version: 66.03
glider: 5
mission: 3
dive: 154
start: 7 12 108 20 28 31
data:
$ID,5
$MISSION,3
$DIVE,154
$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,-79511.195
$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,26
$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
$GPS1,202208,6215.402,-903.108,35,0.9,35,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-54.7
$GPS2,202739,6215.389,-903.103,14,1.0,14,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.171,-0.106
$KALMAN_X,-69564.5,273.9,-180.6,104058.3,9232.6
$KALMAN_Y,141365.5,-2423.3,-2000.6,-88469.9,36718.8
$MHEAD_RNG_PITCHd_Wd,247.7,64065,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.03,-117.3,0.0,0.0,0,140,0.00,0.00,-111.20,0.000,6,0.000,0.000,422,2181,3099
$GC,144,-1.03,-117.3,1.8,-1.3,5,160,10.60,2.60,0.00,0.000,4,0.137,0.054,2467,743,3098
$GC,200,-0.73,-117.3,11.8,-12.1,6,207,0.35,2.53,0.00,0.000,6,0.087,0.049,2541,2153,3097
$GC,516,-0.63,-117.3,42.5,-9.9,22,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2153,3097
$GC,825,-0.55,-117.3,70.6,-8.2,37,830,0.15,2.55,0.00,0.000,4,0.088,0.056,2578,748,3097
$GC,1061,-0.55,-117.3,85.6,-4.8,47,1067,0.00,2.45,0.00,0.000,6,0.000,0.049,2577,2121,3097
$GC,1379,-0.55,-117.3,100.9,-5.4,63,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2121,3097
$GC,1687,-0.55,-117.3,120.0,-6.7,78,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2122,3097
$GC,1996,-0.55,-117.3,139.1,-6.2,93,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2121,3097
$GC,2305,-0.55,-117.3,153.8,-4.1,108,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2121,3097
$GC,2614,-0.55,-117.3,165.9,-3.9,123,2618,0.00,2.50,0.00,0.000,4,0.000,0.061,2577,750,3097
$GC,2670,-0.55,-117.3,168.4,-4.7,125,2676,0.00,2.47,0.00,0.000,6,0.000,0.052,2577,2129,3097
$GC,2986,-0.55,-117.3,181.8,-4.4,141,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2128,3097
$GC,3296,-0.55,-117.3,197.0,-4.8,156,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2128,3096
$GC,3605,-0.55,-117.3,212.7,-5.1,171,3609,0.00,2.53,0.00,0.000,4,0.000,0.064,2577,740,3096
$GC,3622,-0.55,-117.3,213.6,-5.0,172,3627,0.00,2.47,0.00,0.000,6,0.000,0.053,2577,2122,3096
$GC,3950,-0.55,-117.3,232.2,-5.4,188,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2122,3095
$GC,4259,-0.55,-117.3,248.7,-5.4,203,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2122,3095
$GC,4569,-0.60,-117.3,264.8,-5.6,218,4573,0.00,2.53,0.00,0.000,4,0.000,0.063,2577,738,3095
$GC,4608,-0.60,-117.3,267.3,-6.5,220,4613,0.00,2.50,0.00,0.000,6,0.000,0.054,2577,2135,3095
$GC,4937,-0.64,-117.3,284.1,-5.3,236,4938,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2134,3095
$GC,5247,-0.68,-117.3,300.2,-4.9,251,5249,0.12,0.00,0.00,0.000,6,0.053,0.000,2540,2135,3095
$GC,5555,-0.62,-117.3,317.2,-5.1,266,5560,0.12,2.53,0.00,0.000,4,0.096,0.062,2565,747,3094
$GC,5605,-0.62,-117.3,319.7,-4.4,268,5610,0.00,2.47,0.00,0.000,6,0.000,0.054,2565,2123,3094
$GC,5922,-0.62,-117.3,334.7,-5.0,283,5926,0.00,2.53,0.00,0.000,4,0.000,0.064,2565,741,3094
$GC,5944,-0.62,-117.3,335.7,-4.2,284,5948,0.00,2.47,0.00,0.000,6,0.000,0.054,2565,2117,3094
$GC,6270,-0.62,-117.3,350.8,-4.6,300,6274,0.00,2.50,0.00,0.000,4,0.000,0.064,2565,744,3093
$GC,6292,-0.62,-117.3,351.9,-4.1,301,6296,0.00,2.47,0.00,0.000,6,0.000,0.054,2565,2119,3094
$GC,6613,-0.62,-117.3,365.7,-4.3,317,6617,0.00,2.53,0.00,0.000,4,0.000,0.064,2565,740,3093
$GC,6663,-0.62,-117.3,367.9,-4.4,319,6668,0.00,2.47,0.00,0.000,6,0.000,0.054,2565,2120,3093
$GC,6979,-0.62,-117.3,379.2,-3.4,334,6984,0.00,2.50,0.00,0.000,4,0.000,0.065,2565,741,3093
$GC,7022,-0.62,-117.3,380.6,-3.8,336,7026,0.00,2.45,0.00,0.000,6,0.000,0.054,2565,2108,3093
$GC,7349,-0.62,-117.3,392.0,-3.9,352,7353,0.00,2.47,0.00,0.000,4,0.000,0.065,2565,747,3093
$GC,7427,-0.62,-117.3,395.5,-4.5,355,7433,0.00,2.42,0.00,0.000,6,0.000,0.054,2565,2098,3093
$GC,7743,-0.62,-117.3,407.3,-3.6,371,7745,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2098,3093
$GC,8053,-0.62,-117.3,420.2,-4.5,386,8058,0.00,2.65,0.00,0.000,4,0.000,0.067,2565,3564,3093
$GC,8121,-0.62,-117.3,423.3,-5.0,389,8125,0.00,2.62,0.00,0.000,6,0.000,0.051,2565,2091,3093
$GC,8442,-0.62,-117.3,440.3,-5.7,405,8447,0.00,2.67,0.00,0.000,4,0.000,0.066,2565,3564,3093
$STATE,8496,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8496,begin apogee
$GC,8505,-0.33,0.0,443.4,5.7,407,8606,0.25,0.00,97.78,1.095,6,0.083,0.000,2620,2080,2620
$STATE,8606,end apogee,CONTROL_FINISHED_OK
$STATE,8606,begin climb
$GC,8609,1.03,117.3,445.7,0.0,412,8715,1.40,2.60,96.75,1.069,4,0.067,0.064,2923,697,2141
$GC,8788,1.03,117.3,435.8,6.9,420,8792,0.00,2.55,0.00,0.000,6,0.000,0.054,2923,2104,2141
$GC,9104,1.03,119.2,416.9,5.9,435,9108,0.00,2.58,0.00,0.000,4,0.000,0.066,2923,3511,2140
$GC,9211,1.03,119.2,409.4,7.0,440,9215,0.00,2.47,0.00,0.000,6,0.000,0.052,2923,2124,2139
$GC,9538,1.03,119.2,382.8,8.4,456,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2106,2139
$GC,9847,1.03,119.2,358.2,8.0,471,9851,0.00,2.58,0.00,0.000,4,0.000,0.065,2923,3512,2138
$GC,9897,1.03,119.2,353.9,8.2,473,9901,0.00,2.53,0.00,0.000,6,0.000,0.053,2923,2115,2138
$GC,10215,1.03,119.2,329.9,6.7,488,10219,0.00,2.58,0.00,0.000,4,0.000,0.063,2923,3514,2138
$GC,10264,1.03,119.2,326.4,6.5,490,10269,0.00,2.50,0.00,0.000,6,0.000,0.052,2923,2126,2138
$GC,10581,1.06,136.5,309.7,5.4,505,10600,0.00,0.00,16.67,0.964,6,0.000,0.000,2923,2126,2063
$GC,10910,1.06,136.5,288.7,6.8,521,10914,0.00,2.53,0.00,0.000,4,0.000,0.063,2923,3507,2062
$GC,10977,1.06,136.5,283.3,8.9,524,10981,0.00,2.47,0.00,0.000,6,0.000,0.051,2923,2132,2062
$GC,11298,1.06,136.5,259.2,7.2,540,11302,0.00,2.50,0.00,0.000,4,0.000,0.061,2923,3507,2063
$GC,11353,1.06,136.5,254.6,8.4,542,11359,0.00,2.45,0.00,0.000,6,0.000,0.051,2923,2143,2062
$GC,11669,1.06,136.5,229.7,7.7,558,11674,0.00,2.50,0.00,0.000,4,0.000,0.061,2923,3507,2062
$GC,11714,1.06,136.5,225.9,8.6,560,11718,0.00,2.40,0.00,0.000,6,0.000,0.049,2923,2164,2062
$GC,12035,1.06,136.5,201.2,8.0,576,12036,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2164,2062
$GC,12345,1.06,136.5,176.9,7.8,591,12349,0.00,2.45,0.00,0.000,4,0.000,0.061,2923,3507,2062
$GC,12384,1.06,136.5,173.3,9.0,593,12388,0.00,2.38,0.00,0.000,6,0.000,0.050,2923,2171,2062
$GC,12710,1.06,136.5,150.1,6.3,609,12711,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2171,2062
$GC,13021,1.08,151.2,132.4,5.5,624,13043,0.00,2.50,13.45,0.837,4,0.000,0.061,2923,3503,2002
$GC,13091,1.16,171.3,128.5,5.3,627,13114,0.12,2.38,17.23,0.847,6,0.048,0.049,2965,2180,1921
$GC,13427,1.10,171.3,107.9,6.0,643,13429,0.12,0.00,0.00,0.000,6,0.084,0.000,2940,2180,1921
$GC,13731,1.20,232.2,95.2,3.9,658,13786,0.00,2.50,49.10,0.860,4,0.000,0.059,2940,3503,1673
$GC,13811,1.35,278.5,91.9,4.4,661,13859,0.25,2.38,37.75,0.835,6,0.039,0.050,3006,2194,1484
$GC,14172,1.24,278.5,62.6,9.1,679,14177,0.15,2.72,0.00,0.000,4,0.082,0.064,2973,685,1485
$GC,14213,1.24,278.5,59.1,7.2,681,14217,0.00,2.70,0.00,0.000,6,0.000,0.052,2973,2194,1485
$GC,14540,1.24,278.5,35.9,6.8,697,14544,0.00,2.75,0.00,0.000,4,0.000,0.062,2973,689,1485
$GC,14584,1.24,278.5,32.8,6.7,699,14588,0.00,2.67,0.00,0.000,6,0.000,0.051,2973,2183,1485
$GC,14905,1.24,278.5,6.1,8.8,715,14906,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2182,1485
$STATE,14965,end climb,SURFACE_DEPTH_REACHED
$STATE,14965,begin surface coast
$FINISH,-0.1,1.027028
$STATE,14986,end surface coast,CONTROL_FINISHED_OK
$STATE,14986,begin surface
$SM_CCo,15009,158.60,0.769,0,0,390,547.02
$SM_GC,0.47,0.00,0.00,158.60,0.000,0.000,0.769,420,2194,390,-10.48,1.24,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1677
$TCM_TEMP,17.70
$XPDR_PINGS,551
$ALTIM_TOP_PING,18.8,18.6
$ALTIM_BOTTOM_PING,350.8,102.6
$24V_AH,23.9,32.000
$10V_AH,10.1,15.537
$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,24.675,126.200,328.725,158.600,0.000,37.762,28.063,146.497,140.500,0.000,0.000,14.092,1346.745,11434.404,635.828,1590.889,493.636,33.366,1447.517,0.000,1565.403,0.000,20.174
$DEVICE_MAMPS,137.293,66.729,1094.509,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,491.791,535.638,540.276,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34751,719
$CAP_FILE_SIZE,113459,0
$CFSIZE,254472192,241209344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,130708,004238,6214.489,-904.974,40,1.0,40,-9.5