version: 66.03
glider: 5
mission: 3
dive: 151
start: 7 12 108 5 55 57
data:
$ID,5
$MISSION,3
$DIVE,151
$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,-79468.852
$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,35
$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
$GPS1,054908,6214.353,-911.982,37,1.3,37,-9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-55.1
$GPS2,055503,6214.395,-911.894,15,1.3,15,-9.6
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.107,-0.171
$KALMAN_X,-79118.2,1271.5,506.4,104189.9,-4228.3
$KALMAN_Y,140035.5,-5028.4,-2551.1,-85772.8,58628.5
$MHEAD_RNG_PITCHd_Wd,157.6,61852,-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,-111.55,0.000,6,0.000,0.000,424,2176,3099
$GC,142,-1.03,-117.3,2.1,-1.5,5,158,10.57,2.60,0.00,0.000,4,0.137,0.056,2468,741,3098
$GC,411,-0.71,-117.3,34.3,-11.0,16,416,0.35,2.50,0.00,0.000,6,0.086,0.049,2543,2137,3097
$GC,734,-0.61,-117.3,53.9,-4.7,32,738,0.12,2.53,0.00,0.000,4,0.092,0.057,2569,741,3098
$GC,991,-0.61,-117.3,65.1,-6.2,43,998,0.00,2.45,0.00,0.000,6,0.000,0.050,2569,2114,3098
$GC,1310,-0.61,-117.3,83.2,-3.7,59,1314,0.00,2.50,0.00,0.000,4,0.000,0.058,2569,738,3098
$GC,1480,-0.61,-117.3,86.1,-1.6,66,1486,0.00,2.40,0.00,0.000,6,0.000,0.048,2569,2088,3098
$GC,1798,-0.61,-117.3,96.8,-5.2,82,1802,0.00,2.45,0.00,0.000,4,0.000,0.058,2569,740,3098
$GC,1822,-0.61,-117.3,98.5,-6.4,83,1826,0.00,2.40,0.00,0.000,6,0.000,0.049,2569,2083,3098
$GC,2143,-0.61,-117.3,124.7,-9.6,99,2148,0.00,2.45,0.00,0.000,4,0.000,0.060,2569,740,3098
$GC,2284,-0.61,-117.3,141.5,-12.3,105,2288,0.00,2.38,0.00,0.000,6,0.000,0.051,2569,2062,3098
$GC,2600,-0.61,-117.3,172.1,-7.5,120,2605,0.00,2.40,0.00,0.000,4,0.000,0.061,2569,742,3098
$GC,2679,-0.61,-117.3,177.7,-5.7,123,2685,0.00,2.33,0.00,0.000,6,0.000,0.051,2569,2040,3097
$GC,2996,-0.61,-117.3,188.6,-2.1,139,3000,0.00,2.38,0.00,0.000,4,0.000,0.061,2569,741,3097
$GC,3058,-0.61,-117.3,190.0,-2.4,142,3062,0.00,2.33,0.00,0.000,6,0.000,0.052,2568,2038,3097
$GC,3386,-0.61,-117.3,194.3,-1.3,158,3390,0.00,2.38,0.00,0.000,4,0.000,0.062,2568,741,3097
$GC,3538,-0.61,-117.3,197.8,-2.5,165,3542,0.00,2.28,0.00,0.000,6,0.000,0.052,2568,2008,3097
$GC,3866,-0.61,-117.3,206.0,-2.8,181,3870,0.00,2.33,0.00,0.000,4,0.000,0.064,2568,741,3096
$GC,3885,-0.61,-117.3,206.6,-3.2,182,3889,0.00,2.25,0.00,0.000,6,0.000,0.053,2569,1998,3096
$GC,4212,-0.61,-117.3,217.2,-3.2,198,4216,0.00,2.30,0.00,0.000,4,0.000,0.064,2568,741,3096
$GC,4240,-0.61,-117.3,218.2,-3.1,199,4244,0.00,2.25,0.00,0.000,6,0.000,0.053,2568,1993,3096
$GC,4556,-0.61,-117.3,227.8,-2.4,214,4560,0.00,2.28,0.00,0.000,4,0.000,0.064,2569,742,3096
$GC,4567,-0.61,-117.3,228.0,-2.0,214,4571,0.00,2.25,0.00,0.000,6,0.000,0.052,2569,1994,3096
$GC,4883,-0.61,-117.3,236.4,-2.4,229,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1995,3096
$GC,5193,-0.61,-117.3,245.0,-3.0,244,5197,0.00,2.80,0.00,0.000,4,0.000,0.064,2569,3556,3096
$GC,5215,-0.61,-117.3,245.8,-3.0,245,5219,0.00,2.78,0.00,0.000,6,0.000,0.050,2569,1995,3096
$GC,5537,-0.61,-117.3,256.8,-3.5,261,5542,0.00,2.85,0.00,0.000,4,0.000,0.063,2568,3560,3095
$GC,5615,-0.61,-117.3,259.8,-3.9,264,5621,0.00,2.75,0.00,0.000,6,0.000,0.048,2569,2002,3095
$GC,5931,-0.61,-117.3,271.6,-3.8,280,5936,0.00,2.85,0.00,0.000,4,0.000,0.064,2569,3561,3095
$GC,5959,-0.61,-117.3,272.7,-4.1,281,5963,0.00,2.78,0.00,0.000,6,0.000,0.050,2568,2001,3095
$GC,6275,-0.61,-117.3,285.5,-4.2,296,6280,0.00,2.83,0.00,0.000,4,0.000,0.063,2568,3559,3095
$GC,6315,-0.61,-117.3,287.2,-4.7,298,6320,0.00,2.75,0.00,0.000,6,0.000,0.048,2568,2003,3094
$GC,6642,-0.61,-117.3,301.9,-4.8,314,6647,0.00,2.83,0.00,0.000,4,0.000,0.065,2568,3554,3095
$GC,6710,-0.61,-117.3,305.8,-6.0,317,6715,0.00,2.72,0.00,0.000,6,0.000,0.049,2568,2019,3094
$GC,7032,-0.61,-117.3,324.6,-6.2,333,7036,0.00,2.83,0.00,0.000,4,0.000,0.064,2568,3564,3094
$GC,7054,-0.61,-117.3,326.1,-7.0,334,7058,0.00,2.75,0.00,0.000,6,0.000,0.050,2568,2017,3094
$GC,7374,-0.61,-117.3,348.4,-7.4,350,7379,0.00,2.80,0.00,0.000,4,0.000,0.064,2569,3558,3094
$GC,7385,-0.61,-117.3,349.2,-7.4,350,7391,0.00,2.75,0.00,0.000,6,0.000,0.051,2568,2015,3094
$GC,7702,-0.61,-117.3,373.0,-8.1,366,7707,0.00,2.80,0.00,0.000,4,0.000,0.064,2568,3557,3094
$GC,7752,-0.61,-117.3,377.8,-9.7,368,7756,0.00,2.70,0.00,0.000,6,0.000,0.051,2568,2035,3093
$GC,8067,-0.61,-117.3,404.9,-8.5,383,8072,0.00,2.78,0.00,0.000,4,0.000,0.065,2569,3556,3094
$GC,8131,-0.61,-117.3,410.3,-8.6,386,8135,0.00,2.67,0.00,0.000,6,0.000,0.051,2568,2049,3093
$GC,8457,-0.61,-117.3,434.0,-6.8,402,8461,0.00,2.35,0.00,0.000,4,0.000,0.066,2569,742,3093
$GC,8467,-0.61,-117.3,434.7,-6.6,402,8473,0.00,2.33,0.00,0.000,6,0.000,0.054,2569,2031,3093
$GC,8784,-0.66,-117.3,454.2,-6.2,418,8788,0.00,2.38,0.00,0.000,4,0.000,0.067,2569,741,3093
$GC,8856,-0.66,-117.3,459.7,-7.5,421,8860,0.00,2.30,0.00,0.000,6,0.000,0.057,2568,2019,3093
$GC,9178,-0.66,-117.3,478.0,-5.5,437,9182,0.00,2.35,0.00,0.000,4,0.000,0.069,2568,741,3094
$GC,9196,-0.66,-117.3,479.0,-6.1,438,9200,0.00,2.33,0.00,0.000,6,0.000,0.057,2568,2027,3093
$GC,9523,-0.73,-117.3,494.4,-4.6,454,9529,0.12,2.78,0.00,0.000,4,0.060,0.071,2531,3556,3093
$GC,9782,-1.05,-117.3,494.4,0.3,465,9789,0.28,2.72,0.00,0.000,6,0.046,0.059,2456,2021,3093
$GC,10099,-1.35,-117.3,494.4,0.1,481,10104,0.20,2.80,0.00,0.000,4,0.051,0.069,2396,3561,3092
$STATE,10147,end dive,NO_VERTICAL_VELOCITY
$STATE,10147,begin apogee
$GC,10157,-0.33,0.0,494.4,0.0,483,10259,1.02,0.00,98.22,1.147,6,0.064,0.000,2625,2069,2620
$STATE,10260,end apogee,CONTROL_FINISHED_OK
$STATE,10260,begin climb
$GC,10263,1.03,117.3,494.1,0.0,488,10370,1.38,2.62,97.55,1.115,4,0.070,0.068,2922,693,2141
$GC,10427,0.98,117.3,483.3,7.2,495,10434,0.00,2.58,0.00,0.000,6,0.000,0.058,2922,2103,2141
$GC,10743,0.98,117.3,459.2,7.4,511,10748,0.00,2.58,0.00,0.000,4,0.000,0.070,2922,3507,2139
$GC,10844,0.98,117.3,450.1,10.0,515,10851,0.00,2.53,0.00,0.000,6,0.000,0.057,2922,2120,2139
$GC,11161,0.98,117.3,422.8,8.3,531,11165,0.00,2.58,0.00,0.000,4,0.000,0.069,2922,3506,2139
$GC,11223,0.98,117.3,417.8,7.7,534,11227,0.00,2.47,0.00,0.000,6,0.000,0.056,2922,2147,2138
$GC,11550,0.98,117.3,395.0,6.9,550,11554,0.00,2.67,0.00,0.000,4,0.000,0.071,2922,681,2138
$GC,11589,0.98,117.3,391.7,9.0,552,11594,0.00,2.70,0.00,0.000,6,0.000,0.058,2922,2173,2138
$GC,11917,1.08,182.1,373.5,3.8,568,11979,0.00,2.53,53.40,1.072,4,0.000,0.067,2922,3501,1877
$GC,12046,1.18,211.2,367.3,5.0,573,12077,0.15,2.42,25.30,1.035,6,0.049,0.054,2967,2173,1758
$GC,12402,1.13,211.2,339.0,8.8,591,12406,0.00,2.70,0.00,0.000,4,0.000,0.069,2967,689,1757
$GC,12457,1.06,211.2,333.3,9.7,593,12464,0.17,2.72,0.00,0.000,6,0.080,0.057,2931,2190,1757
$GC,12773,1.10,211.2,311.3,6.5,609,12777,0.00,2.38,0.00,0.000,4,0.000,0.065,2931,3509,1757
$GC,12824,1.16,211.2,307.5,7.1,611,12829,0.10,2.40,0.00,0.000,6,0.054,0.052,2964,2182,1757
$GC,13145,1.11,211.2,281.4,8.1,627,13147,0.10,0.00,0.00,0.000,6,0.086,0.000,2943,2182,1757
$GC,13454,1.13,222.9,262.8,5.6,642,13470,0.00,2.47,10.98,0.907,4,0.000,0.061,2943,3514,1710
$GC,13517,1.13,222.9,259.1,6.1,644,13521,0.00,2.38,0.00,0.000,6,0.000,0.052,2943,2203,1710
$GC,13844,1.14,227.1,239.8,5.9,660,13854,0.00,2.75,5.10,0.736,4,0.000,0.066,2943,690,1694
$GC,13932,1.14,227.1,234.3,6.5,664,13937,0.00,2.72,0.00,0.000,6,0.000,0.054,2943,2199,1693
$GC,14254,1.16,241.4,216.8,5.5,680,14276,0.00,2.45,13.23,0.895,4,0.000,0.063,2943,3511,1635
$GC,14310,1.22,241.4,213.3,6.4,682,14315,0.10,2.42,0.00,0.000,6,0.054,0.053,2976,2180,1635
$GC,14627,1.17,241.4,189.4,7.8,697,14631,0.00,2.67,0.00,0.000,4,0.000,0.067,2976,689,1635
$GC,14673,1.13,241.4,185.6,8.1,699,14678,0.15,2.72,0.00,0.000,6,0.080,0.054,2945,2201,1635
$GC,14994,1.13,241.4,162.8,7.7,715,14998,0.00,2.35,0.00,0.000,4,0.000,0.063,2945,3510,1635
$GC,15039,1.20,241.4,158.8,9.6,717,15043,0.00,2.38,0.00,0.000,6,0.000,0.052,2945,2188,1635
$GC,15367,1.24,241.4,129.9,9.5,733,15372,0.10,2.70,0.00,0.000,4,0.053,0.066,2978,691,1636
$GC,15423,1.19,241.4,123.3,11.5,735,15430,0.00,2.67,0.00,0.000,6,0.000,0.054,2978,2187,1635
$GC,15741,1.13,241.4,89.4,8.3,751,15746,0.15,2.38,0.00,0.000,4,0.078,0.061,2943,3509,1635
$GC,15806,1.34,328.8,86.5,3.0,754,15883,0.22,2.35,69.70,0.864,6,0.040,0.050,3005,2193,1278
$GC,16200,1.28,328.8,63.1,7.1,773,16205,0.15,2.72,0.00,0.000,4,0.082,0.066,2971,690,1279
$GC,16288,1.32,328.8,57.7,6.1,777,16292,0.00,2.70,0.00,0.000,6,0.000,0.052,2971,2188,1279
$GC,16617,1.40,343.2,38.4,5.5,793,16639,0.15,2.78,13.23,0.771,4,0.045,0.064,3021,693,1220
$GC,16719,1.31,343.2,29.0,10.4,797,16724,0.20,2.60,0.00,0.000,6,0.077,0.050,2979,2143,1220
$GC,17035,1.31,343.2,4.5,8.3,812,17039,0.00,2.67,0.00,0.000,4,0.000,0.064,2979,684,1220
$STATE,17059,end climb,SURFACE_DEPTH_REACHED
$STATE,17059,begin surface coast
$FINISH,0.1,1.027008
$STATE,17083,end surface coast,CONTROL_FINISHED_OK
$STATE,17083,begin surface
$SM_CCo,17109,121.43,0.776,0,0,390,547.02
$SM_GC,0.54,0.00,0.00,121.43,0.000,0.000,0.776,418,2152,390,-10.49,0.08,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1676
$TCM_TEMP,19.50
$XPDR_PINGS,627
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,23.9,31.518
$10V_AH,10.1,15.292
$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,26.925,214.800,386.700,121.425,0.000,37.761,28.906,161.718,160.500,0.000,0.000,15.009,1618.179,12597.577,691.322,2107.799,573.150,33.373,1778.343,0.000,2062.473,0.000,25.210
$DEVICE_MAMPS,137.293,71.331,1147.432,776.204,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,556.832,600.539,556.331,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41157,814
$CAP_FILE_SIZE,149350,0
$CFSIZE,254472192,241356800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,120708,104431,6214.607,-907.715,43,1.6,43,-9.6