version: 66.03
glider: 5
mission: 3
dive: 133
start: 7 7 108 12 37 36
data:
$ID,5
$MISSION,3
$DIVE,133
$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,-79172.461
$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,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
$GPS1,122927,6140.172,-913.524,39,3.8,59,-9.4
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-46.4
$GPS2,123644,6140.174,-913.617,13,1.8,13,-9.4
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.022,0.102
$KALMAN_X,-33241.4,-78.2,184.9,58564.8,2932.2
$KALMAN_Y,87933.5,-71.2,881.4,-105613.5,-1578.9
$MHEAD_RNG_PITCHd_Wd,357.0,2762,-27.3,-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,-1.87,-28.8,0.0,0.0,0,128,0.00,0.00,-96.22,0.000,6,0.000,0.000,422,2143,2738
$GC,131,-1.92,-60.4,2.2,-1.6,5,154,9.52,2.58,-4.32,0.000,4,0.133,0.067,2276,3562,2866
$GC,407,-1.58,-60.4,35.8,-11.9,17,413,0.38,2.53,0.00,0.000,6,0.110,0.047,2351,2142,2863
$GC,730,-1.48,-60.4,62.1,-6.3,33,734,0.12,2.58,0.00,0.000,4,0.119,0.056,2373,3562,2863
$GC,988,-1.38,-61.0,74.5,-5.9,44,995,0.12,2.38,0.00,0.000,6,0.117,0.047,2395,2191,2863
$GC,1306,-1.41,-75.0,89.0,-4.1,60,1310,0.00,2.45,0.00,0.000,4,0.000,0.058,2395,3562,2863
$GC,1564,-1.41,-75.0,104.7,-7.0,71,1570,0.00,2.33,0.00,0.000,6,0.000,0.047,2395,2225,2863
$GC,1882,-1.41,-75.0,124.5,-6.0,87,1886,0.00,2.40,0.00,0.000,4,0.000,0.059,2395,3564,2863
$GC,2139,-1.41,-75.0,143.5,-6.9,98,2145,0.00,2.30,0.00,0.000,6,0.000,0.048,2395,2242,2862
$GC,2455,-1.41,-75.0,164.1,-6.7,114,2459,0.00,2.38,0.00,0.000,4,0.000,0.061,2395,3565,2862
$GC,2667,-1.41,-75.0,179.4,-7.1,123,2673,0.00,2.30,0.00,0.000,6,0.000,0.047,2395,2241,2862
$GC,2985,-1.41,-75.0,200.3,-6.7,139,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2241,2862
$GC,3292,-1.41,-75.0,220.1,-6.1,154,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2241,2862
$GC,3601,-1.41,-75.0,240.2,-6.5,169,3605,0.00,2.67,0.00,0.000,4,0.000,0.061,2395,761,2862
$GC,3858,-1.41,-75.0,258.4,-7.3,180,3865,0.00,2.67,0.00,0.000,6,0.000,0.052,2395,2258,2861
$GC,4174,-1.41,-75.0,280.3,-7.0,196,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2258,2861
$GC,4484,-1.41,-75.0,302.4,-7.2,211,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2258,2860
$GC,4793,-1.41,-75.0,324.5,-7.0,226,4797,0.00,2.35,0.00,0.000,4,0.000,0.064,2395,3569,2860
$GC,4883,-1.41,-75.0,331.4,-7.7,230,4887,0.00,2.30,0.00,0.000,6,0.000,0.050,2395,2271,2860
$GC,5205,-1.41,-75.0,352.5,-6.2,246,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2253,2860
$GC,5514,-1.41,-77.0,370.9,-5.7,261,5519,0.00,2.67,0.00,0.000,4,0.000,0.062,2395,764,2859
$GC,5705,-1.41,-77.3,382.3,-6.0,269,5711,0.00,2.70,0.00,0.000,6,0.000,0.053,2395,2273,2859
$GC,6022,-1.41,-79.6,400.2,-5.7,285,6026,0.00,2.72,0.00,0.000,4,0.000,0.061,2395,766,2859
$GC,6229,-1.42,-81.2,412.1,-5.8,294,6233,0.00,2.65,0.00,0.000,6,0.000,0.052,2395,2250,2859
$GC,6545,-1.42,-83.5,429.8,-5.7,309,6550,0.00,2.70,0.00,0.000,4,0.000,0.061,2395,763,2859
$GC,6653,-1.42,-83.5,436.4,-6.0,314,6657,0.00,2.62,0.00,0.000,6,0.000,0.053,2395,2238,2858
$GC,6980,-1.42,-87.0,454.5,-5.5,330,6984,0.00,2.38,0.00,0.000,4,0.000,0.066,2396,3561,2858
$GC,7238,-1.43,-89.1,470.0,-5.7,341,7244,0.00,2.30,0.00,0.000,6,0.000,0.052,2395,2244,2859
$GC,7554,-1.44,-98.1,486.6,-4.7,357,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2244,2858
$GC,7863,-1.46,-107.7,501.4,-4.7,372,7867,0.00,2.67,0.00,0.000,4,0.000,0.061,2395,764,2858
$GC,8040,-1.47,-117.3,509.6,-4.5,380,8044,0.00,2.65,0.00,0.000,6,0.000,0.054,2395,2258,2858
$GC,8367,-1.47,-117.3,524.2,-4.4,396,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2258,2858
$GC,8676,-1.47,-117.3,538.0,-4.3,411,8680,0.00,2.33,0.00,0.000,4,0.000,0.067,2395,3561,2857
$GC,8845,-1.47,-117.3,546.8,-5.6,418,8850,0.00,2.33,0.00,0.000,6,0.000,0.053,2395,2255,2857
$GC,9162,-1.47,-117.3,563.6,-5.6,433,9166,0.00,2.65,0.00,0.000,4,0.000,0.061,2395,767,2857
$GC,9418,-1.47,-117.3,577.1,-4.9,444,9424,0.00,2.62,0.00,0.000,6,0.000,0.053,2395,2233,2857
$GC,9735,-1.51,-117.3,592.3,-4.6,460,9740,0.12,2.65,0.00,0.000,4,0.061,0.061,2363,765,2857
$GC,9993,-1.42,-117.3,603.6,-3.5,471,10000,0.12,2.60,0.00,0.000,6,0.115,0.054,2385,2217,2856
$GC,10310,-1.42,-117.3,614.8,-3.5,487,10314,0.00,2.65,0.00,0.000,4,0.000,0.065,2385,767,2856
$GC,10551,-1.42,-117.3,627.5,-6.9,498,10556,0.00,2.62,0.00,0.000,6,0.000,0.054,2385,2232,2856
$GC,10878,-1.42,-117.3,645.5,-5.1,514,10882,0.00,2.40,0.00,0.000,4,0.000,0.067,2385,3564,2856
$GC,11136,-1.42,-117.3,663.3,-8.6,525,11142,0.00,2.35,0.00,0.000,6,0.000,0.051,2385,2223,2856
$GC,11453,-1.42,-117.3,682.9,-5.9,541,11458,0.00,2.65,0.00,0.000,4,0.000,0.064,2385,764,2856
$GC,11712,-1.42,-117.3,693.5,-3.2,552,11718,0.00,2.62,0.00,0.000,6,0.000,0.054,2385,2236,2856
$GC,12028,-1.42,-117.3,700.9,-1.4,568,12032,0.00,2.70,0.00,0.000,4,0.000,0.066,2385,761,2856
$GC,12107,-1.36,-117.3,703.2,-6.7,571,12113,0.00,2.67,0.00,0.000,6,0.000,0.057,2385,2250,2856
$GC,12424,-1.36,-117.3,704.3,3.6,587,12428,0.00,2.72,0.00,0.000,4,0.000,0.066,2385,763,2856
$GC,12682,-1.36,-117.3,704.0,-0.4,598,12688,0.00,2.70,0.00,0.000,6,0.000,0.057,2385,2263,2856
$GC,12998,-1.36,-117.3,705.2,-0.8,614,13002,0.00,2.72,0.00,0.000,4,0.000,0.067,2385,767,2856
$GC,13257,-1.36,-117.3,713.4,0.4,625,13264,0.00,2.70,0.00,0.000,6,0.000,0.058,2385,2266,2855
$GC,13574,-1.36,-117.3,727.8,-5.0,641,13579,0.00,2.75,0.00,0.000,4,0.000,0.068,2385,767,2855
$GC,13832,-1.36,-117.3,736.3,0.1,652,13838,0.00,2.72,0.00,0.000,6,0.000,0.059,2385,2275,2855
$GC,14148,-1.36,-117.3,732.1,3.9,668,14152,0.00,2.75,0.00,0.000,4,0.000,0.068,2385,767,2855
$GC,14407,-1.36,-117.3,731.4,-2.2,679,14413,0.00,2.67,0.00,0.000,6,0.000,0.060,2385,2243,2854
$GC,14724,-1.40,-117.3,744.0,-2.6,695,14725,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2243,2854
$GC,15033,-1.40,-117.3,738.1,4.4,710,15037,0.00,2.72,0.00,0.000,4,0.000,0.072,2385,768,2853
$GC,15291,-1.40,-117.3,732.1,-1.1,721,15297,0.00,2.78,0.00,0.000,6,0.000,0.062,2385,2292,2852
$GC,15607,-1.44,-117.3,734.7,0.9,737,15612,0.00,2.83,0.00,0.000,4,0.000,0.070,2385,763,2852
$GC,15865,-1.44,-117.3,731.6,1.6,748,15871,0.00,2.78,0.00,0.000,6,0.000,0.062,2385,2289,2851
$GC,16182,-1.44,-117.3,732.4,-2.3,764,16186,0.00,2.83,0.00,0.000,4,0.000,0.075,2385,764,2851
$GC,16440,-1.44,-117.3,738.3,1.8,775,16447,0.00,2.80,0.00,0.000,6,0.000,0.064,2385,2299,2851
$GC,16757,-1.44,-117.3,739.8,-5.2,791,16761,0.00,2.85,0.00,0.000,4,0.000,0.075,2385,769,2850
$GC,17014,-1.44,-117.3,751.7,-2.9,802,17020,0.00,2.80,0.00,0.000,6,0.000,0.065,2385,2299,2850
$GC,17330,-1.44,-117.3,757.1,-2.0,818,17335,0.00,2.85,0.00,0.000,4,0.000,0.076,2385,768,2850
$STATE,17405,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,17405,begin apogee
$GC,17415,-0.33,0.0,760.0,3.7,821,17469,1.12,0.00,49.85,1.367,6,0.107,0.000,2618,2100,2620
$STATE,17469,end apogee,CONTROL_FINISHED_OK
$STATE,17469,begin climb
$GC,17472,2.01,117.3,761.4,0.0,824,17583,2.38,2.75,99.93,1.363,4,0.070,0.076,3135,3511,2141
$GC,17606,1.90,117.3,751.0,10.5,830,17610,0.00,2.60,0.00,0.000,6,0.000,0.063,3135,2121,2140
$GC,17922,1.83,117.3,718.6,12.5,845,17927,0.17,2.65,0.00,0.000,4,0.114,0.078,3101,690,2139
$GC,18119,1.83,117.3,688.8,18.4,854,18123,0.00,2.65,0.00,0.000,6,0.000,0.063,3101,2132,2138
$GC,18446,1.88,117.3,635.6,15.1,870,18447,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2132,2138
$GC,18755,1.94,117.3,585.0,16.9,885,18759,0.00,2.50,0.00,0.000,4,0.000,0.068,3101,3512,2137
$GC,18766,1.99,117.3,583.0,17.0,885,18773,0.15,2.53,0.00,0.000,6,0.058,0.054,3137,2119,2137
$GC,19082,1.99,117.3,526.4,17.9,901,19086,0.00,2.58,0.00,0.000,4,0.000,0.064,3137,3519,2137
$GC,19122,1.93,117.3,519.1,17.5,903,19126,0.00,2.47,0.00,0.000,6,0.000,0.051,3137,2133,2138
$GC,19449,1.93,117.3,461.4,17.5,919,19453,0.00,2.55,0.00,0.000,4,0.000,0.063,3137,3519,2138
$GC,19527,1.89,117.3,446.9,19.1,922,19533,0.15,2.47,0.00,0.000,6,0.113,0.052,3111,2146,2138
$GC,19843,1.93,117.3,401.0,13.9,938,19847,0.00,2.53,0.00,0.000,4,0.000,0.063,3111,3519,2139
$GC,19883,1.93,117.3,394.9,14.0,940,19887,0.00,2.42,0.00,0.000,6,0.000,0.051,3111,2161,2138
$GC,20210,1.98,117.3,349.4,14.0,956,20215,0.00,2.47,0.00,0.000,4,0.000,0.061,3111,3513,2139
$GC,20255,1.98,117.3,342.6,13.0,958,20260,0.00,2.42,0.00,0.000,6,0.000,0.051,3111,2164,2139
$GC,20577,2.03,117.3,296.9,14.6,974,20582,0.12,2.45,0.00,0.000,4,0.057,0.061,3145,3514,2140
$GC,20599,2.03,117.3,293.1,17.2,975,20603,0.00,2.40,0.00,0.000,6,0.000,0.050,3146,2169,2139
$GC,20920,2.03,117.3,236.7,18.3,991,20925,0.00,2.45,0.00,0.000,4,0.000,0.060,3146,3518,2141
$GC,20943,1.96,117.3,232.2,17.5,992,20947,0.00,2.38,0.00,0.000,6,0.000,0.049,3146,2182,2141
$GC,21265,1.96,117.3,172.8,19.0,1008,21269,0.00,2.42,0.00,0.000,4,0.000,0.059,3146,3514,2141
$GC,21292,1.91,117.3,167.4,19.8,1009,21297,0.15,2.38,0.00,0.000,6,0.109,0.048,3118,2181,2141
$GC,21609,1.95,117.3,115.3,16.4,1024,21613,0.00,2.42,0.00,0.000,4,0.000,0.060,3118,3513,2142
$GC,21633,1.95,117.3,111.0,18.4,1025,21637,0.00,2.38,0.00,0.000,6,0.000,0.048,3118,2181,2142
$GC,21955,1.99,117.3,56.7,17.1,1041,21960,0.00,2.67,0.00,0.000,4,0.000,0.064,3118,682,2142
$GC,22005,1.99,117.3,47.4,16.8,1043,22010,0.00,2.65,0.00,0.000,6,0.000,0.051,3118,2171,2143
$STATE,22298,end climb,SURFACE_DEPTH_REACHED
$STATE,22298,begin surface coast
$FINISH,0.2,1.013784
$STATE,22320,end surface coast,CONTROL_FINISHED_OK
$STATE,22323,begin surface
$SM_CCo,22345,252.77,0.773,0,0,390,547.02
$SM_GC,0.52,0.00,0.00,252.77,0.000,0.000,0.773,417,2188,390,-10.50,1.07,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1657
$TCM_TEMP,17.50
$XPDR_PINGS,781
$ALTIM_TOP_PING,17.0,16.7
$24V_AH,23.8,27.902
$10V_AH,10.1,13.446
$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,26.225,205.775,149.775,252.775,0.000,37.762,25.669,234.417,202.250,0.000,0.000,12.975,2141.880,16381.232,647.593,3150.482,707.057,33.360,2121.897,0.000,3076.938,0.000,48.725
$DEVICE_MAMPS,133.458,78.234,1366.794,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,725.686,781.536,567.839,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53683,1058
$CAP_FILE_SIZE,183614,0
$CFSIZE,254472192,242716672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,070708,185532,6140.305,-916.767,38,1.7,38,-9.4