,12082,0.83,118.2,603.3,19.3,576,12086,0.00,2.62,0.00,0.000,6,0.000,0.069,2883,2105,2138
$GC,12403,0.91,118.2,557.2,9.4,592,12408,0.00,2.70,0.00,0.000,4,0.000,0.081,2883,3512,2136
$GC,12489,0.91,118.2,551.6,8.9,596,12493,0.00,2.55,0.00,0.000,6,0.000,0.066,2883,2141,2136
$GC,12816,1.45,424.2,556.9,-4.5,612,13083,0.55,2.80,254.18,1.256,4,0.044,0.085,3017,690,890
$GC,13147,1.54,572.0,555.1,0.9,627,13258,0.00,2.72,104.12,1.204,6,0.000,0.071,3017,2137,390
$GC,13586,1.54,572.0,532.3,8.0,649,13595,0.00,2.80,3.08,0.601,4,0.000,0.083,3017,690,390
$GC,13648,1.54,572.0,526.8,9.1,651,13655,0.00,2.65,0.03,0.258,6,0.000,0.068,3016,2108,391
$GC,13965,1.54,572.0,502.2,7.2,667,13968,0.00,0.00,2.15,0.275,6,0.000,0.000,3017,2108,390
$GC,14274,1.65,640.6,488.9,3.7,682,14283,0.17,2.70,1.88,0.160,4,0.051,0.077,3066,682,391
$GC,14335,1.52,640.6,484.5,7.8,684,14342,0.17,2.60,0.10,0.173,6,0.091,0.064,3033,2099,391
$GC,14653,1.54,687.6,471.3,4.4,700,14655,0.00,0.00,0.12,0.172,6,0.000,0.000,3032,2100,391
$GC,14961,1.58,745.9,460.0,4.0,715,14969,0.00,2.67,2.20,0.297,4,0.000,0.074,3032,689,390
$GC,15016,1.66,797.6,457.4,4.2,717,15021,0.12,2.53,0.00,0.000,6,0.054,0.061,3066,2079,390
$GC,15332,1.52,797.6,426.7,11.5,732,15338,0.17,2.60,0.08,0.152,4,0.090,0.067,3030,3507,390
$GC,15378,1.52,797.6,421.9,8.6,734,15383,0.00,2.62,0.05,0.195,6,0.000,0.058,3030,2064,391
$GC,15699,1.47,797.6,388.0,12.0,750,15708,0.00,2.55,2.22,0.301,4,0.000,0.067,3030,688,390
$GC,15738,1.47,797.6,382.7,12.6,751,15744,0.00,2.53,0.00,0.000,6,0.000,0.058,3030,2078,390
$GC,16054,1.43,797.6,341.7,13.0,767,16055,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2088,390
$GC,16363,1.43,797.6,300.8,13.5,782,16372,0.00,2.62,2.20,0.276,4,0.000,0.069,3030,682,390
$GC,16401,1.43,797.6,295.1,14.3,783,16407,0.00,2.50,0.00,0.000,6,0.000,0.054,3030,2070,390
$GC,16717,1.43,797.6,252.5,13.3,799,16721,0.00,2.58,0.00,0.000,4,0.000,0.063,3029,3509,391
$GC,16759,1.48,797.6,247.4,12.2,801,16763,0.00,2.60,0.00,0.000,6,0.000,0.054,3029,2065,390
$GC,17086,1.48,797.6,204.0,13.1,817,17095,0.00,2.55,2.22,0.278,4,0.000,0.068,3030,689,390
$GC,17146,1.48,797.6,195.6,12.6,819,17152,0.00,2.47,0.00,0.000,6,0.000,0.054,3029,2065,390
$GC,17462,1.48,797.6,152.1,14.2,835,17466,0.00,2.60,0.00,0.000,4,0.000,0.062,3030,3514,390
$GC,17506,1.54,797.6,145.8,12.3,837,17511,0.00,2.62,0.00,0.000,6,0.000,0.054,3029,2064,390
$GC,17830,1.54,797.6,100.2,14.2,853,17834,0.00,2.50,0.00,0.000,4,0.000,0.068,3029,681,390
$GC,17862,1.54,797.6,95.0,15.2,854,17869,0.00,2.50,0.00,0.000,6,0.000,0.052,3030,2079,391
$GC,18179,1.54,797.6,51.2,14.1,870,18181,0.00,0.00,0.12,0.160,6,0.000,0.000,3030,2080,391
$GC,18488,1.49,797.6,7.4,13.9,885,18493,0.00,2.58,0.08,0.172,4,0.000,0.068,3030,689,391
$STATE,18526,end climb,SURFACE_DEPTH_REACHED
$STATE,18526,begin surface coast
$FINISH,0.9,1.027053
$STATE,18531,end surface coast,CONTROL_FINISHED_OK
$STATE,18531,begin surface
$SM_CCo,18617,0.00,0.000,0,0,390,547.02
$SM_GC,0.68,11.30,0.00,0.00,0.037,0.000,0.000,424,2172,390,-10.39,0.59,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1706
$TCM_TEMP,19.20
$XPDR_PINGS,467
$ALTIM_TOP_PING,18.8,999.0
$ALTIM_BOTTOM_PING,600.2,64.5
$24V_AH,23.8,30.251
$10V_AH,10.1,14.703
$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,26.300,180.475,573.350,0.000,0.000,75.519,53.846,269.979,122.000,0.000,0.000,16.225,1670.421,14010.020,689.563,2088.143,753.543,33.377,1792.351,0.000,2039.316,0.000,36.264
$DEVICE_MAMPS,134.992,85.137,1302.366,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,607.763,657.784,530.400,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44300,887
$CAP_FILE_SIZE,153036,0
$CFSIZE,254472192,241807360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,110708,005758,6153.433,-916.562,35,2.3,54,-9.5