version: 66.03
glider: 5
mission: 3
dive: 156
start: 7 13 108 5 11 42
data:
$ID,5
$MISSION,3
$DIVE,156
$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,-79545.57
$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,23
$R_STBD_OVSHOOT,19
$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
$GPS1,045856,6215.197,-903.157,38,1.4,38,-9.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-48.8
$GPS2,051050,6215.349,-902.770,11,1.5,16,-9.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.050,-0.195
$KALMAN_X,-62320.7,-1249.5,-600.4,99081.1,16322.1
$KALMAN_Y,141931.3,-1938.8,-792.7,-90866.8,28399.8
$MHEAD_RNG_PITCHd_Wd,203.8,64023,-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,-117.3,0.0,0.0,0,139,0.00,0.00,-112.32,0.000,6,0.000,0.000,419,2133,3099
$GC,143,-1.03,-117.3,1.8,-1.4,5,159,10.62,2.50,0.00,0.000,4,0.137,0.058,2472,738,3098
$GC,166,0.60,-117.3,7.4,-14.1,7,175,1.70,2.55,0.00,0.000,6,0.082,0.049,2829,2162,3097
$GC,499,-0.10,-117.3,25.1,-4.4,23,505,0.68,2.50,0.00,0.000,4,0.049,0.058,2675,3559,3097
$GC,752,-0.48,-117.3,29.5,-0.7,34,757,0.35,2.38,0.00,0.000,6,0.041,0.044,2582,2212,3097
$GC,1069,-0.48,-117.3,39.7,-4.2,49,1073,0.00,2.62,0.00,0.000,4,0.000,0.060,2581,742,3096
$GC,1087,-0.48,-117.3,40.9,-5.5,50,1091,0.00,2.62,0.00,0.000,6,0.000,0.050,2582,2213,3097
$GC,1414,-0.48,-117.3,59.1,-5.0,66,1419,0.00,2.67,0.00,0.000,4,0.000,0.060,2582,743,3097
$GC,1425,-0.48,-117.3,59.8,-4.6,66,1432,0.00,2.60,0.00,0.000,6,0.000,0.050,2582,2200,3097
$GC,1742,-0.53,-117.3,74.1,-4.6,82,1747,0.00,2.65,0.00,0.000,4,0.000,0.060,2582,742,3097
$GC,1829,-0.57,-117.3,78.7,-5.2,86,1833,0.00,2.58,0.00,0.000,6,0.000,0.051,2582,2188,3097
$GC,2157,-0.61,-117.3,95.6,-5.3,102,2161,0.00,2.62,0.00,0.000,4,0.000,0.061,2582,743,3097
$GC,2168,-0.61,-117.3,96.1,-5.3,102,2174,0.00,2.58,0.00,0.000,6,0.000,0.051,2582,2181,3097
$GC,2485,-0.66,-117.3,110.4,-3.8,118,2490,0.12,2.62,0.00,0.000,4,0.051,0.059,2543,738,3097
$GC,2496,-0.66,-117.3,110.8,-3.5,118,2504,0.00,2.58,0.00,0.000,6,0.000,0.051,2543,2181,3097
$GC,2813,-0.60,-117.3,121.7,-3.2,134,2818,0.12,2.62,0.00,0.000,4,0.093,0.060,2569,737,3097
$GC,2825,-0.54,-117.3,122.2,-3.5,134,2831,0.00,2.58,0.00,0.000,6,0.000,0.051,2568,2176,3097
$GC,3142,-0.54,-117.3,131.3,-3.4,150,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2176,3097
$GC,3452,-0.54,-117.3,144.3,-4.5,165,3457,0.00,2.60,0.00,0.000,4,0.000,0.061,2569,744,3097
$GC,3493,-0.54,-117.3,146.2,-4.9,167,3497,0.00,2.55,0.00,0.000,6,0.000,0.053,2569,2171,3097
$GC,3820,-0.54,-117.3,162.8,-5.0,183,3825,0.00,2.58,0.00,0.000,4,0.000,0.062,2569,744,3096
$GC,3832,-0.54,-117.3,163.4,-4.9,183,3837,0.00,2.55,0.00,0.000,6,0.000,0.053,2568,2164,3096
$GC,4148,-0.54,-117.3,177.9,-4.4,199,4152,0.00,2.58,0.00,0.000,4,0.000,0.064,2568,741,3096
$GC,4159,-0.54,-117.3,178.3,-4.2,199,4165,0.00,2.55,0.00,0.000,6,0.000,0.053,2569,2163,3096
$GC,4475,-0.54,-117.3,191.0,-3.7,215,4479,0.00,2.60,0.00,0.000,4,0.000,0.063,2569,739,3096
$GC,4497,-0.54,-117.3,191.9,-3.9,216,4501,0.00,2.55,0.00,0.000,6,0.000,0.053,2569,2161,3096
$GC,4818,-0.54,-117.3,204.4,-4.0,232,4822,0.00,2.58,0.00,0.000,4,0.000,0.063,2569,744,3096
$GC,4835,-0.54,-117.3,205.3,-4.2,233,4840,0.00,2.50,0.00,0.000,6,0.000,0.053,2568,2143,3095
$GC,5163,-0.54,-117.3,219.2,-4.4,249,5167,0.00,2.58,0.00,0.000,4,0.000,0.064,2569,738,3095
$GC,5180,-0.54,-117.3,220.0,-4.5,250,5185,0.00,2.53,0.00,0.000,6,0.000,0.053,2568,2149,3095
$GC,5508,-0.54,-117.3,235.2,-4.7,266,5512,0.00,2.58,0.00,0.000,4,0.000,0.064,2569,742,3095
$GC,5525,-0.54,-117.3,236.0,-4.5,267,5530,0.00,2.50,0.00,0.000,6,0.000,0.054,2569,2137,3095
$GC,5854,-0.54,-117.3,250.4,-4.4,283,5858,0.00,2.53,0.00,0.000,4,0.000,0.064,2568,744,3094
$GC,5876,-0.54,-117.3,251.6,-5.1,284,5880,0.00,2.50,0.00,0.000,6,0.000,0.054,2569,2135,3094
$GC,6197,-0.54,-117.3,266.6,-4.7,300,6201,0.00,2.55,0.00,0.000,4,0.000,0.064,2568,740,3094
$GC,6247,-0.54,-117.3,269.2,-5.1,302,6252,0.00,2.47,0.00,0.000,6,0.000,0.054,2569,2120,3094
$GC,6563,-0.54,-117.3,284.2,-4.5,317,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2120,3094
$GC,6873,-0.54,-117.3,296.9,-3.9,332,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2120,3094
$GC,7182,-0.54,-117.3,309.8,-4.7,347,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2120,3094
$GC,7492,-0.54,-117.3,326.0,-5.6,362,7496,0.00,2.50,0.00,0.000,4,0.000,0.065,2568,741,3093
$GC,7514,-0.54,-117.3,327.5,-6.2,363,7518,0.00,2.47,0.00,0.000,6,0.000,0.054,2568,2118,3093
$GC,7835,-0.54,-117.3,347.6,-6.8,379,7839,0.00,2.53,0.00,0.000,4,0.000,0.067,2569,744,3093
$GC,7845,-0.54,-117.3,348.4,-6.8,379,7851,0.00,2.47,0.00,0.000,6,0.000,0.054,2568,2119,3093
$GC,8161,-0.54,-117.3,373.6,-7.8,395,8165,0.00,2.53,0.00,0.000,4,0.000,0.066,2569,744,3092
$GC,8229,-0.54,-117.3,378.8,-8.2,398,8234,0.00,2.40,0.00,0.000,6,0.000,0.054,2568,2081,3093
$GC,8551,-0.54,-117.3,396.7,-3.8,414,8552,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2081,3093
$GC,8861,-0.54,-117.3,404.7,-2.2,429,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2082,3092
$GC,9170,-0.54,-117.3,413.0,-3.1,444,9174,0.00,2.65,0.00,0.000,4,0.000,0.068,2569,3557,3093
$GC,9210,-0.54,-117.3,414.6,-4.3,446,9215,0.00,2.65,0.00,0.000,6,0.000,0.053,2569,2067,3092
$GC,9537,-0.54,-117.3,426.2,-2.6,462,9542,0.00,2.75,0.00,0.000,4,0.000,0.067,2569,3563,3093
$GC,9594,-0.54,-117.3,427.6,-3.0,464,9599,0.00,2.62,0.00,0.000,6,0.000,0.052,2569,2066,3092
$GC,9910,-0.61,-117.3,438.5,-2.8,480,9915,0.00,2.72,0.00,0.000,4,0.000,0.067,2569,3564,3092
$GC,9973,-0.61,-117.3,440.9,-4.9,483,9977,0.00,2.62,0.00,0.000,6,0.000,0.053,2569,2089,3091
$GC,10300,-0.94,-117.3,442.4,-0.2,499,10305,0.30,2.42,0.00,0.000,4,0.047,0.067,2485,744,3092
$GC,10559,-1.26,-117.3,442.2,0.8,510,10566,0.28,2.45,0.00,0.000,6,0.044,0.058,2412,2096,3091
$STATE,10666,end dive,NO_VERTICAL_VELOCITY
$STATE,10666,begin apogee
$GC,10673,-0.33,0.0,442.3,0.0,516,10773,0.98,0.00,97.15,1.101,6,0.063,0.000,2628,2096,2620
$STATE,10774,end apogee,CONTROL_FINISHED_OK
$STATE,10774,begin climb
$GC,10777,1.03,117.3,442.2,0.0,521,10883,1.35,2.70,96.50,1.076,4,0.067,0.067,2923,3507,2141
$GC,11025,1.00,127.9,430.9,5.6,532,11041,0.00,2.60,10.40,0.938,6,0.000,0.060,2923,2098,2098
$GC,11362,1.00,127.9,411.2,6.4,549,11367,0.00,2.62,0.00,0.000,4,0.000,0.066,2923,3507,2097
$GC,11447,1.00,127.9,405.6,6.9,553,11452,0.00,2.53,0.00,0.000,6,0.000,0.054,2923,2112,2097
$GC,11775,1.06,167.4,388.0,4.7,569,11814,0.00,0.00,33.28,1.046,6,0.000,0.000,2923,2112,1937
$GC,12123,1.06,167.4,363.6,8.9,586,12125,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2112,1936
$GC,12433,1.06,167.4,339.1,6.7,601,12437,0.00,2.58,0.00,0.000,4,0.000,0.065,2923,3512,1935
$GC,12477,1.06,167.4,336.2,6.4,603,12481,0.00,2.50,0.00,0.000,6,0.000,0.055,2923,2126,1935
$GC,12798,1.31,321.4,329.1,0.7,619,12931,0.25,2.62,125.62,1.033,4,0.040,0.063,2993,3501,1309
$GC,12961,1.32,330.8,321.3,5.7,627,12975,0.00,2.47,9.25,0.873,6,0.000,0.054,2994,2145,1271
$GC,13293,1.26,330.8,297.1,8.6,643,13297,0.00,2.65,0.00,0.000,4,0.000,0.067,2994,689,1273
$GC,13356,1.21,330.8,291.5,8.8,646,13361,0.15,2.65,0.00,0.000,6,0.079,0.055,2962,2147,1272
$GC,13683,1.24,352.7,272.5,5.3,662,13708,0.00,2.53,19.52,0.943,4,0.000,0.062,2962,3515,1182
$GC,13743,1.38,381.0,269.4,5.0,664,13773,0.17,2.50,24.40,0.943,6,0.044,0.053,3012,2144,1066
$GC,14103,1.30,381.0,237.1,10.2,682,14109,0.15,2.65,0.00,0.000,4,0.083,0.066,2977,682,1066
$GC,14166,1.34,381.0,230.8,9.3,685,14171,0.00,2.65,0.00,0.000,6,0.000,0.053,2978,2149,1066
$GC,14493,1.34,381.0,200.7,9.9,701,14495,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2149,1067
$GC,14802,1.34,381.0,166.9,11.5,716,14806,0.00,2.67,0.00,0.000,4,0.000,0.066,2977,686,1067
$GC,14864,1.34,381.0,159.3,12.7,719,14868,0.00,2.58,0.00,0.000,6,0.000,0.052,2977,2133,1067
$GC,15193,1.34,381.0,124.8,9.8,735,15197,0.00,2.47,0.00,0.000,4,0.000,0.061,2977,3512,1067
$GC,15233,1.42,381.0,120.6,10.3,737,15238,0.15,2.50,0.00,0.000,6,0.044,0.052,3021,2116,1067
$GC,15561,1.32,381.0,72.5,16.3,753,15566,0.15,2.58,0.00,0.000,4,0.082,0.065,2986,687,1067
$GC,15601,1.32,381.0,66.0,13.8,755,15606,0.00,2.58,0.00,0.000,6,0.000,0.051,2986,2132,1067
$GC,15928,1.32,381.0,21.9,12.0,771,15932,0.00,2.47,0.00,0.000,4,0.000,0.060,2986,3516,1067
$GC,15973,1.38,381.0,17.8,8.4,773,15977,0.00,2.53,0.00,0.000,6,0.000,0.051,2986,2107,1068
$STATE,16127,end climb,SURFACE_DEPTH_REACHED
$STATE,16127,begin surface coast
$FINISH,-0.0,1.027038
$STATE,16148,end surface coast,CONTROL_FINISHED_OK
$STATE,16149,begin surface
$SM_CCo,16172,96.85,0.787,0,0,390,547.02
$SM_GC,0.39,0.00,0.00,96.85,0.000,0.000,0.787,421,2173,390,-10.48,0.79,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1692
$TCM_TEMP,17.30
$XPDR_PINGS,573
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,23.9,32.339
$10V_AH,10.1,15.699
$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,28.550,179.675,416.125,96.850,0.000,115.938,218.746,135.426,146.500,0.000,0.000,16.272,1488.840,12222.871,699.572,1788.425,785.582,33.362,1620.291,0.000,1752.744,0.000,21.971
$DEVICE_MAMPS,137.293,68.263,1100.645,786.942,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,534.684,577.906,583.310,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38024,782
$CAP_FILE_SIZE,135398,0
$CFSIZE,254472192,241065984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,130708,094408,6214.351,-900.430,37,1.4,37,-9.5