version: 66.03
glider: 5
mission: 3
dive: 155
start: 7 13 108 0 48 49
data:
$ID,5
$MISSION,3
$DIVE,155
$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,-79528.672
$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,24
$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
$GPS1,004238,6214.489,-904.974,40,1.0,40,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-51.8
$GPS2,004757,6214.562,-904.968,16,1.3,16,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.038,-0.198
$KALMAN_X,-66014.4,97.8,-274.1,99169.1,11871.4
$KALMAN_Y,137791.3,-2568.5,-1307.0,-86965.7,27562.9
$MHEAD_RNG_PITCHd_Wd,200.3,62382,-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,-111.40,0.000,6,0.000,0.000,421,2182,3099
$GC,141,-1.03,-117.3,2.1,-1.8,5,157,10.60,2.47,0.00,0.000,4,0.137,0.057,2471,3564,3098
$GC,165,0.66,-117.3,7.5,-14.1,7,174,1.77,2.53,0.00,0.000,6,0.089,0.047,2840,2147,3098
$GC,498,-0.17,-117.3,19.8,-3.5,23,503,0.80,2.55,0.00,0.000,4,0.054,0.056,2660,3561,3098
$GC,611,-0.49,-117.3,24.3,-3.7,28,617,0.30,2.78,0.00,0.000,6,0.039,0.043,2576,1983,3097
$GC,933,-0.49,-117.3,43.5,-7.0,44,938,0.00,2.85,0.00,0.000,4,0.000,0.058,2576,3559,3097
$GC,954,-0.49,-117.3,45.3,-7.6,45,959,0.00,2.78,0.00,0.000,6,0.000,0.046,2576,1996,3097
$GC,1278,-0.49,-117.3,70.6,-7.6,61,1283,0.00,2.83,0.00,0.000,4,0.000,0.058,2576,3564,3097
$GC,1289,-0.49,-117.3,71.5,-7.2,61,1295,0.00,2.80,0.00,0.000,6,0.000,0.046,2576,1975,3097
$GC,1607,-0.49,-117.3,89.2,-5.1,77,1611,0.00,2.85,0.00,0.000,4,0.000,0.058,2576,3560,3098
$GC,1617,-0.49,-117.3,90.0,-5.0,77,1623,0.00,2.78,0.00,0.000,6,0.000,0.048,2576,1992,3098
$GC,1936,-0.49,-117.3,102.1,-3.1,93,1940,0.00,2.83,0.00,0.000,4,0.000,0.058,2576,3563,3098
$GC,1991,-0.49,-117.3,104.7,-5.4,95,1998,0.00,2.75,0.00,0.000,6,0.000,0.048,2576,2011,3098
$GC,2308,-0.49,-117.3,119.5,-4.4,111,2312,0.00,2.83,0.00,0.000,4,0.000,0.061,2576,3565,3098
$GC,2319,-0.49,-117.3,120.1,-4.5,111,2325,0.00,2.78,0.00,0.000,6,0.000,0.050,2576,2001,3098
$GC,2635,-0.49,-117.3,133.6,-4.0,127,2640,0.00,2.80,0.00,0.000,4,0.000,0.060,2576,3558,3098
$GC,2686,-0.49,-117.3,136.0,-5.2,129,2691,0.00,2.72,0.00,0.000,6,0.000,0.048,2576,2019,3098
$GC,3004,-0.49,-117.3,150.3,-4.9,144,3008,0.00,2.78,0.00,0.000,4,0.000,0.061,2576,3557,3098
$GC,3061,-0.49,-117.3,153.4,-5.8,146,3067,0.00,2.70,0.00,0.000,6,0.000,0.048,2576,2034,3098
$GC,3378,-0.49,-117.3,171.0,-5.8,162,3382,0.00,2.78,0.00,0.000,4,0.000,0.062,2576,3557,3097
$GC,3399,-0.49,-117.3,172.4,-6.1,163,3403,0.00,2.72,0.00,0.000,6,0.000,0.051,2576,2034,3097
$GC,3720,-0.49,-117.3,194.8,-7.7,179,3724,0.00,2.78,0.00,0.000,4,0.000,0.063,2576,3563,3097
$GC,3764,-0.49,-117.3,198.4,-8.1,181,3768,0.00,2.70,0.00,0.000,6,0.000,0.051,2576,2048,3097
$GC,4085,-0.49,-117.3,224.4,-8.4,197,4089,0.00,2.75,0.00,0.000,4,0.000,0.063,2576,3565,3096
$GC,4157,-0.49,-117.3,230.4,-8.1,200,4161,0.00,2.70,0.00,0.000,6,0.000,0.048,2576,2044,3097
$GC,4473,-0.49,-117.3,254.8,-7.3,215,4478,0.00,2.78,0.00,0.000,4,0.000,0.062,2576,3564,3096
$GC,4552,-0.49,-117.3,260.8,-7.5,218,4558,0.00,2.67,0.00,0.000,6,0.000,0.050,2576,2060,3096
$GC,4868,-0.49,-117.3,280.5,-5.2,234,4873,0.00,2.72,0.00,0.000,4,0.000,0.063,2576,3561,3096
$GC,4913,-0.49,-117.3,282.9,-5.4,236,4918,0.00,2.65,0.00,0.000,6,0.000,0.050,2576,2067,3096
$GC,5235,-0.49,-117.3,296.3,-3.9,252,5239,0.00,2.72,0.00,0.000,4,0.000,0.063,2576,3557,3096
$GC,5245,-0.49,-117.3,296.7,-3.5,252,5251,0.00,2.65,0.00,0.000,6,0.000,0.051,2576,2071,3095
$GC,5562,-0.53,-117.3,308.0,-3.6,268,5567,0.00,2.72,0.00,0.000,4,0.000,0.064,2576,3561,3096
$GC,5573,-0.53,-117.3,308.5,-3.6,268,5579,0.00,2.67,0.00,0.000,6,0.000,0.051,2576,2059,3095
$GC,5890,-0.57,-117.3,321.1,-4.4,284,5894,0.00,2.72,0.00,0.000,4,0.000,0.064,2576,3557,3095
$GC,5953,-0.57,-117.3,324.4,-5.2,287,5957,0.00,2.62,0.00,0.000,6,0.000,0.051,2576,2075,3095
$GC,6279,-0.57,-117.3,340.7,-5.2,303,6284,0.00,2.70,0.00,0.000,4,0.000,0.065,2576,3557,3095
$GC,6335,-0.57,-117.3,343.3,-4.9,305,6342,0.00,2.62,0.00,0.000,6,0.000,0.051,2576,2084,3095
$GC,6652,-0.57,-117.3,357.1,-4.2,321,6657,0.00,2.70,0.00,0.000,4,0.000,0.065,2576,3562,3095
$GC,6669,-0.57,-117.3,357.9,-4.0,322,6674,0.00,2.62,0.00,0.000,6,0.000,0.051,2576,2088,3094
$GC,6998,-0.61,-117.3,371.9,-4.4,338,7002,0.00,2.70,0.00,0.000,4,0.000,0.064,2576,3560,3094
$GC,7019,-0.61,-117.3,373.0,-4.4,339,7024,0.00,2.62,0.00,0.000,6,0.000,0.051,2576,2088,3094
$GC,7341,-0.61,-117.3,387.9,-5.1,355,7346,0.00,2.67,0.00,0.000,4,0.000,0.065,2576,3564,3094
$GC,7481,-0.65,-117.3,398.6,-8.0,361,7486,0.00,2.58,0.00,0.000,6,0.000,0.051,2576,2115,3093
$GC,7798,-0.71,-117.3,419.5,-6.0,376,7803,0.15,2.62,0.00,0.000,4,0.049,0.064,2525,3556,3093
$GC,7955,-0.61,-117.3,431.9,-7.7,383,7960,0.20,2.55,0.00,0.000,6,0.088,0.051,2568,2124,3093
$GC,8277,-0.61,-117.3,445.7,-2.8,399,8281,0.00,2.47,0.00,0.000,4,0.000,0.066,2568,748,3093
$GC,8357,-0.61,-117.3,448.3,-3.3,402,8363,0.00,2.47,0.00,0.000,6,0.000,0.054,2568,2123,3093
$STATE,8505,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8505,begin apogee
$GC,8511,-0.33,0.0,455.5,4.9,410,8612,0.28,0.00,97.75,1.101,6,0.082,0.000,2626,2123,2619
$STATE,8613,end apogee,CONTROL_FINISHED_OK
$STATE,8613,begin climb
$GC,8616,1.03,117.3,458.4,0.0,415,8718,1.38,0.00,96.85,1.073,6,0.067,0.000,2925,2124,2140
$GC,9027,1.03,117.3,433.9,6.5,435,9032,0.00,2.53,0.00,0.000,4,0.000,0.067,2925,3507,2140
$GC,9083,1.03,117.3,430.3,6.1,437,9089,0.00,2.58,0.00,0.000,6,0.000,0.056,2925,2095,2139
$GC,9399,1.03,117.3,410.7,7.1,453,9404,0.00,2.55,0.00,0.000,4,0.000,0.067,2924,686,2139
$GC,9444,1.03,117.3,406.8,8.3,455,9448,0.00,2.58,0.00,0.000,6,0.000,0.057,2925,2118,2139
$GC,9765,1.03,117.3,378.9,8.9,471,9769,0.00,2.53,0.00,0.000,4,0.000,0.066,2925,3509,2138
$GC,9837,1.03,117.3,372.1,9.7,474,9842,0.00,2.50,0.00,0.000,6,0.000,0.053,2925,2123,2138
$GC,10153,1.03,117.3,343.6,8.6,489,10154,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2123,2137
$GC,10462,1.03,117.3,320.4,6.8,504,10466,0.00,2.55,0.00,0.000,4,0.000,0.064,2925,3509,2137
$GC,10576,1.03,117.3,312.1,7.3,509,10580,0.00,2.47,0.00,0.000,6,0.000,0.051,2925,2134,2137
$GC,10897,1.03,117.3,291.4,6.1,525,10901,0.00,2.53,0.00,0.000,4,0.000,0.063,2925,3510,2137
$GC,10963,1.03,117.3,287.1,6.2,528,10967,0.00,2.42,0.00,0.000,6,0.000,0.051,2925,2161,2137
$GC,11285,1.06,138.6,269.2,5.3,544,11304,0.00,0.00,17.95,0.948,6,0.000,0.000,2925,2161,2055
$GC,11613,1.15,193.2,255.2,4.1,560,11665,0.10,2.53,45.30,0.967,4,0.054,0.061,2960,3510,1831
$GC,11725,1.17,202.6,249.1,5.7,565,11742,0.00,2.42,9.07,0.848,6,0.000,0.051,2960,2170,1794
$GC,12051,1.17,202.6,227.8,7.3,581,12056,0.00,2.67,0.00,0.000,4,0.000,0.066,2960,680,1794
$GC,12103,1.12,202.6,223.2,9.1,583,12107,0.00,2.70,0.00,0.000,6,0.000,0.053,2960,2179,1794
$GC,12418,1.12,202.6,197.0,8.4,598,12423,0.00,2.40,0.00,0.000,4,0.000,0.062,2960,3511,1793
$GC,12482,1.12,202.6,191.2,9.0,601,12486,0.00,2.40,0.00,0.000,6,0.000,0.051,2960,2176,1793
$GC,12809,1.12,202.6,163.2,8.3,617,12813,0.00,2.67,0.00,0.000,4,0.000,0.065,2960,687,1793
$GC,12858,1.12,202.6,158.8,9.0,619,12863,0.00,2.67,0.00,0.000,6,0.000,0.054,2960,2178,1794
$GC,13175,1.12,202.6,131.8,9.0,634,13179,0.00,2.40,0.00,0.000,4,0.000,0.063,2960,3512,1793
$GC,13240,1.12,202.6,126.1,9.0,637,13244,0.00,2.40,0.00,0.000,6,0.000,0.050,2960,2170,1793
$GC,13567,1.12,202.6,95.3,11.4,653,13571,0.00,2.65,0.00,0.000,4,0.000,0.065,2960,690,1793
$GC,13629,1.12,202.6,86.5,14.2,656,13633,0.00,2.67,0.00,0.000,6,0.000,0.053,2960,2177,1794
$GC,13956,1.12,202.6,48.9,10.1,672,13958,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2177,1794
$GC,14266,1.16,258.5,31.7,4.1,687,14312,0.00,0.00,44.95,0.813,6,0.000,0.000,2960,2177,1566
$GC,14637,1.21,258.5,7.5,8.3,705,14641,0.00,2.40,0.00,0.000,4,0.000,0.060,2960,3517,1565
$GC,14677,1.27,258.5,4.0,8.0,707,14682,0.00,2.42,0.00,0.000,6,0.000,0.049,2960,2153,1565
$STATE,14713,end climb,SURFACE_DEPTH_REACHED
$STATE,14713,begin surface coast
$FINISH,-0.2,1.027040
$STATE,14735,end surface coast,CONTROL_FINISHED_OK
$STATE,14735,begin surface
$SM_CCo,14758,170.57,0.766,0,0,390,547.02
$SM_GC,0.30,0.00,0.00,170.57,0.000,0.000,0.766,419,2122,390,-10.49,-0.79,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1680
$TCM_TEMP,17.60
$XPDR_PINGS,547
$ALTIM_TOP_PING,19.8,19.8
$ALTIM_BOTTOM_PING,450.5,14.0
$24V_AH,23.9,32.155
$10V_AH,10.1,15.614
$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,26.500,184.750,311.875,170.575,0.000,37.762,27.074,132.852,140.500,0.000,0.000,16.850,1379.861,11007.085,679.891,1688.865,495.275,33.369,1546.254,0.000,1650.714,0.000,26.398
$DEVICE_MAMPS,136.526,67.496,1100.645,766.233,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,485.133,521.800,559.353,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34786,710
$CAP_FILE_SIZE,124021,0
$CFSIZE,254472192,241143808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,130708,045856,6215.197,-903.157,38,1.4,38,-9.5