version: 66.03
glider: 5
mission: 3
dive: 153
start: 7 12 108 16 4 51
data:
$ID,5
$MISSION,3
$DIVE,153
$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,-79496.477
$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,27
$R_STBD_OVSHOOT,20
$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
$GPS1,155808,6215.445,-905.923,28,1.5,28,-9.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-58.0
$GPS2,160357,6215.515,-905.713,14,1.5,14,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.078,-0.185
$KALMAN_X,-73790.0,-549.8,-7.3,106651.5,4647.4
$KALMAN_Y,139370.8,-2680.0,-1681.2,-86291.6,34968.5
$MHEAD_RNG_PITCHd_Wd,212.2,64091,-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,-110.43,0.000,6,0.000,0.000,421,2116,3099
$GC,141,-1.03,-117.3,2.1,-1.6,5,157,10.57,2.60,0.00,0.000,4,0.136,0.057,2469,3563,3098
$GC,253,-0.69,-117.3,17.6,-11.8,9,258,0.38,2.53,0.00,0.000,6,0.089,0.046,2548,2144,3098
$GC,576,-0.61,-117.3,48.6,-9.5,25,581,0.00,2.58,0.00,0.000,4,0.000,0.058,2548,3564,3097
$GC,633,-0.52,-117.3,54.8,-11.2,27,640,0.17,2.50,0.00,0.000,6,0.091,0.046,2583,2155,3097
$GC,949,-0.52,-117.3,79.7,-6.8,43,953,0.00,2.55,0.00,0.000,4,0.000,0.058,2583,3561,3098
$GC,1057,-0.52,-117.3,85.5,-4.9,48,1062,0.00,2.45,0.00,0.000,6,0.000,0.046,2583,2176,3097
$GC,1386,-0.57,-117.3,99.5,-3.4,64,1390,0.00,2.55,0.00,0.000,4,0.000,0.063,2583,750,3098
$GC,1397,-0.61,-117.3,99.8,-3.3,64,1403,0.00,2.58,0.00,0.000,6,0.000,0.050,2583,2192,3098
$GC,1714,-0.66,-117.3,108.8,-2.3,80,1719,0.12,2.62,0.00,0.000,4,0.051,0.060,2547,750,3098
$GC,1748,-0.57,-117.3,109.9,-3.1,81,1755,0.15,2.58,0.00,0.000,6,0.090,0.051,2578,2192,3098
$GC,2066,-0.57,-117.3,116.8,-2.5,97,2071,0.00,2.62,0.00,0.000,4,0.000,0.061,2578,750,3098
$GC,2131,-0.57,-117.3,119.0,-3.5,100,2136,0.00,2.55,0.00,0.000,6,0.000,0.051,2578,2180,3098
$GC,2461,-0.61,-117.3,132.7,-4.9,116,2465,0.00,2.60,0.00,0.000,4,0.000,0.061,2577,749,3098
$GC,2511,-0.61,-117.3,135.8,-6.2,118,2515,0.00,2.55,0.00,0.000,6,0.000,0.051,2578,2174,3097
$GC,2827,-0.61,-117.3,154.3,-6.1,133,2831,0.00,2.60,0.00,0.000,4,0.000,0.062,2578,748,3097
$GC,2837,-0.61,-117.3,155.0,-6.1,133,2843,0.00,2.55,0.00,0.000,6,0.000,0.051,2577,2171,3097
$GC,3153,-0.61,-117.3,174.8,-6.3,149,3158,0.00,2.60,0.00,0.000,4,0.000,0.063,2577,748,3097
$GC,3226,-0.61,-117.3,179.8,-6.5,152,3230,0.00,2.53,0.00,0.000,6,0.000,0.052,2577,2156,3097
$GC,3547,-0.61,-117.3,198.3,-5.5,168,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2155,3097
$GC,3857,-0.61,-117.3,213.1,-4.5,183,3861,0.00,2.53,0.00,0.000,4,0.000,0.064,2578,3564,3097
$GC,3867,-0.61,-117.3,213.6,-4.5,183,3873,0.00,2.50,0.00,0.000,6,0.000,0.050,2578,2159,3096
$GC,4183,-0.61,-117.3,228.6,-5.0,199,4188,0.00,2.55,0.00,0.000,4,0.000,0.062,2578,3557,3096
$GC,4194,-0.61,-117.3,229.3,-5.1,199,4200,0.00,2.50,0.00,0.000,6,0.000,0.050,2578,2153,3096
$GC,4511,-0.61,-117.3,245.8,-5.3,215,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2151,3096
$GC,4820,-0.65,-117.3,262.4,-5.4,230,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2151,3095
$GC,5130,-0.70,-117.3,279.9,-5.8,245,5135,0.15,2.55,0.00,0.000,4,0.050,0.067,2529,741,3095
$GC,5148,-0.70,-117.3,281.1,-5.9,246,5153,0.00,2.55,0.00,0.000,6,0.000,0.053,2529,2165,3095
$GC,5475,-0.60,-117.3,304.6,-7.4,262,5480,0.17,2.60,0.00,0.000,4,0.089,0.064,2569,744,3095
$GC,5525,-0.60,-117.3,308.1,-7.0,264,5530,0.00,2.53,0.00,0.000,6,0.000,0.054,2569,2149,3095
$GC,5841,-0.60,-117.3,328.1,-6.3,279,5845,0.00,2.53,0.00,0.000,4,0.000,0.064,2569,750,3095
$GC,5907,-0.60,-117.3,332.8,-6.6,282,5912,0.00,2.47,0.00,0.000,6,0.000,0.053,2569,2135,3094
$GC,6229,-0.60,-117.3,353.4,-6.2,298,6234,0.00,2.53,0.00,0.000,4,0.000,0.064,2569,744,3094
$GC,6270,-0.60,-117.3,355.8,-5.9,300,6274,0.00,2.47,0.00,0.000,6,0.000,0.054,2569,2132,3094
$GC,6598,-0.60,-117.3,374.2,-5.7,316,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2133,3094
$GC,6907,-0.60,-117.3,393.8,-6.9,331,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2133,3094
$GC,7215,-0.60,-117.3,415.5,-6.3,346,7220,0.00,2.58,0.00,0.000,4,0.000,0.066,2569,3563,3093
$GC,7243,-0.60,-117.3,417.2,-5.8,347,7248,0.00,2.55,0.00,0.000,6,0.000,0.051,2569,2132,3094
$GC,7560,-0.64,-117.3,435.2,-5.0,362,7565,0.00,2.62,0.00,0.000,4,0.000,0.066,2569,3559,3094
$GC,7572,-0.64,-117.3,435.9,-4.6,362,7578,0.00,2.53,0.00,0.000,6,0.000,0.051,2569,2141,3093
$GC,7888,-0.64,-117.3,452.3,-6.2,378,7892,0.00,2.60,0.00,0.000,4,0.000,0.066,2569,3557,3094
$GC,7999,-0.64,-117.3,458.8,-7.0,383,8004,0.00,2.53,0.00,0.000,6,0.000,0.054,2569,2144,3093
$GC,8322,-1.05,-117.3,462.2,-0.0,399,8324,0.43,0.00,0.00,0.000,6,0.045,0.000,2461,2119,3094
$GC,8631,-1.44,-117.3,462.3,0.0,414,8633,0.32,0.00,0.00,0.000,6,0.046,0.000,2376,2117,3093
$STATE,8751,end dive,NO_VERTICAL_VELOCITY
$STATE,8751,begin apogee
$GC,8758,-0.33,0.0,462.3,0.0,420,8859,1.12,0.00,97.90,1.120,6,0.055,0.000,2630,2116,2620
$STATE,8860,end apogee,CONTROL_FINISHED_OK
$STATE,8860,begin climb
$GC,8863,1.03,117.3,462.1,0.0,425,8964,1.38,0.00,97.50,1.091,6,0.063,0.000,2929,2115,2142
$GC,9268,1.03,117.3,434.7,7.8,445,9272,0.00,2.55,0.00,0.000,4,0.000,0.070,2929,3505,2140
$GC,9403,1.03,117.3,422.3,9.0,451,9407,0.00,2.58,0.00,0.000,6,0.000,0.056,2929,2094,2139
$GC,9724,1.03,117.3,398.9,6.2,467,9729,0.00,2.62,0.00,0.000,4,0.000,0.067,2929,3512,2138
$GC,9768,1.03,117.3,396.1,6.1,469,9772,0.00,2.53,0.00,0.000,6,0.000,0.054,2929,2122,2138
$GC,10090,1.04,125.0,378.3,5.7,485,10099,0.00,0.00,7.62,0.904,6,0.000,0.000,2929,2108,2110
$GC,10398,1.04,125.0,358.4,6.6,500,10402,0.00,2.58,0.00,0.000,4,0.000,0.066,2929,3511,2109
$GC,10498,1.04,125.0,351.2,6.9,504,10504,0.00,2.47,0.00,0.000,6,0.000,0.051,2929,2137,2108
$GC,10814,1.04,125.0,331.2,6.2,520,10815,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2138,2108
$GC,11123,1.05,129.0,313.0,5.9,535,11132,0.00,2.50,4.78,0.744,4,0.000,0.063,2929,3506,2094
$GC,11195,1.05,129.0,308.1,6.8,538,11199,0.00,2.45,0.00,0.000,6,0.000,0.051,2929,2147,2094
$GC,11516,1.05,129.0,284.7,7.8,554,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2147,2094
$GC,11825,1.05,129.0,254.1,11.0,569,11829,0.00,2.50,0.00,0.000,4,0.000,0.063,2929,3506,2094
$GC,11909,1.05,129.0,243.2,13.9,573,11914,0.00,2.42,0.00,0.000,6,0.000,0.051,2930,2160,2094
$GC,12237,1.05,129.0,203.2,11.9,589,12238,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2160,2094
$GC,12545,1.05,129.0,170.5,9.8,604,12550,0.00,2.45,0.00,0.000,4,0.000,0.062,2929,3508,2094
$GC,12618,1.05,129.0,163.9,9.1,607,12622,0.00,2.40,0.00,0.000,6,0.000,0.049,2929,2166,2094
$GC,12935,1.05,129.0,139.1,7.0,622,12936,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2165,2094
$GC,13244,1.08,146.8,120.9,5.4,637,13266,0.00,2.47,16.10,0.844,4,0.000,0.059,2929,3508,2020
$GC,13336,1.09,153.2,115.6,5.8,641,13349,0.00,2.38,6.72,0.737,6,0.000,0.050,2929,2184,1995
$GC,13667,1.15,194.9,99.8,4.6,657,13709,0.10,2.78,34.12,0.860,4,0.052,0.064,2965,697,1825
$GC,13738,1.10,194.9,95.4,6.5,660,13743,0.12,2.70,0.00,0.000,6,0.081,0.052,2940,2189,1825
$GC,14060,1.23,279.9,82.5,3.1,676,14131,0.12,0.00,67.88,0.848,6,0.048,0.000,2978,2189,1478
$GC,14431,1.27,301.6,64.2,5.3,694,14456,0.00,2.45,18.52,0.798,4,0.000,0.060,2978,3505,1390
$GC,14499,1.27,301.6,58.7,8.4,697,14503,0.00,2.38,0.00,0.000,6,0.000,0.051,2978,2188,1390
$GC,14826,1.27,301.6,30.5,8.8,713,14830,0.00,2.70,0.00,0.000,4,0.000,0.064,2978,689,1390
$GC,14898,1.27,301.6,24.1,8.7,716,14903,0.00,2.67,0.00,0.000,6,0.000,0.051,2978,2178,1391
$STATE,15170,end climb,SURFACE_DEPTH_REACHED
$STATE,15170,begin surface coast
$FINISH,-0.1,1.014915
$STATE,15192,end surface coast,CONTROL_FINISHED_OK
$STATE,15192,begin surface
$SM_CCo,15215,146.93,0.775,0,0,390,547.02
$SM_GC,0.45,0.00,0.00,146.93,0.000,0.000,0.775,421,2184,390,-10.48,0.96,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1674
$TCM_TEMP,17.60
$XPDR_PINGS,510
$ALTIM_TOP_PING,18.3,18.0
$24V_AH,23.9,31.845
$10V_AH,10.1,15.463
$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,26.375,142.400,351.150,146.925,0.000,37.763,25.712,156.452,131.000,0.000,0.000,14.363,1379.207,11512.013,677.759,1632.835,509.557,33.374,1497.399,0.000,1607.242,0.000,25.970
$DEVICE_MAMPS,135.759,69.797,1119.820,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,499.564,544.779,588.631,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37932,730
$CAP_FILE_SIZE,119021,0
$CFSIZE,254472192,241254400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,120708,202208,6215.402,-903.108,35,0.9,35,-9.5