version: 66.03
glider: 5
mission: 3
dive: 242
start: 7 30 108 18 20 18
data:
$ID,5
$MISSION,3
$DIVE,242
$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,-81143.82
$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,51
$R_STBD_OVSHOOT,17
$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
$GPS1,180956,6226.992,-1024.039,40,1.8,40,-10.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-53.2
$GPS2,181927,6227.060,-1024.118,15,1.3,15,-10.3
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.122,0.185
$KALMAN_X,-46357.7,-1831.8,-511.1,74248.5,3186.2
$KALMAN_Y,-26776.5,1069.3,1422.1,57215.5,-10539.0
$MHEAD_RNG_PITCHd_Wd,43.7,56539,-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,-117.3,0.0,0.0,0,140,0.00,0.00,-110.10,0.000,6,0.000,0.000,424,2127,3100
$GC,144,-1.30,-117.3,2.3,-1.6,5,160,10.38,2.60,0.00,0.000,4,0.142,0.054,2407,3571,3098
$GC,321,-0.95,-117.3,29.1,-13.5,12,326,0.40,2.50,0.00,0.000,6,0.097,0.047,2489,2170,3097
$GC,650,-0.86,-117.3,56.1,-7.3,28,655,0.10,2.55,0.00,0.000,4,0.100,0.057,2509,740,3098
$GC,706,-0.86,-117.3,60.4,-7.5,30,712,0.00,2.53,0.00,0.000,6,0.000,0.048,2510,2157,3098
$GC,1023,-0.86,-117.3,82.5,-7.1,46,1027,0.00,2.58,0.00,0.000,4,0.000,0.057,2509,739,3098
$GC,1101,-0.86,-117.3,88.9,-7.9,49,1107,0.00,2.53,0.00,0.000,6,0.000,0.049,2510,2151,3098
$GC,1417,-0.86,-117.3,114.9,-8.2,65,1421,0.00,2.50,0.00,0.000,4,0.000,0.058,2509,3556,3098
$GC,1529,-0.86,-117.3,125.1,-9.5,70,1533,0.00,2.47,0.00,0.000,6,0.000,0.046,2510,2162,3098
$GC,1852,-0.86,-117.3,149.6,-7.4,86,1856,0.00,2.53,0.00,0.000,4,0.000,0.060,2510,747,3098
$GC,1966,-0.86,-117.3,158.4,-7.8,91,1970,0.00,2.53,0.00,0.000,6,0.000,0.050,2510,2162,3098
$GC,2292,-0.86,-117.3,181.5,-7.0,107,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2163,3097
$GC,2603,-0.86,-117.3,203.9,-7.4,122,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2163,3097
$GC,2912,-0.86,-117.3,226.1,-7.1,137,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2163,3097
$GC,3220,-0.86,-117.3,246.3,-6.7,152,3224,0.00,2.60,0.00,0.000,4,0.000,0.061,2509,738,3097
$GC,3287,-0.86,-117.3,250.7,-6.5,155,3291,0.00,2.55,0.00,0.000,6,0.000,0.051,2510,2159,3097
$GC,3609,-0.86,-117.3,271.4,-7.0,171,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2157,3096
$GC,3917,-0.86,-117.3,295.7,-8.2,186,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2157,3096
$GC,4227,-0.86,-117.3,323.0,-8.9,201,4231,0.00,2.58,0.00,0.000,4,0.000,0.062,2510,738,3095
$GC,4289,-0.86,-117.3,328.9,-9.6,204,4293,0.00,2.53,0.00,0.000,6,0.000,0.052,2510,2150,3095
$GC,4616,-0.86,-117.3,355.3,-7.0,220,4617,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2149,3095
$GC,4925,-0.86,-117.3,374.1,-6.1,235,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2149,3095
$GC,5234,-0.86,-117.3,394.1,-6.9,250,5238,0.00,2.58,0.00,0.000,4,0.000,0.064,2509,738,3094
$GC,5382,-0.86,-117.3,405.6,-7.7,256,5388,0.00,2.53,0.00,0.000,6,0.000,0.053,2509,2142,3094
$GC,5698,-0.86,-117.3,430.5,-8.7,272,5702,0.00,2.55,0.00,0.000,4,0.000,0.065,2509,3556,3094
$GC,5787,-0.86,-117.3,438.8,-9.1,276,5791,0.00,2.53,0.00,0.000,6,0.000,0.051,2510,2136,3094
$GC,6108,-0.86,-117.3,467.1,-8.6,292,6113,0.00,2.50,0.00,0.000,4,0.000,0.062,2509,737,3093
$GC,6286,-0.86,-117.3,482.1,-7.8,300,6290,0.00,2.47,0.00,0.000,6,0.000,0.054,2509,2121,3093
$GC,6613,-0.86,-117.3,504.7,-6.1,316,6618,0.00,2.62,0.00,0.000,4,0.000,0.068,2509,3563,3093
$GC,6722,-0.86,-117.3,511.9,-6.5,321,6726,0.00,2.60,0.00,0.000,6,0.000,0.055,2509,2114,3093
$GC,7049,-0.86,-117.3,530.6,-5.6,337,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2097,3092
$GC,7357,-0.86,-117.3,548.9,-6.4,352,7362,0.00,2.67,0.00,0.000,4,0.000,0.070,2509,3556,3092
$GC,7435,-0.86,-117.3,554.7,-7.3,355,7442,0.00,2.60,0.00,0.000,6,0.000,0.058,2509,2119,3092
$GC,7755,-0.86,-117.3,575.8,-6.4,371,7759,0.00,2.50,0.00,0.000,4,0.000,0.069,2509,742,3091
$GC,7907,-0.86,-117.3,586.1,-6.8,378,7912,0.00,2.53,0.00,0.000,6,0.000,0.061,2509,2123,3091
$GC,8235,-0.86,-117.3,605.3,-6.2,394,8239,0.00,2.65,0.00,0.000,4,0.000,0.076,2509,3558,3090
$GC,8307,-0.86,-117.3,610.5,-6.9,397,8311,0.00,2.62,0.00,0.000,6,0.000,0.062,2509,2118,3090
$GC,8623,-1.33,-117.3,623.0,0.0,412,8629,0.40,2.70,0.00,0.000,4,0.048,0.074,2406,3556,3089
$GC,8882,-1.79,-117.3,623.2,0.1,423,8888,0.45,2.47,0.00,0.000,6,0.052,0.060,2302,2176,3088
$STATE,9195,end dive,NO_VERTICAL_VELOCITY
$STATE,9195,begin apogee
$GC,9203,-0.33,0.0,623.1,0.0,439,9306,1.50,0.00,98.97,1.291,6,0.071,0.000,2626,2102,2620
$STATE,9306,end apogee,CONTROL_FINISHED_OK
$STATE,9306,begin climb
$GC,9309,1.30,117.3,622.9,0.0,444,9417,1.65,2.67,99.25,1.253,4,0.076,0.073,2977,712,2140
$GC,9496,1.26,117.3,607.8,9.4,453,9501,0.00,2.58,0.00,0.000,6,0.000,0.064,2977,2100,2139
$GC,9823,1.26,117.3,578.8,8.8,469,9827,0.00,2.62,0.00,0.000,4,0.000,0.075,2977,3507,2138
$GC,9833,1.26,117.3,577.7,9.0,469,9839,0.00,2.58,0.00,0.000,6,0.000,0.064,2977,2123,2138
$GC,10149,1.26,117.3,548.0,9.3,485,10153,0.00,2.60,0.00,0.000,4,0.000,0.075,2977,3506,2137
$GC,10199,1.26,117.3,543.0,10.2,487,10203,0.00,2.58,0.00,0.000,6,0.000,0.063,2977,2115,2137
$GC,10514,1.26,117.3,513.7,9.5,502,10519,0.00,2.62,0.00,0.000,4,0.000,0.074,2977,3507,2137
$GC,10559,1.26,117.3,509.2,9.8,504,10564,0.00,2.53,0.00,0.000,6,0.000,0.062,2977,2135,2136
$GC,10881,1.27,123.7,482.3,7.7,520,10894,0.00,2.62,6.28,0.989,4,0.000,0.071,2977,3510,2114
$GC,10902,1.27,123.7,480.6,8.6,521,10906,0.00,2.55,0.00,0.000,6,0.000,0.061,2977,2138,2114
$GC,11229,1.32,154.9,458.5,6.6,537,11263,0.00,2.67,26.98,1.178,4,0.000,0.070,2977,3507,1988
$GC,11294,1.35,175.8,454.1,7.0,540,11318,0.00,2.50,18.62,1.135,6,0.000,0.060,2977,2154,1903
$GC,11650,1.40,175.8,421.9,9.8,557,11652,0.12,0.00,0.00,0.000,6,0.054,0.000,3013,2140,1902
$GC,11956,1.33,175.8,385.9,11.3,572,11961,0.12,2.53,0.00,0.000,4,0.100,0.066,2991,3508,1902
$GC,11969,1.28,175.8,384.6,11.0,572,11975,0.00,2.47,0.00,0.000,6,0.000,0.060,2991,2157,1902
$GC,12285,1.28,175.8,356.0,8.9,588,12289,0.00,2.50,0.00,0.000,4,0.000,0.065,2991,3512,1902
$GC,12295,1.28,175.8,354.9,8.9,588,12301,0.00,2.47,0.00,0.000,6,0.000,0.056,2991,2155,1902
$GC,12611,1.28,175.8,325.8,9.2,604,12615,0.00,2.50,0.00,0.000,4,0.000,0.064,2991,3514,1902
$GC,12667,1.28,175.8,320.4,9.6,606,12673,0.00,2.45,0.00,0.000,6,0.000,0.058,2991,2169,1903
$GC,12982,1.28,175.8,291.2,9.3,622,12987,0.00,2.45,0.00,0.000,4,0.000,0.063,2991,3511,1903
$GC,12993,1.28,175.8,290.0,9.5,622,12999,0.00,2.42,0.00,0.000,6,0.000,0.054,2991,2174,1903
$GC,13309,1.28,175.8,259.6,10.1,638,13314,0.00,2.45,0.00,0.000,4,0.000,0.062,2991,3512,1904
$GC,13327,1.28,175.8,257.7,10.3,639,13331,0.00,2.40,0.00,0.000,6,0.000,0.053,2991,2181,1904
$GC,13654,1.28,175.8,221.9,11.4,655,13658,0.00,2.42,0.00,0.000,4,0.000,0.061,2991,3513,1905
$GC,13672,1.28,175.8,219.7,11.5,656,13676,0.00,2.40,0.00,0.000,6,0.000,0.053,2991,2183,1905
$GC,13999,1.28,175.8,184.7,10.3,672,14003,0.00,2.42,0.00,0.000,4,0.000,0.061,2991,3514,1905
$GC,14009,1.28,175.8,183.4,9.9,672,14013,0.00,2.38,0.00,0.000,6,0.000,0.051,2991,2191,1905
$GC,14325,1.28,175.8,153.1,9.4,687,14329,0.00,2.40,0.00,0.000,4,0.000,0.060,2991,3509,1905
$GC,14353,1.28,175.8,150.4,9.6,688,14357,0.00,2.38,0.00,0.000,6,0.000,0.051,2990,2192,1905
$GC,14669,1.32,175.8,120.6,9.8,703,14670,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2192,1906
$GC,14980,1.36,175.8,91.4,9.4,718,14984,0.00,2.40,0.00,0.000,4,0.000,0.059,2991,3510,1906
$GC,14998,1.36,175.8,89.5,9.3,719,15002,0.00,2.35,0.00,0.000,6,0.000,0.051,2991,2197,1906
$GC,15331,1.41,175.8,58.2,9.1,735,15336,0.00,2.40,0.00,0.000,4,0.000,0.059,2991,3514,1906
$GC,15343,1.45,175.8,57.1,8.9,735,15350,0.12,2.35,0.00,0.000,6,0.050,0.051,3028,2204,1906
$GC,15660,1.40,175.8,22.7,10.5,751,15662,0.12,0.00,0.00,0.000,6,0.094,0.000,3004,2191,1907
$STATE,15883,end climb,SURFACE_DEPTH_REACHED
$STATE,15883,begin surface coast
$FINISH,0.1,1.026839
$STATE,15905,end surface coast,CONTROL_FINISHED_OK
$STATE,15905,begin surface
$SM_CCo,15928,222.30,0.783,0,0,390,547.02
$SM_GC,0.61,0.00,0.00,222.30,0.000,0.000,0.783,421,2189,390,-10.48,1.10,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1688
$TCM_TEMP,16.70
$XPDR_PINGS,372
$ALTIM_TOP_PING,18.8,999.0
$24V_AH,23.8,46.737
$10V_AH,10.1,22.749
$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,26.525,156.475,250.100,222.300,0.000,75.521,53.490,193.340,98.000,0.000,0.000,15.805,1456.843,12111.355,661.727,1798.316,692.421,33.354,1563.603,0.000,1759.097,0.000,33.629
$DEVICE_MAMPS,141.895,78.234,1290.861,783.107,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,523.756,561.855,485.809,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38062,763
$CAP_FILE_SIZE,128058,0
$CFSIZE,254472192,235819008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,300708,225038,6228.801,-1021.328,30,1.4,30,-10.3