version: 66.03
glider: 5
mission: 3
dive: 240
start: 7 30 108 8 31 51
data:
$ID,5
$MISSION,3
$DIVE,240
$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,-81114.219
$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,27
$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,0
$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
$GPS1,082438,6224.899,-1027.900,29,1.4,29,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-48.2
$GPS2,083057,6224.897,-1027.777,15,1.7,15,-10.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.132,0.178
$KALMAN_X,-47079.0,831.6,1103.5,67448.2,166.6
$KALMAN_Y,-21665.8,565.2,1095.8,48937.5,-9087.5
$MHEAD_RNG_PITCHd_Wd,46.9,61591,-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,-117.3,0.0,0.0,0,136,0.00,0.00,-108.97,0.000,6,0.000,0.000,418,2182,3099
$GC,140,-1.30,-117.3,2.4,-1.9,5,154,10.40,0.00,0.00,0.000,6,0.141,0.000,2410,2183,3098
$GC,479,-0.99,-117.3,58.3,-15.9,22,484,0.32,2.60,0.00,0.000,4,0.096,0.055,2481,750,3097
$GC,574,-0.87,-117.3,71.3,-12.8,26,579,0.12,2.53,0.00,0.000,6,0.095,0.048,2507,2163,3097
$GC,891,-0.87,-117.3,103.6,-8.4,41,895,0.00,2.47,0.00,0.000,4,0.000,0.057,2507,3556,3097
$GC,954,-0.83,-117.3,108.6,-7.6,44,958,0.00,2.53,0.00,0.000,6,0.000,0.046,2506,2127,3097
$GC,1281,-0.83,-117.3,127.8,-5.3,60,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2107,3098
$GC,1591,-0.83,-117.3,147.0,-6.9,75,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2107,3098
$GC,1899,-0.83,-117.3,171.5,-8.1,90,1903,0.00,2.60,0.00,0.000,4,0.000,0.059,2507,3553,3098
$GC,2007,-0.79,-117.3,180.5,-8.0,95,2012,0.10,2.55,0.00,0.000,6,0.100,0.049,2526,2118,3098
$GC,2336,-0.83,-117.3,203.6,-6.8,111,2341,0.00,2.45,0.00,0.000,4,0.000,0.060,2526,748,3098
$GC,2422,-0.83,-117.3,210.0,-7.4,115,2426,0.00,2.45,0.00,0.000,6,0.000,0.051,2526,2118,3098
$GC,2750,-0.87,-117.3,232.7,-6.8,131,2754,0.00,2.58,0.00,0.000,4,0.000,0.061,2526,3553,3097
$GC,2834,-0.87,-117.3,239.1,-7.1,135,2839,0.00,2.55,0.00,0.000,6,0.000,0.051,2526,2121,3097
$GC,3163,-0.92,-117.3,262.2,-7.3,151,3168,0.12,2.47,0.00,0.000,4,0.052,0.061,2488,738,3097
$GC,3263,-0.84,-117.3,271.5,-9.6,155,3270,0.12,2.47,0.00,0.000,6,0.096,0.051,2514,2118,3097
$GC,3581,-0.84,-117.3,296.5,-7.8,171,3585,0.00,2.58,0.00,0.000,4,0.000,0.062,2514,3554,3097
$GC,3647,-0.84,-117.3,302.4,-8.4,174,3651,0.00,2.58,0.00,0.000,6,0.000,0.051,2514,2114,3096
$GC,3969,-0.84,-117.3,326.6,-7.8,190,3973,0.00,2.45,0.00,0.000,4,0.000,0.062,2514,742,3096
$GC,4064,-0.84,-117.3,334.7,-8.8,194,4068,0.00,2.45,0.00,0.000,6,0.000,0.051,2514,2114,3096
$GC,4380,-0.84,-117.3,359.8,-7.7,209,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2114,3096
$GC,4690,-0.84,-117.3,382.2,-6.9,224,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2113,3095
$GC,4999,-0.84,-117.3,403.5,-7.3,239,5003,0.00,2.50,0.00,0.000,4,0.000,0.061,2514,735,3095
$GC,5129,-0.84,-117.3,413.4,-7.9,245,5133,0.00,2.45,0.00,0.000,6,0.000,0.051,2514,2108,3095
$GC,5458,-0.84,-117.3,436.6,-6.8,261,5462,0.00,2.60,0.00,0.000,4,0.000,0.064,2514,3553,3095
$GC,5558,-0.84,-117.3,443.7,-6.8,265,5565,0.00,2.58,0.00,0.000,6,0.000,0.051,2514,2114,3094
$GC,5876,-0.84,-117.3,465.0,-7.0,281,5880,0.00,2.45,0.00,0.000,4,0.000,0.061,2514,743,3094
$GC,6021,-0.84,-117.3,476.3,-8.1,287,6027,0.00,2.47,0.00,0.000,6,0.000,0.054,2514,2116,3094
$GC,6337,-0.84,-117.3,496.5,-5.3,303,6341,0.00,2.50,0.00,0.000,4,0.000,0.063,2514,750,3093
$GC,6483,-0.84,-117.3,504.6,-5.7,309,6489,0.00,2.40,0.00,0.000,6,0.000,0.054,2514,2078,3093
$GC,6799,-0.84,-117.3,521.0,-5.7,325,6800,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2079,3093
$GC,7109,-0.88,-117.3,539.3,-6.1,340,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2079,3093
$GC,7418,-0.88,-117.3,559.4,-6.5,355,7422,0.00,2.70,0.00,0.000,4,0.000,0.070,2514,3560,3092
$GC,7548,-0.88,-117.3,568.9,-6.9,361,7553,0.00,2.60,0.00,0.000,6,0.000,0.056,2514,2109,3091
$GC,7878,-0.93,-117.3,590.9,-6.5,377,7882,0.00,2.47,0.00,0.000,4,0.000,0.067,2514,741,3091
$GC,8062,-0.93,-117.3,603.1,-6.8,385,8066,0.00,2.45,0.00,0.000,6,0.000,0.060,2514,2080,3091
$GC,8384,-0.98,-117.3,621.5,-5.2,401,8386,0.12,0.00,0.00,0.000,6,0.058,0.000,2478,2080,3091
$GC,8693,-0.91,-117.3,641.1,-6.6,416,8695,0.10,0.00,0.00,0.000,6,0.103,0.000,2498,2081,3090
$GC,9003,-0.91,-117.3,660.6,-6.2,431,9007,0.00,2.50,0.00,0.000,4,0.000,0.077,2497,741,3089
$STATE,9017,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9017,begin apogee
$GC,9027,-0.33,0.0,661.8,6.5,432,9129,0.60,0.00,99.18,1.298,6,0.087,0.000,2623,2095,2620
$STATE,9130,end apogee,CONTROL_FINISHED_OK
$STATE,9130,begin climb
$GC,9133,1.30,117.3,664.7,0.0,437,9241,1.67,2.70,99.57,1.267,4,0.072,0.074,2980,3507,2140
$GC,9269,1.25,117.3,655.4,9.8,443,9275,0.00,2.62,0.00,0.000,6,0.000,0.064,2980,2105,2140
$GC,9586,1.25,117.3,626.9,8.9,459,9590,0.00,2.65,0.00,0.000,4,0.000,0.075,2980,3508,2138
$GC,9619,1.20,117.3,623.8,8.6,460,9625,0.00,2.60,0.00,0.000,6,0.000,0.064,2980,2107,2138
$GC,9935,1.20,117.3,595.8,8.5,476,9939,0.00,2.62,0.00,0.000,4,0.000,0.076,2980,3508,2138
$GC,9979,1.16,117.3,591.7,9.8,478,9984,0.15,2.60,0.00,0.000,6,0.097,0.064,2952,2107,2137
$GC,10302,1.25,139.3,569.0,7.0,494,10326,0.00,2.70,19.02,1.195,4,0.000,0.072,2952,3507,2052
$GC,10390,1.34,159.2,562.5,7.1,498,10415,0.17,2.55,18.65,1.191,6,0.054,0.061,2998,2131,1970
$GC,10745,1.34,159.2,528.3,9.4,515,10749,0.00,2.60,0.00,0.000,4,0.000,0.074,2998,3508,1967
$GC,10772,1.29,159.2,525.1,10.4,516,10777,0.00,2.55,0.00,0.000,6,0.000,0.061,2998,2128,1967
$GC,11089,1.29,159.2,493.2,9.6,531,11093,0.00,2.60,0.00,0.000,4,0.000,0.071,2997,3514,1966
$GC,11156,1.29,159.2,486.4,9.9,534,11160,0.00,2.53,0.00,0.000,6,0.000,0.058,2998,2136,1966
$GC,11477,1.29,159.2,456.2,9.8,550,11481,0.00,2.55,0.00,0.000,4,0.000,0.069,2998,3508,1967
$GC,11495,1.29,159.2,454.4,9.8,551,11499,0.00,2.47,0.00,0.000,6,0.000,0.057,2998,2150,1966
$GC,11821,1.29,159.2,421.3,10.5,567,11822,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2138,1966
$GC,12131,1.29,159.2,391.5,9.3,582,12135,0.00,2.53,0.00,0.000,4,0.000,0.066,2998,3515,1966
$GC,12171,1.29,159.2,387.7,9.5,584,12175,0.00,2.45,0.00,0.000,6,0.000,0.054,2998,2164,1966
$GC,12497,1.29,159.2,356.2,9.7,600,12501,0.00,2.47,0.00,0.000,4,0.000,0.064,2998,3509,1967
$GC,12507,1.29,159.2,355.1,10.0,600,12511,0.00,2.40,0.00,0.000,6,0.000,0.053,2998,2173,1966
$GC,12824,1.29,159.2,322.4,10.6,615,12828,0.00,2.45,0.00,0.000,4,0.000,0.064,2998,3509,1967
$GC,12873,1.29,159.2,316.7,11.1,617,12877,0.00,2.38,0.00,0.000,6,0.000,0.051,2998,2190,1967
$GC,13194,1.29,159.2,283.0,10.5,633,13198,0.00,2.42,0.00,0.000,4,0.000,0.062,2998,3517,1968
$GC,13221,1.29,159.2,280.0,10.5,634,13225,0.00,2.38,0.00,0.000,6,0.000,0.050,2998,2191,1968
$GC,13538,1.29,159.2,246.6,10.2,649,13542,0.00,2.40,0.00,0.000,4,0.000,0.061,2998,3510,1967
$GC,13559,1.29,159.2,244.1,11.1,650,13563,0.00,2.35,0.00,0.000,6,0.000,0.049,2998,2199,1968
$GC,13880,1.29,159.2,213.7,9.1,666,13884,0.00,2.40,0.00,0.000,4,0.000,0.060,2998,3514,1968
$GC,13897,1.29,159.2,212.1,9.2,666,13902,0.00,2.35,0.00,0.000,6,0.000,0.050,2998,2205,1968
$GC,14212,1.29,159.2,184.6,8.2,682,14213,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2205,1969
$GC,14521,1.29,159.2,157.8,9.4,697,14525,0.00,2.35,0.00,0.000,4,0.000,0.060,2998,3510,1969
$GC,14545,1.29,159.2,155.6,9.2,698,14549,0.00,2.33,0.00,0.000,6,0.000,0.049,2998,2205,1969
$GC,14872,1.29,159.2,127.3,8.6,714,14873,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2205,1969
$GC,15182,1.29,159.2,96.6,10.3,729,15184,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2203,1970
$GC,15491,1.29,159.2,65.8,10.2,744,15492,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2201,1970
$GC,15800,1.29,159.2,37.1,8.7,759,15804,0.00,2.70,0.00,0.000,4,0.000,0.061,2998,690,1971
$GC,15810,1.29,159.2,36.1,8.7,759,15816,0.00,2.67,0.00,0.000,6,0.000,0.050,2998,2200,1971
$GC,16126,1.29,159.2,10.3,8.3,775,16130,0.00,2.75,0.00,0.000,4,0.000,0.059,2998,683,1971
$GC,16148,1.29,159.2,8.0,10.5,776,16152,0.00,2.67,0.00,0.000,6,0.000,0.048,2998,2192,1971
$STATE,16219,end climb,SURFACE_DEPTH_REACHED
$STATE,16219,begin surface coast
$FINISH,0.0,1.013130
$STATE,16241,end surface coast,CONTROL_FINISHED_OK
$STATE,16241,begin surface
$SM_CCo,16264,230.15,0.771,0,0,390,547.02
$SM_GC,0.52,0.00,0.00,230.15,0.000,0.000,0.771,420,2126,390,-10.48,-0.74,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1671
$TCM_TEMP,17.80
$XPDR_PINGS,404
$ALTIM_TOP_PING,18.8,999.0
$ALTIM_BOTTOM_PING,575.9,95.9
$24V_AH,23.8,46.409
$10V_AH,10.1,22.586
$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,25.125,156.425,236.425,230.150,0.000,37.760,55.009,152.620,106.000,0.000,0.000,15.519,1488.737,12369.021,651.303,1801.971,562.228,33.384,1551.911,0.000,1759.864,0.000,35.075
$DEVICE_MAMPS,141.128,76.700,1297.764,770.835,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,535.951,573.838,485.779,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41131,781
$CAP_FILE_SIZE,127787,0
$CFSIZE,254472192,235937792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,300708,130808,6225.167,-1023.723,43,1.0,43,-10.3