version: 66.03
glider: 5
mission: 3
dive: 146
start: 7 11 108 6 9 14
data:
$ID,5
$MISSION,3
$DIVE,146
$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,-79399.312
$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,33
$R_STBD_OVSHOOT,18
$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
$GPS1,060238,6158.441,-919.715,35,1.2,35,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-52.9
$GPS2,060820,6158.517,-919.740,15,1.2,15,-9.6
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.066,-0.190
$KALMAN_X,-81539.7,-65.2,1371.9,100283.1,-13850.9
$KALMAN_Y,94554.9,-563.8,1124.5,-78061.9,29518.8
$MHEAD_RNG_PITCHd_Wd,170.5,33338,-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,-110.40,0.000,6,0.000,0.000,423,2123,3099
$GC,141,-1.03,-117.3,2.2,-1.7,5,157,10.57,2.50,0.00,0.000,4,0.136,0.056,2469,745,3099
$GC,409,-0.71,-117.3,37.3,-11.3,16,415,0.35,2.53,0.00,0.000,6,0.089,0.048,2542,2156,3098
$GC,732,-0.63,-117.3,60.8,-7.2,32,736,0.00,2.55,0.00,0.000,4,0.000,0.058,2543,750,3097
$GC,765,-0.54,-117.3,63.3,-7.0,33,772,0.17,2.53,0.00,0.000,6,0.089,0.050,2580,2166,3097
$GC,1083,-0.54,-117.3,79.7,-4.7,49,1087,0.00,2.58,0.00,0.000,4,0.000,0.061,2580,753,3097
$GC,1101,-0.54,-117.3,80.5,-4.5,50,1106,0.00,2.53,0.00,0.000,6,0.000,0.049,2580,2176,3098
$GC,1430,-0.54,-117.3,90.8,-2.8,66,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2176,3098
$GC,1739,-0.59,-117.3,100.2,-3.0,81,1743,0.00,2.47,0.00,0.000,4,0.000,0.061,2580,3561,3098
$GC,1750,-0.59,-117.3,100.6,-3.2,81,1756,0.00,2.45,0.00,0.000,6,0.000,0.048,2580,2181,3098
$GC,2067,-0.59,-117.3,110.2,-3.2,97,2071,0.00,2.53,0.00,0.000,4,0.000,0.061,2580,3564,3098
$GC,2077,-0.59,-117.3,110.6,-3.3,97,2084,0.00,2.47,0.00,0.000,6,0.000,0.048,2580,2171,3098
$GC,2395,-0.63,-117.3,120.2,-3.0,113,2399,0.00,2.55,0.00,0.000,4,0.000,0.064,2580,749,3098
$GC,2406,-0.67,-117.3,120.5,-2.8,113,2413,0.12,2.55,0.00,0.000,6,0.052,0.051,2543,2174,3098
$GC,2723,-0.61,-117.3,134.5,-4.8,129,2728,0.12,2.60,0.00,0.000,4,0.091,0.062,2568,748,3098
$GC,2735,-0.55,-117.3,135.1,-4.7,129,2741,0.00,2.55,0.00,0.000,6,0.000,0.052,2569,2171,3098
$GC,3053,-0.55,-117.3,150.7,-5.3,145,3057,0.00,2.58,0.00,0.000,4,0.000,0.063,2569,744,3098
$GC,3074,-0.55,-117.3,152.0,-5.6,146,3079,0.00,2.55,0.00,0.000,6,0.000,0.051,2569,2167,3098
$GC,3396,-0.55,-117.3,170.8,-6.1,162,3400,0.00,2.60,0.00,0.000,4,0.000,0.062,2569,744,3098
$GC,3446,-0.55,-117.3,174.2,-7.1,164,3450,0.00,2.53,0.00,0.000,6,0.000,0.052,2568,2148,3098
$GC,3761,-0.55,-117.3,195.6,-7.0,179,3766,0.00,2.55,0.00,0.000,4,0.000,0.062,2569,745,3097
$GC,3795,-0.55,-117.3,198.2,-7.3,180,3801,0.00,2.50,0.00,0.000,6,0.000,0.052,2568,2139,3097
$GC,4111,-0.55,-117.3,221.3,-7.5,196,4115,0.00,2.55,0.00,0.000,4,0.000,0.063,2568,744,3097
$GC,4177,-0.55,-117.3,226.6,-7.9,199,4182,0.00,2.47,0.00,0.000,6,0.000,0.053,2568,2123,3097
$GC,4499,-0.55,-117.3,252.7,-8.4,215,4503,0.00,2.50,0.00,0.000,4,0.000,0.063,2569,747,3096
$GC,4517,-0.55,-117.3,254.3,-8.5,216,4521,0.00,2.45,0.00,0.000,6,0.000,0.053,2569,2116,3096
$GC,4844,-0.55,-117.3,283.0,-9.0,232,4848,0.00,2.50,0.00,0.000,4,0.000,0.064,2568,744,3096
$GC,4877,-0.55,-117.3,286.4,-9.9,233,4883,0.00,2.45,0.00,0.000,6,0.000,0.053,2568,2111,3096
$GC,5193,-0.55,-117.3,314.7,-8.7,249,5197,0.00,2.50,0.00,0.000,4,0.000,0.064,2569,746,3096
$GC,5203,-0.55,-117.3,315.5,-8.4,249,5209,0.00,2.45,0.00,0.000,6,0.000,0.053,2569,2109,3096
$GC,5519,-0.55,-117.3,340.4,-7.6,265,5524,0.00,2.50,0.00,0.000,4,0.000,0.064,2569,744,3096
$GC,5547,-0.55,-117.3,342.8,-8.2,266,5551,0.00,2.45,0.00,0.000,6,0.000,0.053,2569,2110,3095
$GC,5863,-0.55,-117.3,365.2,-6.6,281,5868,0.00,2.50,0.00,0.000,4,0.000,0.065,2569,747,3096
$GC,5920,-0.55,-117.3,369.5,-7.8,283,5925,0.00,2.42,0.00,0.000,6,0.000,0.053,2569,2095,3096
$GC,6236,-0.55,-117.3,389.8,-5.9,299,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2095,3095
$GC,6545,-0.55,-117.3,408.0,-5.9,314,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2095,3095
$GC,6854,-0.55,-117.3,423.0,-4.5,329,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2096,3095
$GC,7163,-0.55,-117.3,435.4,-4.5,344,7168,0.00,2.47,0.00,0.000,4,0.000,0.067,2569,745,3095
$GC,7175,-0.55,-117.3,435.9,-4.6,344,7181,0.00,2.42,0.00,0.000,6,0.000,0.054,2569,2091,3095
$GC,7492,-0.59,-117.3,448.8,-3.8,360,7496,0.00,2.47,0.00,0.000,4,0.000,0.067,2569,747,3095
$GC,7541,-0.59,-117.3,450.9,-3.8,362,7545,0.00,2.40,0.00,0.000,6,0.000,0.054,2568,2078,3095
$GC,7858,-0.64,-117.3,464.4,-5.4,377,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2078,3095
$GC,8167,-0.64,-117.3,481.4,-4.7,392,8171,0.00,2.67,0.00,0.000,4,0.000,0.068,2568,3555,3095
$GC,8425,-0.64,-117.3,496.0,-4.8,403,8431,0.00,2.62,0.00,0.000,6,0.000,0.053,2569,2089,3094
$GC,8741,-0.69,-117.3,502.6,-3.1,419,8746,0.00,2.70,0.00,0.000,4,0.000,0.068,2569,3561,3094
$GC,8782,-0.69,-117.3,503.3,-2.6,421,8787,0.00,2.62,0.00,0.000,6,0.000,0.054,2569,2089,3094
$GC,9109,-0.69,-117.3,514.0,-8.4,437,9114,0.00,2.72,0.00,0.000,4,0.000,0.070,2569,3561,3094
$GC,9199,-0.69,-117.3,519.0,-5.0,441,9203,0.00,2.55,0.00,0.000,6,0.000,0.056,2569,2143,3093
$GC,9520,-0.69,-117.3,540.1,-3.9,457,9525,0.00,2.55,0.00,0.000,4,0.000,0.075,2569,748,3093
$GC,9532,-0.75,-117.3,540.6,-5.0,457,9539,0.15,2.55,0.00,0.000,6,0.054,0.061,2527,2146,3093
$STATE,9742,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9742,begin apogee
$GC,9750,-0.33,0.0,544.0,3.8,468,9850,0.47,0.00,97.75,1.195,6,0.088,0.000,2624,2072,2620
$STATE,9851,end apogee,CONTROL_FINISHED_OK
$STATE,9851,begin climb
$GC,9854,1.03,117.3,542.8,0.0,473,9960,1.38,2.75,97.62,1.170,4,0.067,0.072,2922,3499,2141
$GC,10196,1.03,117.3,528.0,6.7,488,10202,0.00,2.55,0.00,0.000,6,0.000,0.062,2922,2122,2139
$GC,10512,1.08,151.3,508.6,4.8,504,10547,0.00,2.70,29.02,1.139,4,0.000,0.078,2922,690,2003
$GC,10676,1.08,151.3,497.1,8.3,511,10681,0.00,2.60,0.00,0.000,6,0.000,0.064,2922,2096,2002
$GC,10993,1.39,343.7,495.5,-0.6,526,11161,0.32,2.70,157.98,1.167,4,0.044,0.073,3009,3500,1218
$GC,11263,1.72,545.6,485.7,-0.9,538,11439,0.28,2.60,166.38,1.131,6,0.048,0.061,3076,2084,395
$GC,11762,1.54,545.6,432.1,12.4,563,11767,0.17,2.65,0.00,0.000,4,0.093,0.071,3040,3512,399
$GC,11802,1.49,545.6,427.5,8.4,565,11807,0.00,2.60,0.00,0.000,6,0.000,0.063,3039,2104,398
$GC,12129,1.42,545.6,394.2,11.5,581,12134,0.15,2.60,0.00,0.000,4,0.089,0.072,3009,680,399
$GC,12196,1.42,545.6,388.8,6.9,584,12201,0.00,2.58,0.00,0.000,6,0.000,0.058,3009,2095,399
$GC,12518,1.42,545.6,362.5,8.8,600,12522,0.00,2.60,0.00,0.000,4,0.000,0.070,3009,687,400
$GC,12557,1.42,545.6,358.9,9.4,602,12561,0.00,2.50,0.00,0.000,6,0.000,0.057,3009,2071,400
$GC,12884,1.44,559.4,337.4,5.5,618,12890,0.00,0.00,4.22,0.709,6,0.000,0.000,3009,2071,390
$GC,13193,1.48,584.2,322.2,5.2,633,13202,0.00,2.65,2.17,0.262,4,0.000,0.069,3009,678,390
$GC,13262,1.58,650.7,318.9,3.7,636,13267,0.17,2.47,0.05,0.190,6,0.046,0.054,3056,2052,391
$GC,13591,1.48,650.7,292.5,8.4,652,13601,0.15,2.67,2.15,0.249,4,0.084,0.063,3022,3506,390
$GC,13670,1.58,670.6,287.5,5.3,655,13674,0.00,2.62,0.00,0.000,6,0.000,0.054,3022,2054,390
$GC,13985,1.58,670.6,267.0,6.8,670,13991,0.10,2.47,0.15,0.141,4,0.055,0.068,3052,689,391
$GC,14053,1.53,670.6,260.5,9.6,673,14058,0.00,2.47,0.08,0.173,6,0.000,0.054,3052,2061,391
$GC,14375,1.44,670.6,226.5,10.6,689,14385,0.17,2.65,2.17,0.254,4,0.084,0.063,3014,3510,390
$GC,14436,1.55,670.6,221.3,7.4,691,14442,0.12,2.60,0.00,0.000,6,0.049,0.053,3051,2070,390
$GC,14752,1.45,670.6,183.4,12.6,707,14758,0.15,2.47,0.05,0.146,4,0.084,0.066,3017,690,390
$GC,14803,1.45,670.6,177.6,9.5,709,14808,0.00,2.50,0.00,0.000,6,0.000,0.053,3017,2082,390
$GC,15120,1.45,670.6,143.5,11.3,724,15121,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2083,390
$GC,15430,1.45,670.6,108.9,10.6,739,15435,0.00,2.58,0.05,0.196,4,0.000,0.067,3017,687,390
$GC,15497,1.45,670.6,101.5,9.9,742,15502,0.00,2.47,0.05,0.189,6,0.000,0.052,3017,2073,390
$GC,15819,1.45,670.6,65.0,11.6,758,15820,0.00,0.00,0.08,0.173,6,0.000,0.000,3017,2074,391
$GC,16129,1.45,670.6,29.5,11.2,773,16134,0.00,2.55,0.08,0.173,4,0.000,0.066,3017,691,391
$GC,16201,1.51,670.6,20.9,9.3,776,16206,0.00,2.42,0.08,0.170,6,0.000,0.051,3018,2047,391
$STATE,16370,end climb,SURFACE_DEPTH_REACHED
$STATE,16370,begin surface coast
$FINISH,0.1,1.004431
$STATE,16392,end surface coast,CONTROL_FINISHED_OK
$STATE,16392,begin surface
$SM_CCo,16476,0.00,0.000,0,0,390,547.02
$SM_GC,0.66,11.18,0.00,0.00,0.035,0.000,0.000,421,2175,390,-10.38,0.71,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1694
$TCM_TEMP,17.60
$XPDR_PINGS,547
$ALTIM_TOP_PING,18.1,17.5
$ALTIM_BOTTOM_PING,450.0,103.6
$24V_AH,23.9,30.620
$10V_AH,10.1,14.874
$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,26.325,178.525,560.125,0.000,0.000,37.762,28.885,147.179,140.500,0.000,0.000,15.723,1496.859,12186.253,671.108,1926.523,535.474,33.374,1695.402,0.000,1881.154,0.000,26.970
$DEVICE_MAMPS,135.759,78.234,1194.986,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,535.860,579.681,557.940,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41230,785
$CAP_FILE_SIZE,138161,0
$CFSIZE,254472192,241692672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,110708,104524,6200.932,-922.455,40,1.5,57,-9.6