version: 66.03
glider: 5
mission: 3
dive: 134
start: 7 7 108 19 2 55
data:
$ID,5
$MISSION,3
$DIVE,134
$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,-79207.625
$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,16
$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
$GPS1,185532,6140.305,-916.767,38,1.7,38,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-45.5
$GPS2,190202,6140.191,-916.745,15,1.2,32,-9.4
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.038,0.097
$KALMAN_X,-34244.7,994.8,-2202.2,58141.1,4326.7
$KALMAN_Y,86163.8,-203.7,-643.9,-102154.0,-196.5
$MHEAD_RNG_PITCHd_Wd,31.0,5264,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.87,-28.8,0.0,0.0,0,126,0.00,0.00,-95.85,0.000,6,0.000,0.000,417,2174,2737
$GC,129,-1.91,-59.1,2.2,-1.8,5,152,9.57,2.55,-4.53,0.000,4,0.133,0.071,2277,3564,2861
$GC,192,-1.60,-59.1,6.3,-7.5,7,199,0.35,2.53,0.00,0.000,6,0.110,0.045,2347,2137,2856
$GC,508,-1.46,-59.1,38.7,-9.8,23,510,0.17,0.00,0.00,0.000,6,0.110,0.000,2378,2135,2856
$GC,817,-1.46,-59.1,63.5,-6.4,38,822,0.00,2.47,0.00,0.000,4,0.000,0.061,2378,753,2856
$GC,1076,-1.39,-59.1,81.9,-7.7,49,1082,0.00,2.53,0.00,0.000,6,0.000,0.048,2378,2174,2856
$GC,1392,-1.39,-59.1,104.4,-6.7,65,1397,0.00,2.58,0.00,0.000,4,0.000,0.061,2378,753,2856
$GC,1570,-1.33,-59.1,114.0,-6.1,73,1575,0.15,2.50,0.00,0.000,6,0.115,0.049,2405,2162,2856
$GC,1900,-1.41,-75.8,128.2,-3.7,89,1905,0.00,2.55,0.00,0.000,4,0.000,0.059,2406,753,2857
$GC,2035,-1.44,-93.9,133.6,-3.5,95,2039,0.00,2.50,0.00,0.000,6,0.000,0.049,2406,2153,2857
$GC,2357,-1.50,-107.0,145.7,-4.2,111,2362,0.15,2.53,0.00,0.000,4,0.054,0.060,2365,3565,2857
$GC,2541,-1.37,-107.0,156.9,-6.7,119,2547,0.17,2.50,0.00,0.000,6,0.107,0.049,2396,2145,2857
$GC,2858,-1.37,-107.3,173.7,-5.9,134,2862,0.00,2.50,0.00,0.000,4,0.000,0.063,2396,748,2856
$GC,2958,-1.37,-107.3,180.5,-6.3,138,2964,0.00,2.50,0.00,0.000,6,0.000,0.051,2396,2146,2856
$GC,3274,-1.37,-107.3,201.4,-6.5,154,3278,0.00,2.55,0.00,0.000,4,0.000,0.061,2396,747,2856
$GC,3352,-1.37,-107.3,207.4,-7.7,157,3358,0.00,2.47,0.00,0.000,6,0.000,0.050,2396,2132,2856
$GC,3668,-1.37,-107.3,230.5,-7.6,173,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2132,2856
$GC,3977,-1.37,-107.3,252.9,-7.3,188,3982,0.00,2.53,0.00,0.000,4,0.000,0.060,2396,743,2856
$GC,4134,-1.37,-107.3,265.6,-8.4,195,4138,0.00,2.47,0.00,0.000,6,0.000,0.051,2396,2125,2856
$GC,4456,-1.37,-107.3,290.3,-7.5,211,4460,0.00,2.58,0.00,0.000,4,0.000,0.063,2396,3564,2856
$GC,4551,-1.37,-107.3,297.8,-7.4,215,4555,0.00,2.58,0.00,0.000,6,0.000,0.049,2395,2114,2855
$GC,4866,-1.37,-107.3,319.4,-6.5,230,4870,0.00,2.42,0.00,0.000,4,0.000,0.063,2395,744,2855
$GC,5029,-1.37,-107.3,330.6,-6.8,237,5034,0.00,2.42,0.00,0.000,6,0.000,0.051,2396,2107,2855
$GC,5351,-1.37,-107.3,352.0,-6.8,253,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2106,2855
$GC,5660,-1.37,-107.3,373.4,-7.1,268,5664,0.00,2.47,0.00,0.000,4,0.000,0.064,2396,740,2855
$GC,5744,-1.37,-107.3,379.7,-7.4,272,5749,0.00,2.45,0.00,0.000,6,0.000,0.052,2396,2117,2855
$GC,6071,-1.37,-107.3,403.5,-7.6,288,6076,0.00,2.60,0.00,0.000,4,0.000,0.064,2396,3563,2855
$GC,6189,-1.37,-107.3,412.7,-7.3,293,6194,0.00,2.58,0.00,0.000,6,0.000,0.051,2396,2114,2855
$GC,6505,-1.37,-107.3,433.2,-6.1,308,6509,0.00,2.62,0.00,0.000,4,0.000,0.063,2396,3553,2855
$GC,6762,-1.37,-108.4,448.4,-5.8,319,6768,0.00,2.53,0.00,0.000,6,0.000,0.051,2396,2119,2854
$GC,7078,-1.38,-111.5,466.3,-5.6,335,7079,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2119,2854
$GC,7387,-1.39,-117.3,482.9,-4.6,350,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2119,2854
$GC,7697,-1.39,-117.3,495.8,-4.1,365,7701,0.00,2.60,0.00,0.000,4,0.000,0.064,2396,3553,2854
$GC,7955,-1.39,-117.3,507.2,-4.5,376,7961,0.00,2.45,0.00,0.000,6,0.000,0.053,2396,2177,2854
$GC,8271,-1.39,-117.3,519.8,-3.7,392,8276,0.00,2.55,0.00,0.000,4,0.000,0.064,2396,753,2854
$GC,8436,-1.39,-117.3,526.6,-3.9,399,8441,0.00,2.50,0.00,0.000,6,0.000,0.052,2396,2150,2854
$GC,8753,-1.39,-117.3,538.6,-3.9,414,8757,0.00,2.53,0.00,0.000,4,0.000,0.064,2396,3558,2853
$GC,8848,-1.39,-117.3,542.9,-4.6,418,8852,0.00,2.50,0.00,0.000,6,0.000,0.053,2396,2151,2853
$GC,9164,-1.39,-117.3,553.8,-3.2,433,9168,0.00,2.50,0.00,0.000,4,0.000,0.063,2396,750,2853
$GC,9376,-1.39,-117.3,561.5,-3.5,442,9382,0.00,2.50,0.00,0.000,6,0.000,0.052,2396,2146,2853
$GC,9693,-1.39,-117.3,572.9,-3.7,458,9697,0.00,2.55,0.00,0.000,4,0.000,0.066,2396,3560,2853
$GC,9951,-1.39,-117.3,584.4,-4.5,469,9957,0.00,2.50,0.00,0.000,6,0.000,0.052,2396,2135,2853
$GC,10267,-1.39,-117.3,598.2,-4.6,485,10268,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2135,2853
$GC,10576,-1.39,-117.3,612.2,-4.1,500,10580,0.00,2.58,0.00,0.000,4,0.000,0.064,2396,3560,2853
$GC,10777,-1.39,-117.3,621.2,-5.4,509,10782,0.00,2.47,0.00,0.000,6,0.000,0.052,2396,2173,2852
$GC,11099,-1.39,-117.3,636.6,-5.0,525,11103,0.00,2.55,0.00,0.000,4,0.000,0.064,2396,748,2852
$GC,11356,-1.39,-117.3,649.0,-4.6,536,11362,0.00,2.50,0.00,0.000,6,0.000,0.054,2396,2145,2852
$GC,11673,-1.39,-117.3,660.8,-3.2,552,11677,0.00,2.55,0.00,0.000,4,0.000,0.066,2396,748,2852
$GC,11879,-1.39,-117.3,666.9,-2.8,561,11883,0.00,2.45,0.00,0.000,6,0.000,0.054,2396,2114,2852
$GC,12196,-1.43,-117.3,676.4,-3.5,576,12200,0.00,2.60,0.00,0.000,4,0.000,0.066,2396,3553,2851
$GC,12453,-1.43,-117.3,686.5,-4.5,587,12459,0.00,2.55,0.00,0.000,6,0.000,0.053,2396,2104,2851
$GC,12770,-1.43,-117.3,695.4,-2.4,603,12774,0.00,2.42,0.00,0.000,4,0.000,0.065,2396,762,2851
$GC,13027,-1.43,-117.3,705.8,-2.5,614,13032,0.00,2.40,0.00,0.000,6,0.000,0.054,2396,2101,2851
$GC,13344,-1.49,-117.3,712.8,-1.9,629,13349,0.00,2.45,0.00,0.000,4,0.000,0.067,2396,762,2851
$GC,13603,-1.53,-117.3,720.1,0.9,640,13610,0.15,2.40,0.00,0.000,6,0.058,0.056,2358,2100,2851
$GC,13920,-1.46,-117.3,723.9,-3.0,656,13925,0.12,2.45,0.00,0.000,4,0.116,0.067,2378,766,2850
$GC,14177,-1.46,-117.3,725.5,-0.8,667,14183,0.00,2.35,0.00,0.000,6,0.000,0.054,2379,2091,2851
$GC,14494,-1.46,-117.3,730.4,-2.2,683,14497,0.00,2.40,0.00,0.000,4,0.000,0.067,2378,762,2850
$GC,14752,-1.46,-117.3,737.1,-1.7,694,14756,0.00,2.40,0.00,0.000,6,0.000,0.055,2378,2096,2850
$GC,15068,-1.46,-117.3,735.5,1.5,709,15072,0.00,2.45,0.00,0.000,4,0.000,0.067,2378,762,2850
$GC,15327,-1.42,-117.3,737.4,-1.6,720,15334,0.00,2.40,0.00,0.000,6,0.000,0.057,2378,2107,2850
$GC,15644,-1.42,-117.3,738.3,0.7,736,15648,0.00,2.45,0.00,0.000,4,0.000,0.067,2378,759,2850
$GC,15903,-1.42,-117.3,742.0,-2.0,747,15908,0.00,2.38,0.00,0.000,6,0.000,0.056,2378,2090,2850
$GC,16219,-1.42,-117.3,747.4,-2.1,763,16223,0.00,2.40,0.00,0.000,4,0.000,0.068,2378,760,2850
$GC,16477,-1.58,-117.3,735.1,9.9,774,16482,0.00,2.35,0.00,0.000,6,0.000,0.058,2378,2060,2849
$GC,16794,-1.58,-117.3,739.8,-5.2,789,16798,0.00,2.40,0.00,0.000,4,0.000,0.069,2378,762,2849
$GC,16811,-1.58,-117.3,741.3,-7.8,790,16815,0.00,2.35,0.00,0.000,6,0.000,0.058,2378,2064,2849
$GC,17141,-1.64,-117.3,763.7,2.0,806,17146,0.15,2.40,0.00,0.000,4,0.061,0.070,2339,765,2848
$GC,17399,-1.64,-117.3,764.0,7.8,817,17405,0.00,2.28,0.00,0.000,6,0.000,0.059,2339,2024,2848
$STATE,17423,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,17423,begin apogee
$GC,17431,-0.33,0.0,760.8,-12.5,819,17486,1.40,0.00,49.53,1.325,6,0.107,0.000,2622,2082,2621
$STATE,17487,end apogee,CONTROL_FINISHED_OK
$STATE,17487,begin climb
$GC,17490,2.01,117.3,758.6,0.0,822,17600,2.35,2.72,99.90,1.327,4,0.065,0.067,3140,3505,2141
$GC,17652,1.78,117.3,735.0,24.2,829,17659,0.28,2.55,0.00,0.000,6,0.117,0.058,3090,2123,2141
$GC,17968,1.84,117.3,692.4,12.0,845,17972,0.00,2.62,0.00,0.000,4,0.000,0.073,3091,686,2140
$GC,18108,1.89,117.3,669.3,14.6,851,18113,0.00,2.60,0.00,0.000,6,0.000,0.060,3090,2108,2139
$GC,18425,1.97,117.3,622.2,14.9,866,18430,0.17,2.55,0.00,0.000,4,0.055,0.067,3132,3508,2139
$GC,18436,2.01,117.3,620.3,14.9,866,18442,0.00,2.53,0.00,0.000,6,0.000,0.054,3133,2114,2138
$GC,18752,2.01,117.3,563.9,18.0,882,18756,0.00,2.60,0.00,0.000,4,0.000,0.065,3132,3517,2138
$GC,18780,1.96,117.3,558.4,19.0,883,18784,0.00,2.53,0.00,0.000,6,0.000,0.053,3132,2119,2138
$GC,19095,1.96,117.3,500.8,19.0,898,19100,0.00,2.58,0.00,0.000,4,0.000,0.063,3132,3514,2138
$GC,19124,1.89,117.3,495.1,22.2,899,19129,0.12,2.50,0.00,0.000,6,0.113,0.051,3112,2121,2138
$GC,19440,1.93,117.3,442.4,15.6,914,19444,0.00,2.55,0.00,0.000,4,0.000,0.063,3112,3509,2139
$GC,19484,1.93,117.3,434.9,16.5,916,19488,0.00,2.45,0.00,0.000,6,0.000,0.051,3112,2140,2139
$GC,19805,1.93,117.3,387.0,14.9,932,19809,0.00,2.53,0.00,0.000,4,0.000,0.061,3112,3517,2139
$GC,19860,1.93,117.3,378.3,15.2,934,19866,0.00,2.45,0.00,0.000,6,0.000,0.051,3112,2150,2139
$GC,20176,1.97,117.3,332.4,14.2,950,20181,0.00,2.47,0.00,0.000,4,0.000,0.061,3112,3511,2139
$GC,20239,1.97,117.3,323.2,14.5,953,20243,0.00,2.40,0.00,0.000,6,0.000,0.050,3112,2162,2139
$GC,20567,2.02,117.3,275.5,14.8,969,20572,0.12,2.45,0.00,0.000,4,0.056,0.060,3145,3512,2140
$GC,20594,1.97,117.3,270.9,17.4,970,20599,0.00,2.40,0.00,0.000,6,0.000,0.050,3145,2169,2140
$GC,20911,1.97,117.3,219.2,16.1,985,20914,0.00,2.45,0.00,0.000,4,0.000,0.060,3145,3512,2140
$GC,20922,1.92,117.3,217.2,16.2,985,20927,0.12,2.40,0.00,0.000,6,0.114,0.049,3122,2169,2140
$GC,21238,1.92,117.3,171.8,14.0,1000,21242,0.00,2.42,0.00,0.000,4,0.000,0.060,3123,3512,2140
$GC,21270,1.92,117.3,166.7,15.2,1001,21276,0.00,2.38,0.00,0.000,6,0.000,0.048,3122,2179,2140
$GC,21587,1.92,117.3,124.7,13.1,1017,21591,0.00,2.42,0.00,0.000,4,0.000,0.059,3122,3519,2141
$GC,21651,1.92,117.3,116.2,11.9,1020,21655,0.00,2.38,0.00,0.000,6,0.000,0.048,3122,2182,2140
$GC,21978,1.92,117.3,72.9,13.3,1036,21983,0.00,2.40,0.00,0.000,4,0.000,0.059,3122,3511,2141
$GC,22056,1.92,117.3,61.8,14.7,1039,22063,0.00,2.33,0.00,0.000,6,0.000,0.048,3122,2203,2141
$GC,22373,1.97,117.3,22.3,14.0,1055,22377,0.00,2.40,0.00,0.000,4,0.000,0.059,3122,3519,2141
$STATE,22500,end climb,SURFACE_DEPTH_REACHED
$STATE,22500,begin surface coast
$FINISH,0.2,1.027001
$STATE,22506,end surface coast,CONTROL_FINISHED_OK
$STATE,22506,begin surface
$SM_CCo,22531,254.15,0.775,0,0,390,547.02
$SM_GC,0.49,0.00,0.00,254.15,0.000,0.000,0.775,417,2139,390,-10.50,-0.31,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1647
$TCM_TEMP,19.30
$XPDR_PINGS,930
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,751.1,101.0
$24V_AH,23.8,28.057
$10V_AH,10.1,13.559
$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,27.275,223.675,149.425,254.150,0.000,37.760,31.832,163.328,239.250,0.000,0.000,34.535,2150.713,16551.389,655.826,3159.011,653.093,33.347,2142.041,0.000,3070.135,0.000,46.064
$DEVICE_MAMPS,133.458,85.137,1326.910,774.670,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,726.953,786.539,596.883,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53686,1061
$CAP_FILE_SIZE,189787,0
$CFSIZE,254472192,242622464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,080708,012401,6140.835,-915.634,41,1.6,41,-9.4