version: 66.03
glider: 5
mission: 3
dive: 197
start: 7 19 108 6 57 2
data:
$ID,5
$MISSION,3
$DIVE,197
$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,412.5
$T_MISSION,440
$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,-80272.328
$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,22
$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
$GPS1,065026,6143.237,-926.895,44,1.2,44,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-51.5
$GPS2,065609,6143.213,-926.910,14,1.2,14,-9.5
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.221,0.015
$KALMAN_X,-9190.2,-694.0,-376.4,-9538.9,-6835.1
$KALMAN_Y,10975.4,310.2,55.9,-56080.8,45.4
$MHEAD_RNG_PITCHd_Wd,95.7,14566,-16.7,-8.000
$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,-1.30,-117.3,0.0,0.0,0,139,0.00,0.00,-112.03,0.000,6,0.000,0.000,419,2136,3099
$GC,143,-1.30,-117.3,1.8,-1.3,5,159,10.38,2.50,0.00,0.000,4,0.140,0.054,2410,742,3098
$GC,355,-0.95,-117.3,32.7,-11.6,13,362,0.40,2.53,0.00,0.000,6,0.095,0.048,2491,2162,3096
$GC,674,-0.88,-117.3,52.4,-3.9,29,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2162,3097
$GC,981,-0.79,-117.3,56.1,-0.9,44,986,0.15,2.58,0.00,0.000,4,0.094,0.056,2526,743,3097
$GC,1009,-0.79,-117.3,56.5,-1.0,45,1013,0.00,2.53,0.00,0.000,6,0.000,0.048,2526,2154,3097
$GC,1326,-0.79,-117.3,62.2,-1.6,60,1330,0.00,2.58,0.00,0.000,4,0.000,0.058,2526,738,3097
$GC,1388,-0.79,-117.3,64.1,-2.8,63,1393,0.00,2.53,0.00,0.000,6,0.000,0.049,2526,2151,3097
$GC,1716,-0.79,-117.3,78.5,-5.3,79,1720,0.00,2.58,0.00,0.000,4,0.000,0.059,2527,738,3097
$GC,1828,-0.79,-117.3,86.4,-7.1,84,1832,0.00,2.50,0.00,0.000,6,0.000,0.048,2527,2138,3097
$GC,2149,-0.79,-117.3,113.1,-9.8,100,2153,0.00,2.55,0.00,0.000,4,0.000,0.059,2526,737,3097
$GC,2407,-0.83,-117.3,150.0,-14.5,111,2414,0.00,2.42,0.00,0.000,6,0.000,0.048,2527,2100,3097
$GC,2723,-0.87,-117.3,184.7,-9.9,127,2728,0.00,2.45,0.00,0.000,4,0.000,0.060,2526,744,3097
$GC,2819,-0.87,-117.3,194.1,-9.5,131,2823,0.00,2.40,0.00,0.000,6,0.000,0.050,2527,2085,3097
$GC,3136,-0.92,-117.3,218.3,-6.6,146,3141,0.12,2.45,0.00,0.000,4,0.051,0.059,2488,742,3097
$GC,3169,-0.83,-117.3,220.6,-6.9,147,3176,0.12,2.42,0.00,0.000,6,0.097,0.051,2514,2093,3097
$GC,3486,-0.83,-117.3,237.4,-4.6,163,3490,0.00,2.62,0.00,0.000,4,0.000,0.062,2514,3556,3096
$GC,3526,-0.83,-117.3,239.4,-5.5,165,3530,0.00,2.60,0.00,0.000,6,0.000,0.048,2514,2085,3097
$GC,3854,-0.83,-117.3,252.6,-3.6,181,3858,0.00,2.67,0.00,0.000,4,0.000,0.061,2514,3553,3096
$GC,3876,-0.83,-117.3,253.6,-3.8,182,3880,0.00,2.60,0.00,0.000,6,0.000,0.048,2514,2090,3096
$GC,4197,-0.83,-117.3,262.9,-2.9,198,4201,0.00,2.67,0.00,0.000,4,0.000,0.061,2514,3556,3096
$GC,4275,-0.83,-117.3,265.8,-4.0,201,4281,0.00,2.60,0.00,0.000,6,0.000,0.048,2514,2091,3095
$GC,4591,-0.83,-117.3,278.7,-5.2,217,4596,0.00,2.67,0.00,0.000,4,0.000,0.061,2514,3557,3095
$GC,4619,-0.83,-117.3,280.2,-5.8,218,4624,0.00,2.58,0.00,0.000,6,0.000,0.050,2514,2113,3095
$GC,4936,-0.83,-117.3,297.4,-5.8,233,4940,0.00,2.62,0.00,0.000,4,0.000,0.061,2514,3560,3095
$GC,4958,-0.83,-117.3,298.6,-5.2,234,4962,0.00,2.60,0.00,0.000,6,0.000,0.051,2514,2106,3095
$GC,5279,-0.83,-117.3,316.0,-5.4,250,5283,0.00,2.45,0.00,0.000,4,0.000,0.066,2513,745,3095
$GC,5307,-0.83,-117.3,318.0,-6.5,251,5311,0.00,2.42,0.00,0.000,6,0.000,0.053,2514,2097,3095
$GC,5635,-0.83,-117.3,335.2,-5.9,267,5639,0.00,2.47,0.00,0.000,4,0.000,0.064,2514,744,3095
$GC,5690,-0.83,-117.3,338.9,-7.0,269,5696,0.00,2.42,0.00,0.000,6,0.000,0.053,2514,2091,3095
$GC,6007,-0.83,-117.3,355.6,-4.6,285,6011,0.00,2.65,0.00,0.000,4,0.000,0.064,2514,3560,3095
$GC,6051,-0.83,-117.3,358.6,-6.5,287,6055,0.00,2.65,0.00,0.000,6,0.000,0.053,2514,2080,3094
$GC,6373,-0.83,-117.3,375.3,-5.0,303,6378,0.00,2.70,0.00,0.000,4,0.000,0.064,2514,3560,3094
$GC,6418,-0.83,-117.3,378.0,-6.3,305,6422,0.00,2.62,0.00,0.000,6,0.000,0.051,2514,2092,3094
$GC,6740,-0.83,-117.3,397.5,-6.2,321,6744,0.00,2.65,0.00,0.000,4,0.000,0.062,2514,3553,3094
$GC,6785,-0.83,-117.3,400.7,-7.4,323,6789,0.00,2.58,0.00,0.000,6,0.000,0.051,2514,2106,3094
$GC,7106,-0.83,-117.3,422.2,-6.8,339,7110,0.00,2.62,0.00,0.000,4,0.000,0.064,2514,3553,3094
$GC,7160,-0.83,-117.3,426.4,-8.1,341,7166,0.00,2.55,0.00,0.000,6,0.000,0.051,2514,2122,3093
$GC,7477,-0.83,-117.3,447.4,-6.7,357,7478,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2105,3093
$GC,7786,-0.83,-117.3,468.2,-7.0,372,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2106,3093
$GC,8095,-0.83,-117.3,493.1,-8.4,387,8099,0.00,2.47,0.00,0.000,4,0.000,0.064,2514,746,3093
$GC,8135,-0.83,-117.3,496.5,-8.7,389,8139,0.00,2.47,0.00,0.000,6,0.000,0.053,2514,2128,3093
$GC,8461,-0.83,-117.3,523.5,-8.1,405,8466,0.00,2.58,0.00,0.000,4,0.000,0.065,2514,3556,3093
$GC,8506,-0.83,-117.3,527.0,-8.3,407,8510,0.00,2.58,0.00,0.000,6,0.000,0.053,2514,2118,3093
$GC,8828,-0.83,-117.3,550.2,-7.6,423,8832,0.00,2.45,0.00,0.000,4,0.000,0.062,2513,748,3093
$GC,9030,-0.83,-117.3,567.4,-8.3,432,9034,0.00,2.42,0.00,0.000,6,0.000,0.054,2514,2094,3092
$GC,9352,-0.83,-117.3,592.2,-6.6,448,9356,0.00,2.65,0.00,0.000,4,0.000,0.067,2514,3557,3093
$GC,9610,-0.83,-117.3,612.8,-7.5,459,9616,0.00,2.60,0.00,0.000,6,0.000,0.053,2514,2101,3092
$GC,9927,-0.88,-117.3,629.3,-5.1,475,9931,0.00,2.45,0.00,0.000,4,0.000,0.066,2514,741,3092
$GC,10117,-0.88,-117.3,640.4,-6.5,483,10124,0.00,2.40,0.00,0.000,6,0.000,0.058,2514,2072,3092
$GC,10433,-0.93,-117.3,665.1,-8.4,499,10437,0.00,2.45,0.00,0.000,4,0.000,0.069,2514,745,3092
$GC,10692,-0.93,-117.3,687.7,-8.6,510,10698,0.00,2.35,0.00,0.000,6,0.000,0.060,2514,2038,3092
$GC,11009,-0.93,-117.3,710.5,-7.0,526,11013,0.00,2.42,0.00,0.000,4,0.000,0.076,2514,750,3091
$GC,11266,-0.93,-117.3,728.9,-6.0,537,11272,0.00,2.33,0.00,0.000,6,0.000,0.064,2514,2011,3091
$GC,11583,-1.02,-117.3,747.0,-5.6,553,11588,0.15,2.85,0.00,0.000,4,0.056,0.081,2468,3553,3090
$GC,11668,-0.90,-117.3,753.8,-9.2,557,11674,0.17,2.80,0.00,0.000,6,0.102,0.067,2503,2026,3090
$GC,11996,-0.90,-117.3,755.8,-0.3,573,12000,0.00,2.90,0.00,0.000,4,0.000,0.084,2502,3553,3089
$GC,12036,-0.90,-117.3,756.2,0.1,575,12041,0.00,2.83,0.00,0.000,6,0.000,0.067,2502,2018,3089
$GC,12363,-0.90,-117.3,769.3,-5.8,591,12368,0.00,2.38,0.00,0.000,4,0.000,0.085,2502,748,3087
$GC,12471,-0.90,-117.3,777.2,-10.2,596,12475,0.00,2.35,0.00,0.000,6,0.000,0.072,2503,2006,3087
$GC,12799,-0.90,-117.3,813.4,-6.6,612,12804,0.00,2.90,0.00,0.000,4,0.000,0.087,2502,3552,3085
$GC,12885,-0.90,-117.3,816.2,-0.5,616,12889,0.00,2.80,0.00,0.000,6,0.000,0.074,2502,2042,3084
$STATE,13208,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13208,begin apogee
$GC,13216,-0.33,0.0,827.4,5.6,632,13319,0.60,0.00,100.22,1.477,6,0.097,0.000,2625,2105,2620
$STATE,13320,end apogee,CONTROL_FINISHED_OK
$STATE,13320,begin climb
$GC,13323,1.30,117.3,827.4,0.0,637,13433,1.67,2.83,101.65,1.435,4,0.072,0.086,2982,693,2140
$GC,13529,1.24,117.3,806.5,11.1,647,13534,0.00,2.65,0.00,0.000,6,0.000,0.074,2981,2093,2139
$GC,13851,1.26,165.1,775.0,5.8,663,13900,0.00,2.75,41.62,1.393,4,0.000,0.082,2982,3512,1945
$GC,14008,1.26,165.1,762.1,9.0,670,14013,0.00,2.62,0.00,0.000,6,0.000,0.074,2981,2129,1944
$GC,14335,1.26,165.1,730.4,9.6,686,14336,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2100,1943
$GC,14644,1.33,212.0,707.8,5.9,701,14690,0.00,2.75,40.78,1.391,4,0.000,0.084,2982,3513,1755
$GC,14731,1.46,287.3,703.7,4.6,705,14802,0.15,2.60,64.65,1.383,6,0.059,0.073,3020,2149,1448
$GC,15113,1.51,320.2,678.9,6.5,723,15144,0.00,0.00,29.55,1.333,6,0.000,0.000,3020,2136,1314
$GC,15442,1.45,320.2,644.8,11.6,739,15443,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2137,1314
$GC,15751,1.45,320.2,614.8,10.8,754,15755,0.00,2.67,0.00,0.000,4,0.000,0.076,3020,682,1315
$GC,15791,1.45,320.2,610.2,11.9,756,15796,0.00,2.72,0.00,0.000,6,0.000,0.064,3020,2165,1315
$GC,16118,1.45,320.2,574.5,11.0,772,16119,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2165,1315
$GC,16427,1.45,320.2,536.7,12.2,787,16432,0.00,2.72,0.00,0.000,4,0.000,0.069,3020,681,1315
$GC,16449,1.45,320.2,533.9,13.8,788,16454,0.00,2.70,0.00,0.000,6,0.000,0.058,3020,2164,1315
$GC,16771,1.45,320.2,493.9,12.7,804,16772,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2165,1316
$GC,17080,1.45,320.2,455.1,12.4,819,17084,0.00,2.72,0.00,0.000,4,0.000,0.067,3020,678,1317
$GC,17097,1.45,320.2,452.7,13.6,820,17101,0.00,2.62,0.00,0.000,6,0.000,0.055,3020,2147,1317
$GC,17424,1.45,320.2,411.6,12.2,836,17428,0.00,2.45,0.00,0.000,4,0.000,0.064,3020,3510,1318
$GC,17446,1.45,320.2,408.6,11.9,837,17450,0.00,2.50,0.00,0.000,6,0.000,0.052,3020,2123,1318
$GC,17767,1.45,320.2,367.3,13.4,853,17768,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2124,1318
$GC,18076,1.45,320.2,327.8,11.8,868,18080,0.00,2.53,0.00,0.000,4,0.000,0.062,3020,3510,1319
$GC,18103,1.45,320.2,324.5,13.4,869,18107,0.00,2.45,0.00,0.000,6,0.000,0.051,3020,2145,1319
$GC,18419,1.45,320.2,292.2,9.6,884,18420,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2145,1320
$GC,18727,1.45,320.2,263.2,9.7,899,18732,0.00,2.47,0.00,0.000,4,0.000,0.060,3020,3510,1321
$GC,18755,1.45,320.2,260.4,10.7,900,18759,0.00,2.42,0.00,0.000,6,0.000,0.049,3020,2153,1321
$GC,19071,1.45,320.2,224.0,14.0,915,19075,0.00,2.60,0.00,0.000,4,0.000,0.062,3020,690,1321
$GC,19098,1.45,320.2,219.5,15.3,916,19103,0.00,2.62,0.00,0.000,6,0.000,0.053,3020,2160,1322
$GC,19414,1.45,320.2,178.4,9.9,931,19415,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2160,1322
$GC,19723,1.45,320.2,154.3,8.0,946,19725,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2160,1322
$GC,20034,1.45,320.2,129.8,8.3,961,20039,0.00,0.00,3.53,0.553,6,0.000,0.000,3020,2160,1314
$GC,20344,1.45,320.2,102.2,9.2,976,20348,0.00,2.67,0.00,0.000,4,0.000,0.063,3020,691,1314
$GC,20371,1.45,320.2,99.3,11.0,977,20375,0.00,2.60,0.00,0.000,6,0.000,0.052,3020,2150,1314
$GC,20688,1.45,320.2,71.0,8.9,992,20689,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2150,1315
$GC,20996,1.45,320.2,40.1,11.3,1007,21000,0.00,2.42,0.00,0.000,4,0.000,0.058,3020,3512,1315
$GC,21018,1.45,320.2,37.5,11.5,1008,21023,0.00,2.45,0.00,0.000,6,0.000,0.050,3020,2142,1316
$STATE,21318,end climb,SURFACE_DEPTH_REACHED
$STATE,21318,begin surface coast
$FINISH,-0.0,1.017232
$STATE,21341,end surface coast,CONTROL_FINISHED_OK
$STATE,21341,begin surface
$SM_CCo,21364,133.93,0.787,0,0,390,547.02
$SM_GC,0.43,0.00,0.00,133.93,0.000,0.000,0.787,421,2178,390,-10.48,0.79,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1706
$TCM_TEMP,17.50
$XPDR_PINGS,575
$ALTIM_TOP_PING,19.9,19.4
$ALTIM_BOTTOM_PING,750.4,109.1
$24V_AH,23.7,38.471
$10V_AH,10.1,18.349
$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,25.175,211.250,382.000,133.925,0.000,37.762,25.872,148.974,150.500,0.000,0.000,14.333,1943.874,16110.285,711.326,2465.755,607.800,33.369,1939.486,0.000,2410.785,0.000,46.042
$DEVICE_MAMPS,139.594,105.079,1477.242,786.942,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,703.518,763.909,609.601,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53783,1024
$CAP_FILE_SIZE,167148,0
$CFSIZE,254472192,239075328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,190708,125650,6144.283,-926.058,38,1.6,50,-9.5