version: 66.03
glider: 5
mission: 3
dive: 152
start: 7 12 108 10 54 36
data:
$ID,5
$MISSION,3
$DIVE,152
$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,-79481.492
$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,23
$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
$GPS1,104431,6214.607,-907.715,43,1.6,43,-9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-56.9
$GPS2,105344,6214.657,-907.832,12,1.7,12,-9.6
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.013,-0.201
$KALMAN_X,-76190.7,-190.7,-314.5,107131.7,2037.2
$KALMAN_Y,137467.9,-3406.6,-2511.1,-84370.2,42820.2
$MHEAD_RNG_PITCHd_Wd,193.4,62395,-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,-110.95,0.000,6,0.000,0.000,419,2151,3100
$GC,141,-1.03,-117.3,2.7,-2.3,6,157,10.60,2.58,0.00,0.000,4,0.137,0.056,2469,741,3099
$GC,163,0.64,-117.3,7.1,-16.7,6,171,1.75,2.53,0.00,0.000,6,0.081,0.049,2836,2150,3099
$GC,491,-0.11,-117.3,19.7,-4.6,22,497,0.73,2.58,0.00,0.000,4,0.054,0.057,2674,737,3098
$GC,657,-0.45,-117.3,26.4,-3.9,29,662,0.32,2.40,0.00,0.000,6,0.038,0.047,2582,2086,3098
$GC,975,-0.45,-117.3,39.9,-4.2,44,979,0.00,2.62,0.00,0.000,4,0.000,0.058,2582,3558,3098
$GC,985,-0.45,-117.3,40.4,-3.9,44,992,0.00,2.62,0.00,0.000,6,0.000,0.046,2582,2069,3098
$GC,1304,-0.45,-117.3,53.4,-4.0,60,1308,0.00,2.67,0.00,0.000,4,0.000,0.058,2582,3558,3098
$GC,1314,-0.45,-117.3,54.0,-3.9,60,1321,0.00,2.60,0.00,0.000,6,0.000,0.046,2582,2081,3098
$GC,1632,-0.45,-117.3,60.8,-1.0,76,1637,0.00,2.67,0.00,0.000,4,0.000,0.058,2582,3558,3098
$GC,1643,-0.45,-117.3,61.0,-0.8,76,1650,0.00,2.60,0.00,0.000,6,0.000,0.048,2582,2082,3099
$GC,1962,-0.45,-117.3,64.7,-2.4,92,1966,0.00,2.40,0.00,0.000,4,0.000,0.062,2582,740,3099
$GC,1972,-0.45,-117.3,65.0,-2.6,92,1979,0.00,2.40,0.00,0.000,6,0.000,0.049,2582,2091,3098
$GC,2290,-0.49,-117.3,80.3,-6.5,108,2295,0.00,2.45,0.00,0.000,4,0.000,0.060,2581,742,3099
$GC,2347,-0.49,-117.3,85.8,-10.2,110,2353,0.00,2.35,0.00,0.000,6,0.000,0.050,2582,2064,3099
$GC,2664,-0.53,-117.3,107.6,-4.7,126,2668,0.00,2.65,0.00,0.000,4,0.000,0.059,2582,3558,3098
$GC,2682,-0.53,-117.3,108.3,-3.9,127,2686,0.00,2.67,0.00,0.000,6,0.000,0.048,2582,2051,3098
$GC,3011,-0.57,-117.3,113.9,-0.7,143,3016,0.00,2.72,0.00,0.000,4,0.000,0.061,2582,3561,3098
$GC,3055,-0.57,-117.3,114.5,-1.7,145,3060,0.00,2.65,0.00,0.000,6,0.000,0.047,2582,2064,3098
$GC,3378,-0.62,-117.3,117.6,-1.1,161,3382,0.00,2.72,0.00,0.000,4,0.000,0.060,2582,3564,3098
$GC,3434,-0.62,-117.3,118.4,-1.8,163,3440,0.00,2.65,0.00,0.000,6,0.000,0.048,2582,2065,3098
$GC,3751,-0.67,-117.3,128.1,-4.2,179,3756,0.12,2.72,0.00,0.000,4,0.051,0.060,2543,3564,3098
$GC,3842,-0.58,-117.3,133.9,-7.4,183,3847,0.15,2.62,0.00,0.000,6,0.089,0.048,2574,2083,3098
$GC,4163,-0.58,-117.3,154.4,-6.9,199,4167,0.00,2.67,0.00,0.000,4,0.000,0.061,2574,3563,3098
$GC,4195,-0.58,-117.3,157.1,-8.6,200,4202,0.00,2.62,0.00,0.000,6,0.000,0.049,2574,2091,3098
$GC,4512,-0.58,-117.3,181.2,-7.8,216,4516,0.00,2.67,0.00,0.000,4,0.000,0.061,2574,3558,3097
$GC,4533,-0.58,-117.3,183.0,-7.8,217,4538,0.00,2.58,0.00,0.000,6,0.000,0.050,2574,2092,3097
$GC,4855,-0.58,-117.3,206.8,-7.1,233,4859,0.00,2.67,0.00,0.000,4,0.000,0.062,2574,3558,3097
$GC,4872,-0.58,-117.3,207.9,-6.9,234,4876,0.00,2.60,0.00,0.000,6,0.000,0.051,2574,2093,3097
$GC,5198,-0.58,-117.3,230.3,-6.9,250,5203,0.00,2.67,0.00,0.000,4,0.000,0.063,2574,3558,3096
$GC,5209,-0.58,-117.3,231.2,-6.6,250,5215,0.00,2.60,0.00,0.000,6,0.000,0.051,2574,2095,3096
$GC,5526,-0.58,-117.3,251.8,-6.7,266,5530,0.00,2.67,0.00,0.000,4,0.000,0.063,2574,3557,3096
$GC,5570,-0.58,-117.3,255.0,-7.1,268,5574,0.00,2.58,0.00,0.000,6,0.000,0.051,2574,2106,3095
$GC,5891,-0.58,-117.3,276.0,-6.2,284,5896,0.00,2.65,0.00,0.000,4,0.000,0.063,2574,3563,3095
$GC,5903,-0.58,-117.3,276.7,-6.2,284,5909,0.00,2.60,0.00,0.000,6,0.000,0.051,2574,2106,3096
$GC,6219,-0.58,-117.3,295.6,-5.9,300,6223,0.00,2.65,0.00,0.000,4,0.000,0.065,2574,3557,3095
$GC,6229,-0.58,-117.3,296.3,-5.8,300,6236,0.00,2.60,0.00,0.000,6,0.000,0.054,2574,2107,3095
$GC,6546,-0.58,-117.3,312.1,-4.5,316,6551,0.00,2.62,0.00,0.000,4,0.000,0.064,2574,3557,3095
$GC,6587,-0.58,-117.3,314.0,-4.8,318,6591,0.00,2.55,0.00,0.000,6,0.000,0.052,2574,2116,3095
$GC,6914,-0.62,-117.3,327.8,-3.9,334,6918,0.00,2.65,0.00,0.000,4,0.000,0.064,2574,3560,3095
$GC,6925,-0.62,-117.3,328.4,-4.0,334,6931,0.00,2.58,0.00,0.000,6,0.000,0.051,2574,2113,3095
$GC,7242,-0.66,-117.3,340.4,-3.7,350,7246,0.00,2.62,0.00,0.000,4,0.000,0.064,2574,3557,3094
$GC,7252,-0.66,-117.3,340.8,-3.7,350,7259,0.00,2.58,0.00,0.000,6,0.000,0.053,2574,2117,3094
$GC,7569,-0.66,-117.3,351.4,-3.3,366,7574,0.00,2.65,0.00,0.000,4,0.000,0.064,2574,3562,3094
$GC,7592,-0.66,-117.3,352.2,-3.6,367,7596,0.00,2.58,0.00,0.000,6,0.000,0.052,2574,2120,3094
$GC,7913,-0.66,-117.3,363.3,-3.7,383,7917,0.00,2.62,0.00,0.000,4,0.000,0.064,2574,3558,3094
$GC,7953,-0.66,-117.3,364.9,-4.4,385,7957,0.00,2.53,0.00,0.000,6,0.000,0.051,2574,2131,3094
$GC,8280,-0.66,-117.3,378.5,-4.1,401,8285,0.00,2.60,0.00,0.000,4,0.000,0.064,2574,3557,3093
$GC,8376,-0.66,-117.3,383.2,-5.3,405,8380,0.00,2.53,0.00,0.000,6,0.000,0.050,2574,2138,3093
$GC,8693,-0.71,-117.3,402.2,-6.7,420,8695,0.12,0.00,0.00,0.000,6,0.052,0.000,2535,2120,3093
$GC,9001,-0.64,-117.3,427.6,-8.0,435,9003,0.10,0.00,0.00,0.000,6,0.100,0.000,2556,2120,3093
$GC,9311,-0.64,-117.3,447.8,-7.0,450,9315,0.00,2.50,0.00,0.000,4,0.000,0.065,2557,745,3093
$GC,9433,-0.64,-117.3,457.9,-8.2,455,9440,0.00,2.47,0.00,0.000,6,0.000,0.054,2556,2121,3093
$GC,9751,-0.54,-117.3,476.9,-4.6,471,9756,0.12,2.60,0.00,0.000,4,0.091,0.068,2582,3558,3093
$GC,9883,-0.60,-117.3,483.4,-3.3,477,9888,0.00,2.50,0.00,0.000,6,0.000,0.053,2582,2154,3093
$GC,10213,-1.05,-117.3,488.2,-0.4,493,10219,0.45,2.62,0.00,0.000,4,0.045,0.071,2466,3564,3093
$GC,10225,-1.47,-117.3,488.1,-0.3,493,10232,0.38,2.53,0.00,0.000,6,0.047,0.056,2372,2135,3093
$GC,10542,-1.76,-117.3,488.2,0.0,509,10547,0.22,2.60,0.00,0.000,4,0.050,0.070,2306,3559,3092
$STATE,10646,end dive,NO_VERTICAL_VELOCITY
$STATE,10646,begin apogee
$GC,10656,-0.33,0.0,488.3,0.0,514,10758,1.45,0.00,97.90,1.141,6,0.058,0.000,2630,2093,2620
$STATE,10759,end apogee,CONTROL_FINISHED_OK
$STATE,10759,begin climb
$GC,10762,1.03,117.3,488.1,0.0,519,10868,1.35,2.70,97.57,1.113,4,0.071,0.074,2922,693,2141
$GC,10940,1.03,117.3,476.1,9.1,527,10945,0.00,2.58,0.00,0.000,6,0.000,0.058,2922,2101,2141
$GC,11256,1.03,117.3,455.5,7.7,542,11260,0.00,2.58,0.00,0.000,4,0.000,0.071,2922,3509,2139
$GC,11334,1.03,117.3,448.0,8.9,545,11340,0.00,2.55,0.00,0.000,6,0.000,0.057,2922,2106,2139
$GC,11650,1.03,117.3,420.8,7.3,561,11654,0.00,2.58,0.00,0.000,4,0.000,0.071,2922,684,2139
$GC,11735,1.03,117.3,414.5,7.4,565,11739,0.00,2.60,0.00,0.000,6,0.000,0.058,2922,2114,2139
$GC,12063,1.09,151.6,396.6,4.8,581,12094,0.00,0.00,29.02,1.062,6,0.000,0.000,2922,2114,2002
$GC,12412,1.11,170.3,379.0,5.4,598,12434,0.00,2.65,16.48,1.025,4,0.000,0.066,2922,3509,1925
$GC,12496,1.11,170.3,373.5,6.3,601,12502,0.00,2.55,0.00,0.000,6,0.000,0.054,2922,2106,1925
$GC,12812,1.11,170.3,354.0,6.4,617,12813,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2106,1924
$GC,13121,1.11,170.3,334.1,6.6,632,13125,0.00,2.60,0.00,0.000,4,0.000,0.064,2922,3512,1924
$GC,13206,1.16,170.3,327.9,7.4,636,13211,0.12,2.50,0.00,0.000,6,0.050,0.052,2963,2123,1924
$GC,13533,1.08,170.3,300.8,8.3,652,13538,0.15,2.60,0.00,0.000,4,0.083,0.067,2928,684,1924
$GC,13578,1.08,170.3,297.4,7.4,654,13582,0.00,2.60,0.00,0.000,6,0.000,0.054,2928,2134,1924
$GC,13899,1.08,170.3,275.3,6.7,670,13903,0.00,2.47,0.00,0.000,4,0.000,0.064,2928,3509,1924
$GC,13976,1.08,170.3,270.0,6.1,673,13982,0.00,2.45,0.00,0.000,6,0.000,0.051,2928,2143,1924
$GC,14292,1.08,170.3,250.0,6.2,689,14297,0.00,2.62,0.00,0.000,4,0.000,0.065,2928,681,1924
$GC,14343,1.08,170.3,246.5,7.0,691,14347,0.00,2.62,0.00,0.000,6,0.000,0.053,2928,2143,1924
$GC,14659,1.08,173.0,227.9,5.9,706,14668,0.00,2.47,4.12,0.652,4,0.000,0.062,2928,3510,1914
$GC,14737,1.13,173.0,222.9,6.4,709,14741,0.00,2.45,0.00,0.000,6,0.000,0.050,2928,2147,1914
$GC,15053,1.15,181.9,204.9,5.7,724,15064,0.00,0.00,9.20,0.847,6,0.000,0.000,2928,2147,1878
$GC,15363,1.22,200.5,187.0,5.4,739,15386,0.15,2.60,16.45,0.889,4,0.045,0.061,2978,3515,1801
$GC,15455,1.14,200.5,180.0,7.7,743,15459,0.15,2.45,0.00,0.000,6,0.081,0.051,2947,2156,1801
$GC,15782,1.14,200.5,160.6,6.0,759,15783,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2155,1801
$GC,16091,1.14,200.5,140.6,6.9,774,16092,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2156,1801
$GC,16402,1.14,200.5,117.6,7.9,789,16406,0.00,2.47,0.00,0.000,4,0.000,0.061,2947,3512,1801
$GC,16457,1.14,200.5,112.5,8.3,791,16464,0.00,2.42,0.00,0.000,6,0.000,0.051,2947,2161,1800
$GC,16774,1.14,200.5,86.1,8.5,807,16778,0.00,2.65,0.00,0.000,4,0.000,0.065,2947,681,1801
$GC,16836,1.14,200.5,80.6,9.0,810,16840,0.00,2.67,0.00,0.000,6,0.000,0.052,2947,2174,1801
$GC,17164,1.18,227.0,56.5,5.1,826,17193,0.00,2.50,22.12,0.820,4,0.000,0.059,2947,3511,1694
$GC,17262,1.24,227.0,50.5,7.4,830,17267,0.10,2.45,0.00,0.000,6,0.052,0.049,2981,2150,1694
$GC,17580,1.19,227.0,23.2,8.8,845,17582,0.12,0.00,0.00,0.000,6,0.079,0.000,2955,2151,1693
$GC,17888,1.19,227.0,2.5,6.9,860,17892,0.00,2.12,0.00,0.000,3,0.000,0.057,2955,3330,1693
$STATE,17892,end climb,SURFACE_DEPTH_REACHED
$STATE,17892,begin surface coast
$FINISH,-0.0,1.012989
$STATE,17930,end surface coast,CONTROL_FINISHED_OK
$STATE,17930,begin surface
$SM_CCo,17954,189.48,0.775,0,0,390,547.02
$SM_GC,0.65,0.00,0.00,189.48,0.000,0.000,0.775,421,2115,390,-10.48,-1.02,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1664
$TCM_TEMP,17.60
$XPDR_PINGS,660
$ALTIM_TOP_PING,18.9,999.0
$24V_AH,23.9,31.687
$10V_AH,10.1,15.385
$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,29.550,216.000,292.875,189.475,0.000,81.980,62.678,215.405,168.750,0.000,0.000,12.018,1654.172,13619.092,710.220,1998.801,714.043,33.367,1727.759,0.000,1963.057,0.000,25.876
$DEVICE_MAMPS,136.526,73.632,1141.296,774.670,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,589.571,637.259,695.927,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44233,862
$CAP_FILE_SIZE,152593,0
$CFSIZE,254472192,241283072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,120708,155808,6215.445,-905.923,28,1.5,28,-9.5