version: 66.03
glider: 5
mission: 3
dive: 241
start: 7 30 108 13 14 24
data:
$ID,5
$MISSION,3
$DIVE,241
$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,-81127.383
$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,37
$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
$GPS1,130808,6225.167,-1023.723,43,1.0,43,-10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-53.7
$GPS2,131333,6225.130,-1023.751,12,1.0,12,-10.3
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.113,0.191
$KALMAN_X,-43787.8,-108.2,-1002.5,70709.9,6262.4
$KALMAN_Y,-24451.2,1024.6,-192.8,52980.1,-7277.6
$MHEAD_RNG_PITCHd_Wd,40.9,59077,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.30,-117.3,0.0,0.0,0,139,0.00,0.00,-109.70,0.000,6,0.000,0.000,421,2112,3099
$GC,143,-1.30,-117.3,2.3,-1.7,5,159,10.38,2.60,0.00,0.000,4,0.141,0.054,2406,3568,3098
$GC,261,-0.97,-117.3,23.0,-15.3,9,266,0.40,2.50,0.00,0.000,6,0.096,0.045,2488,2161,3098
$GC,577,-0.87,-117.3,52.8,-9.0,24,582,0.10,2.53,0.00,0.000,4,0.100,0.056,2509,745,3098
$GC,779,-0.81,-117.3,69.1,-7.0,33,783,0.00,2.53,0.00,0.000,6,0.000,0.048,2509,2159,3097
$GC,1100,-0.81,-117.3,93.3,-7.5,49,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2157,3098
$GC,1410,-0.81,-117.3,118.3,-8.2,64,1414,0.00,2.58,0.00,0.000,4,0.000,0.058,2509,741,3098
$GC,1555,-0.81,-117.3,131.7,-9.6,70,1562,0.00,2.50,0.00,0.000,6,0.000,0.049,2509,2142,3098
$GC,1871,-0.81,-117.3,159.5,-8.6,86,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2141,3098
$GC,2181,-0.81,-117.3,185.3,-8.2,101,2185,0.00,2.55,0.00,0.000,4,0.000,0.061,2509,748,3098
$GC,2326,-0.81,-117.3,197.7,-8.3,107,2332,0.00,2.50,0.00,0.000,6,0.000,0.050,2509,2140,3098
$GC,2643,-0.81,-117.3,221.1,-7.0,123,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2140,3098
$GC,2951,-0.81,-117.3,240.6,-5.8,138,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2140,3098
$GC,3261,-0.81,-117.3,257.6,-5.5,153,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2140,3097
$GC,3571,-0.81,-117.3,277.7,-6.8,168,3575,0.00,2.55,0.00,0.000,4,0.000,0.062,2509,748,3097
$GC,3656,-0.81,-117.3,284.2,-7.9,172,3660,0.00,2.47,0.00,0.000,6,0.000,0.051,2509,2129,3097
$GC,3983,-0.81,-117.3,309.0,-7.7,188,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2129,3096
$GC,4292,-0.81,-117.3,332.3,-7.5,203,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2129,3097
$GC,4601,-0.81,-117.3,354.2,-7.1,218,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2129,3096
$GC,4912,-0.81,-117.3,376.0,-6.9,233,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2129,3096
$GC,5220,-0.81,-117.3,397.7,-7.6,248,5224,0.00,2.58,0.00,0.000,4,0.000,0.064,2509,3556,3095
$GC,5292,-0.81,-117.3,404.2,-8.9,251,5297,0.00,2.58,0.00,0.000,6,0.000,0.053,2509,2120,3095
$GC,5609,-0.81,-117.3,431.6,-8.8,266,5613,0.00,2.45,0.00,0.000,4,0.000,0.061,2509,743,3095
$GC,5704,-0.81,-117.3,440.5,-8.9,270,5708,0.00,2.50,0.00,0.000,6,0.000,0.054,2509,2135,3095
$GC,6020,-0.81,-117.3,465.3,-7.8,285,6024,0.00,2.58,0.00,0.000,4,0.000,0.064,2509,3562,3094
$GC,6144,-0.81,-117.3,475.7,-7.7,290,6150,0.00,2.55,0.00,0.000,6,0.000,0.053,2509,2138,3094
$GC,6460,-0.81,-117.3,495.2,-5.3,306,6461,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2119,3094
$GC,6770,-0.81,-117.3,513.8,-6.6,321,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2118,3094
$GC,7079,-0.81,-117.3,534.5,-6.8,336,7083,0.00,2.50,0.00,0.000,4,0.000,0.064,2509,736,3093
$GC,7141,-0.81,-117.3,539.3,-8.2,339,7145,0.00,2.53,0.00,0.000,6,0.000,0.055,2509,2149,3093
$GC,7468,-0.81,-117.3,561.8,-7.0,355,7473,0.00,2.60,0.00,0.000,4,0.000,0.067,2509,738,3093
$GC,7727,-0.81,-117.3,578.4,-6.3,366,7733,0.00,2.50,0.00,0.000,6,0.000,0.058,2509,2126,3093
$GC,8043,-0.81,-117.3,593.3,-4.7,382,8048,0.00,2.62,0.00,0.000,4,0.000,0.073,2509,3563,3092
$GC,8173,-0.81,-117.3,601.0,-6.1,388,8177,0.00,2.60,0.00,0.000,6,0.000,0.058,2509,2123,3092
$GC,8500,-0.81,-117.3,620.1,-6.3,404,8505,0.00,2.67,0.00,0.000,4,0.000,0.075,2509,3552,3091
$GC,8624,-0.81,-117.3,628.9,-6.9,409,8630,0.00,2.58,0.00,0.000,6,0.000,0.061,2509,2140,3091
$GC,8940,-0.81,-117.3,647.9,-5.7,425,8945,0.00,2.55,0.00,0.000,4,0.000,0.072,2509,744,3090
$GC,8997,-0.81,-117.3,651.4,-6.6,427,9003,0.00,2.58,0.00,0.000,6,0.000,0.064,2509,2140,3090
$GC,9313,-1.27,-117.3,660.5,-0.0,443,9318,0.35,2.62,0.00,0.000,4,0.049,0.077,2416,3567,3089
$GC,9571,-1.68,-117.3,660.5,0.2,454,9578,0.38,2.60,0.00,0.000,6,0.048,0.064,2325,2126,3089
$STATE,9843,end dive,NO_VERTICAL_VELOCITY
$STATE,9843,begin apogee
$GC,9850,-0.33,0.0,660.5,0.0,468,9953,1.40,0.00,99.32,1.312,6,0.079,0.000,2624,2126,2621
$STATE,9954,end apogee,CONTROL_FINISHED_OK
$STATE,9954,begin climb
$GC,9957,1.30,117.3,660.4,0.0,473,10065,1.67,2.75,99.47,1.288,4,0.075,0.077,2979,705,2140
$GC,10105,1.25,117.3,650.9,9.4,480,10109,0.00,2.62,0.00,0.000,6,0.000,0.066,2978,2104,2140
$GC,10426,1.25,117.3,623.9,8.8,496,10431,0.00,2.62,0.00,0.000,4,0.000,0.077,2979,3509,2138
$GC,10459,1.25,117.3,620.7,9.4,497,10466,0.00,2.58,0.00,0.000,6,0.000,0.064,2979,2127,2138
$GC,10776,1.25,117.3,592.1,9.8,513,10780,0.00,2.62,0.00,0.000,4,0.000,0.076,2979,3511,2137
$GC,10848,1.25,117.3,583.9,10.8,516,10852,0.00,2.60,0.00,0.000,6,0.000,0.064,2979,2111,2137
$GC,11164,1.25,117.3,555.4,8.4,531,11168,0.00,2.65,0.00,0.000,4,0.000,0.074,2979,3510,2137
$GC,11265,1.25,117.3,546.7,8.4,535,11271,0.00,2.55,0.00,0.000,6,0.000,0.066,2978,2130,2136
$GC,11581,1.26,119.8,521.9,7.9,551,11585,0.00,2.60,0.00,0.000,4,0.000,0.074,2979,3514,2136
$GC,11598,1.26,119.8,520.3,8.2,552,11602,0.00,2.55,0.00,0.000,6,0.000,0.063,2979,2131,2135
$GC,11925,1.26,119.8,490.6,9.4,568,11929,0.00,2.58,0.00,0.000,4,0.000,0.071,2979,3510,2134
$GC,11980,1.26,119.8,485.3,9.9,570,11987,0.00,2.50,0.00,0.000,6,0.000,0.058,2979,2138,2134
$GC,12296,1.26,119.8,457.7,8.6,586,12301,0.00,2.55,0.00,0.000,4,0.000,0.069,2979,3509,2134
$GC,12364,1.26,119.8,451.6,8.9,589,12368,0.00,2.45,0.00,0.000,6,0.000,0.056,2979,2164,2134
$GC,12685,1.27,129.8,427.4,7.5,605,12701,0.00,2.55,10.88,1.062,4,0.000,0.066,2979,3511,2090
$GC,12718,1.27,129.8,424.7,8.0,605,12724,0.00,2.47,0.00,0.000,6,0.000,0.057,2979,2162,2089
$GC,13035,1.28,135.7,400.1,7.7,621,13048,0.00,2.55,6.65,0.943,4,0.000,0.065,2979,3511,2066
$GC,13071,1.29,141.2,397.2,7.7,622,13082,0.00,2.45,6.15,0.904,6,0.000,0.055,2979,2170,2044
$GC,13405,1.29,141.2,370.4,8.8,639,13409,0.00,2.47,0.00,0.000,4,0.000,0.064,2979,3511,2044
$GC,13432,1.29,141.2,367.9,8.6,640,13436,0.00,2.42,0.00,0.000,6,0.000,0.054,2979,2175,2044
$GC,13748,1.32,160.9,344.2,7.1,655,13772,0.00,2.58,17.85,1.032,4,0.000,0.062,2978,3517,1964
$GC,13786,1.33,161.7,341.2,8.0,656,13792,0.00,2.45,0.00,0.000,6,0.000,0.052,2979,2176,1964
$GC,14102,1.33,162.5,315.9,8.0,672,14106,0.00,2.45,0.00,0.000,4,0.000,0.063,2979,3511,1964
$GC,14119,1.34,171.8,314.6,7.6,673,14134,0.00,2.38,10.52,0.954,6,0.000,0.052,2979,2191,1919
$GC,14446,1.39,172.6,289.1,8.0,688,14451,0.10,2.42,0.00,0.000,4,0.055,0.061,3013,3512,1919
$GC,14456,1.40,176.8,288.1,7.8,688,14467,0.00,2.40,5.88,0.815,6,0.000,0.051,3013,2184,1899
$GC,14789,1.35,176.8,253.4,10.2,705,14793,0.00,2.42,0.00,0.000,4,0.000,0.061,3013,3511,1899
$GC,14808,1.30,176.8,251.5,10.5,706,14813,0.15,2.38,0.00,0.000,6,0.094,0.051,2984,2190,1899
$GC,15135,1.35,176.8,223.2,8.5,722,15139,0.00,2.42,0.00,0.000,4,0.000,0.061,2984,3517,1899
$GC,15168,1.35,176.8,219.8,9.9,723,15174,0.00,2.38,0.00,0.000,6,0.000,0.051,2983,2202,1900
$GC,15484,1.35,176.8,190.8,9.3,739,15488,0.00,2.40,0.00,0.000,4,0.000,0.060,2984,3518,1900
$GC,15502,1.39,176.8,189.1,9.3,740,15506,0.00,2.35,0.00,0.000,6,0.000,0.051,2983,2210,1900
$GC,15829,1.44,176.8,158.1,9.6,756,15834,0.12,2.38,0.00,0.000,4,0.051,0.059,3022,3512,1901
$GC,15840,1.44,176.8,156.9,9.4,756,15846,0.00,2.33,0.00,0.000,6,0.000,0.051,3022,2214,1901
$GC,16157,1.37,176.8,120.9,11.4,772,16162,0.12,2.38,0.00,0.000,4,0.094,0.058,2999,3512,1901
$GC,16167,1.32,176.8,119.4,11.4,772,16174,0.00,2.33,0.00,0.000,6,0.000,0.051,2999,2215,1901
$GC,16484,1.32,176.8,88.5,9.8,788,16485,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2213,1901
$GC,16793,1.32,176.8,56.8,10.2,803,16797,0.00,2.35,0.00,0.000,4,0.000,0.058,2999,3512,1902
$GC,16803,1.32,176.8,55.6,10.1,803,16809,0.00,2.33,0.00,0.000,6,0.000,0.050,2999,2213,1902
$GC,17120,1.32,176.8,25.0,9.2,819,17121,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2212,1902
$STATE,17384,end climb,SURFACE_DEPTH_REACHED
$STATE,17384,begin surface coast
$FINISH,0.2,1.018295
$STATE,17407,end surface coast,CONTROL_FINISHED_OK
$STATE,17407,begin surface
$SM_CCo,17430,220.73,0.779,0,0,389,547.02
$SM_GC,0.43,0.00,0.00,220.73,0.000,0.000,0.779,424,2125,389,-10.47,-0.71,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1702
$TCM_TEMP,17.60
$XPDR_PINGS,406
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,23.7,46.571
$10V_AH,10.1,22.669
$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,26.325,165.825,256.725,220.725,0.000,37.762,29.746,137.143,107.000,0.000,0.000,12.543,1580.265,13236.997,678.446,1955.033,525.924,33.353,1659.799,0.000,1913.203,0.000,36.511
$DEVICE_MAMPS,141.128,77.467,1311.570,779.272,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,571.334,616.133,497.750,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44283,833
$CAP_FILE_SIZE,136090,0
$CFSIZE,254472192,235868160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,300708,180956,6226.992,-1024.039,40,1.8,40,-10.3