version: 66.03
glider: 5
mission: 3
dive: 149
start: 7 11 108 20 34 43
data:
$ID,5
$MISSION,3
$DIVE,149
$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,-79440.391
$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,23
$R_STBD_OVSHOOT,50
$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
$GPS1,202507,6208.734,-921.673,43,1.0,43,-9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-56.7
$GPS2,203351,6208.862,-921.704,10,1.1,10,-9.6
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.062,-0.191
$KALMAN_X,-84542.6,514.8,977.1,101287.9,-10174.7
$KALMAN_Y,127294.3,-1253.2,-3658.1,-85974.5,50772.5
$MHEAD_RNG_PITCHd_Wd,171.5,52451,-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,-117.3,0.0,0.0,0,138,0.00,0.00,-111.95,0.000,6,0.000,0.000,418,2171,3099
$GC,142,-1.03,-117.3,2.0,-1.5,5,158,10.60,2.60,0.00,0.000,4,0.137,0.058,2469,740,3099
$GC,393,-0.71,-117.3,31.2,-9.6,15,399,0.35,2.47,0.00,0.000,6,0.085,0.049,2545,2124,3097
$GC,712,-0.63,-117.3,48.9,-4.9,30,716,0.00,2.50,0.00,0.000,4,0.000,0.058,2545,742,3097
$GC,736,-0.54,-117.3,50.3,-5.3,31,741,0.17,2.50,0.00,0.000,6,0.089,0.050,2581,2137,3097
$GC,1058,-0.54,-117.3,67.1,-5.5,47,1062,0.00,2.53,0.00,0.000,4,0.000,0.058,2581,744,3097
$GC,1075,-0.54,-117.3,68.2,-6.3,48,1080,0.00,2.47,0.00,0.000,6,0.000,0.050,2581,2132,3097
$GC,1403,-0.54,-117.3,90.5,-7.0,64,1407,0.00,2.53,0.00,0.000,4,0.000,0.060,2581,743,3097
$GC,1435,-0.54,-117.3,93.0,-7.3,65,1442,0.00,2.42,0.00,0.000,6,0.000,0.050,2581,2106,3097
$GC,1752,-0.58,-117.3,114.7,-6.8,81,1756,0.00,2.60,0.00,0.000,4,0.000,0.061,2581,3560,3098
$GC,1763,-0.63,-117.3,115.7,-7.0,81,1769,0.00,2.58,0.00,0.000,6,0.000,0.048,2581,2105,3097
$GC,2080,-0.63,-117.3,136.2,-6.6,97,2084,0.00,2.62,0.00,0.000,4,0.000,0.061,2581,3557,3098
$GC,2129,-0.63,-117.3,139.9,-7.4,99,2134,0.00,2.55,0.00,0.000,6,0.000,0.048,2581,2123,3097
$GC,2446,-0.67,-117.3,160.7,-6.1,114,2451,0.12,2.62,0.00,0.000,4,0.051,0.061,2543,3560,3098
$GC,2473,-0.60,-117.3,162.8,-7.4,115,2478,0.12,2.55,0.00,0.000,6,0.094,0.048,2569,2121,3097
$GC,2789,-0.60,-117.3,180.3,-5.1,130,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2117,3097
$GC,3099,-0.60,-117.3,195.6,-4.9,145,3103,0.00,2.62,0.00,0.000,4,0.000,0.063,2569,3557,3097
$GC,3109,-0.60,-117.3,196.1,-4.9,145,3116,0.00,2.55,0.00,0.000,6,0.000,0.049,2569,2120,3097
$GC,3426,-0.60,-117.3,210.8,-5.1,161,3431,0.00,2.62,0.00,0.000,4,0.000,0.064,2569,3562,3097
$GC,3438,-0.60,-117.3,211.4,-4.8,161,3444,0.00,2.58,0.00,0.000,6,0.000,0.050,2569,2115,3096
$GC,3754,-0.60,-117.3,224.9,-4.0,177,3759,0.00,2.62,0.00,0.000,4,0.000,0.062,2569,3560,3096
$GC,3765,-0.60,-117.3,225.4,-4.0,177,3769,0.00,2.58,0.00,0.000,6,0.000,0.049,2569,2111,3096
$GC,4081,-0.60,-117.3,238.0,-4.0,192,4085,0.00,2.62,0.00,0.000,4,0.000,0.063,2569,3556,3096
$GC,4091,-0.60,-117.3,238.5,-4.0,192,4098,0.00,2.58,0.00,0.000,6,0.000,0.051,2569,2110,3096
$GC,4407,-0.60,-117.3,251.5,-4.0,208,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2110,3096
$GC,4717,-0.60,-117.3,262.4,-3.2,223,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2110,3095
$GC,5026,-0.60,-117.3,271.2,-2.4,238,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2110,3095
$GC,5335,-0.60,-117.3,277.6,-2.0,253,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2110,3095
$GC,5645,-0.60,-117.3,284.9,-2.3,268,5649,0.00,2.65,0.00,0.000,4,0.000,0.064,2569,3557,3095
$GC,5655,-0.60,-117.3,285.1,-2.2,268,5661,0.00,2.58,0.00,0.000,6,0.000,0.053,2569,2115,3095
$GC,5971,-0.60,-117.3,294.3,-3.5,284,5976,0.00,2.62,0.00,0.000,4,0.000,0.064,2569,3557,3095
$GC,5982,-0.60,-117.3,294.9,-3.9,284,5988,0.00,2.58,0.00,0.000,6,0.000,0.053,2569,2118,3095
$GC,6299,-0.60,-117.3,310.9,-5.9,300,6303,0.00,2.62,0.00,0.000,4,0.000,0.064,2569,3557,3094
$GC,6311,-0.60,-117.3,311.7,-6.3,300,6317,0.00,2.58,0.00,0.000,6,0.000,0.053,2569,2116,3094
$GC,6627,-0.60,-117.3,337.0,-9.2,316,6631,0.00,2.62,0.00,0.000,4,0.000,0.064,2569,3562,3094
$GC,6637,-0.60,-117.3,338.2,-9.6,316,6643,0.00,2.58,0.00,0.000,6,0.000,0.052,2569,2118,3094
$GC,6953,-0.60,-117.3,372.7,-11.2,332,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2118,3094
$GC,7262,-0.60,-117.3,405.3,-10.1,347,7266,0.00,2.47,0.00,0.000,4,0.000,0.066,2569,741,3094
$GC,7273,-0.60,-117.3,406.5,-9.8,347,7279,0.00,2.47,0.00,0.000,6,0.000,0.054,2569,2118,3094
$GC,7589,-0.60,-117.3,439.6,-11.6,363,7593,0.00,2.53,0.00,0.000,4,0.000,0.066,2569,742,3094
$GC,7684,-0.60,-117.3,452.0,-13.1,367,7688,0.00,2.42,0.00,0.000,6,0.000,0.055,2569,2086,3094
$GC,8000,-0.60,-117.3,488.2,-9.7,382,8004,0.00,2.65,0.00,0.000,4,0.000,0.065,2569,3558,3094
$GC,8181,-0.60,-117.3,500.9,-5.0,390,8185,0.00,2.58,0.00,0.000,6,0.000,0.054,2569,2106,3094
$GC,8503,-0.65,-117.3,505.3,0.9,406,8508,0.00,2.45,0.00,0.000,4,0.000,0.067,2569,749,3093
$GC,8537,-0.65,-117.3,504.5,2.1,407,8543,0.00,2.45,0.00,0.000,6,0.000,0.056,2569,2104,3094
$GC,8854,-0.65,-117.3,497.8,1.8,423,8858,0.00,2.50,0.00,0.000,4,0.000,0.070,2569,749,3093
$GC,8971,-0.65,-117.3,499.6,-3.0,428,8975,0.00,2.40,0.00,0.000,6,0.000,0.058,2569,2074,3093
$GC,9287,-0.65,-117.3,510.8,-4.3,443,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2074,3093
$GC,9597,-0.69,-117.3,523.0,-4.9,458,9602,0.00,2.70,0.00,0.000,4,0.000,0.074,2569,3557,3093
$GC,9608,-0.76,-117.3,523.3,-4.5,458,9615,0.17,2.65,0.00,0.000,6,0.051,0.058,2520,2089,3093
$GC,9924,-0.71,-117.3,546.4,-9.2,474,9929,0.10,2.72,0.00,0.000,4,0.104,0.071,2540,3563,3092
$GC,9936,-0.66,-117.3,546.7,-5.6,474,9942,0.00,2.70,0.00,0.000,6,0.000,0.059,2540,2052,3092
$STATE,10187,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10187,begin apogee
$GC,10195,-0.33,0.0,553.8,4.0,487,10296,0.40,0.00,98.53,1.193,6,0.086,0.000,2624,2114,2620
$STATE,10297,end apogee,CONTROL_FINISHED_OK
$STATE,10297,begin climb
$GC,10300,1.03,117.3,556.1,0.0,492,10406,1.40,2.70,97.95,1.167,4,0.069,0.068,2925,684,2141
$GC,10436,1.03,117.3,548.2,9.1,498,10441,0.00,2.60,0.00,0.000,6,0.000,0.059,2925,2098,2141
$GC,10753,1.09,190.1,530.2,3.5,513,10819,0.00,2.65,61.12,1.143,4,0.000,0.070,2925,3506,1843
$GC,10903,1.09,190.1,523.1,6.5,520,10908,0.00,2.58,0.00,0.000,6,0.000,0.059,2925,2105,1843
$GC,11225,1.19,255.9,513.8,3.8,536,11288,0.15,2.67,54.83,1.144,4,0.051,0.074,2974,686,1576
$GC,11317,1.26,339.6,510.0,3.1,540,11395,0.00,2.62,70.00,1.136,6,0.000,0.061,2974,2105,1235
$GC,11706,1.32,373.3,491.4,4.8,559,11737,0.00,0.00,29.33,1.114,6,0.000,0.000,2974,2106,1099
$GC,12033,1.42,435.9,476.4,3.9,575,12095,0.15,2.72,53.42,1.126,4,0.050,0.073,3015,692,843
$GC,12149,1.37,435.9,467.7,8.2,580,12153,0.00,2.55,0.00,0.000,6,0.000,0.061,3014,2089,843
$GC,12471,1.30,435.9,432.4,13.2,596,12476,0.15,2.60,0.00,0.000,4,0.086,0.068,2981,3507,843
$GC,12521,1.40,435.9,425.7,12.2,598,12526,0.10,2.65,0.00,0.000,6,0.058,0.058,3012,2061,843
$GC,12837,1.34,435.9,382.4,13.5,613,12842,0.12,2.50,0.00,0.000,4,0.087,0.070,2988,681,842
$GC,12900,1.34,435.9,374.5,11.9,616,12904,0.00,2.50,0.00,0.000,6,0.000,0.056,2988,2067,843
$GC,13227,1.34,435.9,333.3,12.6,632,13231,0.00,2.60,0.00,0.000,4,0.000,0.065,2987,3508,842
$GC,13282,1.42,435.9,326.5,10.8,634,13288,0.00,2.62,0.00,0.000,6,0.000,0.054,2987,2059,843
$GC,13598,1.42,435.9,290.7,11.3,650,13602,0.00,2.47,0.00,0.000,4,0.000,0.069,2987,682,843
$GC,13660,1.42,435.9,283.7,11.1,653,13665,0.00,2.47,0.00,0.000,6,0.000,0.054,2987,2062,844
$GC,13987,1.42,435.9,250.3,9.7,669,13992,0.00,2.60,0.00,0.000,4,0.000,0.064,2987,3507,844
$GC,14028,1.51,435.9,246.4,9.6,671,14033,0.20,2.62,0.00,0.000,6,0.043,0.054,3042,2048,844
$GC,14356,1.39,435.9,199.1,15.0,687,14358,0.20,0.00,0.00,0.000,6,0.082,0.000,3003,2048,844
$GC,14664,1.39,435.9,160.4,12.1,702,14668,0.00,2.65,0.00,0.000,4,0.000,0.061,3003,3508,844
$GC,14737,1.44,435.9,152.5,10.1,705,14741,0.00,2.60,0.00,0.000,6,0.000,0.054,3002,2067,844
$GC,15053,1.44,435.9,116.1,12.5,720,15057,0.00,2.50,0.00,0.000,4,0.000,0.068,3003,684,844
$GC,15098,1.44,435.9,110.3,12.2,722,15102,0.00,2.50,0.00,0.000,6,0.000,0.052,3002,2081,844
$GC,15420,1.44,435.9,74.4,11.0,738,15421,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2081,844
$GC,15730,1.44,435.9,41.5,10.8,753,15734,0.00,2.58,0.00,0.000,4,0.000,0.067,3003,682,845
$GC,15770,1.44,435.9,36.7,11.3,755,15774,0.00,2.45,0.00,0.000,6,0.000,0.051,3003,2062,844
$STATE,16094,end climb,SURFACE_DEPTH_REACHED
$STATE,16094,begin surface coast
$FINISH,-0.0,1.016932
$STATE,16119,end surface coast,CONTROL_FINISHED_OK
$STATE,16119,begin surface
$SM_CCo,16142,66.12,0.795,0,0,390,547.02
$SM_GC,0.47,0.00,0.00,66.12,0.000,0.000,0.795,418,2176,390,-10.50,0.82,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1699
$TCM_TEMP,17.50
$XPDR_PINGS,527
$ALTIM_TOP_PING,18.8,999.0
$ALTIM_BOTTOM_PING,475.4,88.2
$24V_AH,23.9,31.174
$10V_AH,10.1,15.123
$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,25.650,175.150,465.175,66.125,0.000,75.525,61.383,193.091,135.750,0.000,0.000,12.808,1450.250,12211.271,684.506,1727.307,656.820,33.373,1608.007,0.000,1695.894,0.000,28.263
$DEVICE_MAMPS,136.526,79.768,1193.452,795.379,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,527.413,570.051,502.975,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38050,772
$CAP_FILE_SIZE,133748,0
$CFSIZE,254472192,241508352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,120708,010631,6211.129,-918.833,60,1.4,60,-9.6