version: 66.03
glider: 5
mission: 3
dive: 147
start: 7 11 108 10 52 20
data:
$ID,5
$MISSION,3
$DIVE,147
$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,-79414.203
$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,32
$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
$GPS1,104524,6200.932,-922.455,40,1.5,57,-9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-49.1
$GPS2,105126,6200.998,-922.550,14,2.0,14,-9.6
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.067,-0.190
$KALMAN_X,-87284.5,2155.3,913.5,101768.5,-21034.9
$KALMAN_Y,109803.3,-3963.2,-1163.6,-82936.8,51100.8
$MHEAD_RNG_PITCHd_Wd,170.1,38400,-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,-117.3,0.0,0.0,0,140,0.00,0.00,-113.40,0.000,6,0.000,0.000,422,2163,3100
$GC,144,-1.03,-117.3,2.0,-1.5,5,160,10.60,2.58,0.00,0.000,4,0.138,0.056,2468,736,3099
$GC,413,-0.71,-117.3,32.2,-8.6,16,418,0.35,2.50,0.00,0.000,6,0.089,0.048,2542,2140,3097
$GC,736,-0.61,-117.3,52.3,-6.1,32,740,0.12,2.55,0.00,0.000,4,0.093,0.057,2568,736,3098
$GC,993,-0.61,-117.3,64.1,-4.7,43,1000,0.00,2.47,0.00,0.000,6,0.000,0.048,2568,2133,3098
$GC,1311,-0.61,-117.3,80.0,-5.5,59,1315,0.00,2.50,0.00,0.000,4,0.000,0.058,2568,742,3098
$GC,1540,-0.61,-117.3,97.2,-8.2,69,1544,0.00,2.47,0.00,0.000,6,0.000,0.051,2568,2132,3098
$GC,1856,-0.61,-117.3,123.9,-8.9,84,1861,0.00,2.53,0.00,0.000,4,0.000,0.060,2568,740,3098
$GC,1935,-0.61,-117.3,131.8,-9.6,87,1941,0.00,2.47,0.00,0.000,6,0.000,0.051,2568,2124,3098
$GC,2250,-0.61,-117.3,157.6,-7.6,103,2255,0.00,2.50,0.00,0.000,4,0.000,0.061,2568,742,3098
$GC,2314,-0.61,-117.3,162.1,-6.8,106,2318,0.00,2.42,0.00,0.000,6,0.000,0.051,2568,2101,3098
$GC,2640,-0.61,-117.3,179.5,-4.3,122,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2100,3098
$GC,2950,-0.61,-117.3,193.0,-4.1,137,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2100,3098
$GC,3259,-0.61,-117.3,204.7,-3.8,152,3264,0.00,2.47,0.00,0.000,4,0.000,0.062,2568,742,3098
$GC,3271,-0.61,-117.3,205.2,-3.8,152,3277,0.00,2.45,0.00,0.000,6,0.000,0.053,2568,2105,3098
$GC,3587,-0.61,-117.3,217.0,-3.7,168,3591,0.00,2.60,0.00,0.000,4,0.000,0.063,2568,3557,3097
$GC,3598,-0.61,-117.3,217.5,-4.1,168,3604,0.00,2.58,0.00,0.000,6,0.000,0.049,2568,2108,3097
$GC,3914,-0.61,-117.3,232.7,-5.4,184,3918,0.00,2.65,0.00,0.000,4,0.000,0.062,2568,3558,3097
$GC,3926,-0.61,-117.3,233.4,-5.5,184,3933,0.00,2.53,0.00,0.000,6,0.000,0.048,2568,2127,3097
$GC,4242,-0.61,-117.3,253.9,-7.0,200,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2108,3097
$GC,4551,-0.61,-117.3,278.2,-8.5,215,4555,0.00,2.62,0.00,0.000,4,0.000,0.064,2568,3561,3097
$GC,4561,-0.61,-117.3,279.3,-8.5,215,4567,0.00,2.55,0.00,0.000,6,0.000,0.050,2568,2112,3097
$GC,4877,-0.61,-117.3,308.0,-9.5,231,4882,0.00,2.62,0.00,0.000,4,0.000,0.063,2568,3557,3097
$GC,4889,-0.61,-117.3,309.2,-9.2,231,4895,0.00,2.58,0.00,0.000,6,0.000,0.050,2568,2111,3097
$GC,5206,-0.61,-117.3,339.0,-10.2,247,5210,0.00,2.65,0.00,0.000,4,0.000,0.064,2568,3565,3096
$GC,5216,-0.61,-117.3,340.2,-10.0,247,5223,0.00,2.58,0.00,0.000,6,0.000,0.051,2568,2119,3096
$GC,5533,-0.61,-117.3,375.9,-11.5,263,5538,0.00,2.62,0.00,0.000,4,0.000,0.064,2568,3558,3096
$GC,5583,-0.61,-117.3,382.3,-12.4,265,5588,0.00,2.55,0.00,0.000,6,0.000,0.049,2568,2120,3096
$GC,5900,-0.61,-117.3,418.4,-11.3,280,5904,0.00,2.62,0.00,0.000,4,0.000,0.065,2568,3557,3096
$GC,5984,-0.61,-117.3,426.7,-9.7,284,5988,0.00,2.53,0.00,0.000,6,0.000,0.049,2568,2131,3096
$GC,6311,-0.61,-117.3,448.1,-4.8,300,6315,0.00,2.62,0.00,0.000,4,0.000,0.065,2568,3564,3095
$GC,6395,-0.61,-117.3,452.4,-4.7,304,6399,0.00,2.53,0.00,0.000,6,0.000,0.050,2568,2130,3096
$GC,6722,-0.61,-117.3,463.4,-3.4,320,6726,0.00,2.62,0.00,0.000,4,0.000,0.065,2568,3556,3095
$GC,6734,-0.61,-117.3,463.9,-3.8,320,6740,0.00,2.55,0.00,0.000,6,0.000,0.053,2569,2132,3095
$GC,7051,-0.61,-117.3,477.3,-4.4,336,7056,0.00,2.62,0.00,0.000,4,0.000,0.065,2568,3557,3095
$GC,7062,-0.61,-117.3,477.8,-4.2,336,7068,0.00,2.58,0.00,0.000,6,0.000,0.051,2568,2116,3095
$GC,7379,-0.65,-117.3,488.9,-3.9,352,7380,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2098,3095
$GC,7688,-0.70,-117.3,507.4,-7.4,367,7692,0.00,2.65,0.00,0.000,4,0.000,0.066,2568,3565,3095
$GC,7907,-0.70,-117.3,512.5,-0.8,377,7912,0.00,2.58,0.00,0.000,6,0.000,0.051,2568,2115,3094
$GC,8235,-0.78,-117.3,523.7,-0.8,393,8237,0.17,0.00,0.00,0.000,6,0.050,0.000,2520,2088,3094
$STATE,8458,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8458,begin apogee
$GC,8465,-0.33,0.0,537.9,10.2,404,8566,0.50,0.00,97.75,1.170,6,0.078,0.000,2625,2086,2620
$STATE,8567,end apogee,CONTROL_FINISHED_OK
$STATE,8567,begin climb
$GC,8570,1.03,117.3,542.9,0.0,409,8675,1.40,2.67,97.35,1.147,4,0.066,0.067,2926,687,2141
$GC,8782,1.03,117.3,531.0,6.5,419,8787,0.00,2.60,0.00,0.000,6,0.000,0.060,2926,2103,2140
$GC,9099,1.01,143.2,512.9,5.1,434,9128,0.00,2.65,22.48,1.095,4,0.000,0.071,2926,3500,2036
$GC,9209,1.02,147.7,507.0,5.8,439,9219,0.00,2.55,5.55,0.863,6,0.000,0.059,2926,2114,2017
$GC,9536,1.02,147.7,489.7,6.4,455,9540,0.00,2.60,0.00,0.000,4,0.000,0.071,2926,688,2016
$GC,9568,1.02,147.7,487.1,7.1,456,9574,0.00,2.60,0.00,0.000,6,0.000,0.061,2926,2107,2016
$GC,9884,1.02,147.7,462.8,8.8,472,9888,0.00,2.58,0.00,0.000,4,0.000,0.071,2926,3509,2015
$GC,9952,1.02,147.7,456.3,9.8,475,9956,0.00,2.55,0.00,0.000,6,0.000,0.057,2926,2107,2015
$GC,10273,1.02,147.7,415.4,16.8,491,10277,0.00,2.58,0.00,0.000,4,0.000,0.068,2926,682,2014
$GC,10313,1.02,147.7,408.1,18.1,493,10317,0.00,2.62,0.00,0.000,6,0.000,0.058,2926,2126,2014
$GC,10639,1.02,147.7,357.3,14.3,509,10643,0.00,2.50,0.00,0.000,4,0.000,0.066,2926,3509,2014
$GC,10740,1.02,147.7,341.3,16.4,513,10746,0.00,2.50,0.00,0.000,6,0.000,0.053,2926,2124,2014
$GC,11056,1.02,147.7,299.7,12.0,529,11060,0.00,2.55,0.00,0.000,4,0.000,0.064,2926,3517,2013
$GC,11118,1.02,147.7,291.9,12.7,532,11122,0.00,2.47,0.00,0.000,6,0.000,0.051,2926,2136,2013
$GC,11444,1.02,147.7,256.3,10.2,548,11446,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2135,2014
$GC,11753,1.02,147.7,228.3,8.7,563,11758,0.00,2.53,0.00,0.000,4,0.000,0.062,2925,3516,2014
$GC,11832,1.02,147.7,221.5,8.2,566,11838,0.00,2.42,0.00,0.000,6,0.000,0.051,2926,2162,2014
$GC,12148,1.02,148.1,200.1,6.0,582,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2162,2014
$GC,12457,1.02,148.1,180.9,6.3,597,12461,0.00,2.47,0.00,0.000,4,0.000,0.061,2926,3514,2014
$GC,12530,1.02,148.8,176.2,6.0,600,12534,0.00,2.38,0.00,0.000,6,0.000,0.050,2926,2181,2015
$GC,12853,1.07,179.6,160.6,4.9,616,12884,0.00,2.75,26.27,0.894,4,0.000,0.064,2926,691,1887
$GC,12915,1.11,179.6,157.2,6.1,619,12920,0.00,2.70,0.00,0.000,6,0.000,0.053,2926,2192,1887
$GC,13243,1.27,247.4,143.1,3.7,635,13306,0.17,2.45,54.35,0.897,4,0.044,0.061,2983,3501,1611
$GC,13360,1.23,247.4,135.0,7.4,640,13364,0.00,2.38,0.00,0.000,6,0.000,0.051,2983,2193,1611
$GC,13683,1.18,247.4,110.4,8.2,656,13688,0.15,2.70,0.00,0.000,4,0.078,0.064,2948,691,1611
$GC,13746,1.18,247.4,105.8,6.8,659,13751,0.00,2.70,0.00,0.000,6,0.000,0.053,2948,2193,1611
$GC,14076,1.18,247.4,86.4,6.1,675,14080,0.00,2.38,0.00,0.000,4,0.000,0.061,2948,3514,1612
$GC,14132,1.25,247.4,82.6,6.2,677,14139,0.10,2.38,0.00,0.000,6,0.052,0.051,2982,2194,1611
$GC,14449,1.20,247.4,59.9,7.4,693,14453,0.00,2.70,0.00,0.000,4,0.000,0.064,2982,688,1612
$GC,14516,1.15,247.4,54.2,8.0,696,14521,0.17,2.70,0.00,0.000,6,0.077,0.052,2947,2196,1612
$GC,14838,1.24,257.3,34.0,5.7,712,14854,0.10,2.78,9.70,0.746,4,0.056,0.062,2980,684,1570
$GC,14894,1.24,257.3,29.6,8.3,713,14900,0.00,2.65,0.00,0.000,6,0.000,0.051,2980,2171,1571
$GC,15210,1.24,257.3,3.7,8.2,729,15214,0.00,2.70,0.00,0.000,4,0.000,0.063,2980,681,1571
$STATE,15228,end climb,SURFACE_DEPTH_REACHED
$STATE,15229,begin surface coast
$FINISH,0.0,1.027042
$STATE,15252,end surface coast,CONTROL_FINISHED_OK
$STATE,15252,begin surface
$SM_CCo,15278,171.85,0.775,0,0,389,547.02
$SM_GC,0.44,0.00,0.00,171.85,0.000,0.000,0.775,417,2174,389,-10.50,0.54,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1653
$TCM_TEMP,19.30
$XPDR_PINGS,516
$ALTIM_TOP_PING,19.6,18.8
$ALTIM_BOTTOM_PING,475.5,72.4
$24V_AH,23.9,30.782
$10V_AH,10.1,14.953
$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,24.950,169.375,313.450,171.850,0.000,37.762,40.321,158.247,133.000,0.000,0.000,14.264,1416.619,11368.290,685.666,1804.632,539.662,33.382,1594.119,0.000,1769.774,0.000,28.501
$DEVICE_MAMPS,138.060,71.331,1170.442,774.670,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,499.709,540.015,532.075,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38072,731
$CAP_FILE_SIZE,125573,0
$CFSIZE,254472192,241647616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,110708,151107,6205.695,-924.025,37,1.2,37,-9.6