version: 66.03
glider: 5
mission: 3
dive: 243
start: 7 30 108 22 57 10
data:
$ID,5
$MISSION,3
$DIVE,243
$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,-81176.031
$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,22
$R_STBD_OVSHOOT,20
$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
$GPS1,225038,6228.801,-1021.328,30,1.4,30,-10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-53.3
$GPS2,225620,6228.769,-1021.335,14,1.5,31,-10.3
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.131,0.179
$KALMAN_X,-47779.6,-1620.6,-251.5,77574.3,3039.9
$KALMAN_Y,-26065.3,822.2,256.3,61067.7,-5456.5
$MHEAD_RNG_PITCHd_Wd,46.4,52610,-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,-110.03,0.000,6,0.000,0.000,421,2179,3100
$GC,143,-1.30,-117.3,2.3,-1.6,5,159,10.43,2.47,0.00,0.000,4,0.143,0.054,2406,3560,3099
$GC,298,-0.97,-117.3,27.1,-13.8,11,304,0.40,2.53,0.00,0.000,6,0.099,0.047,2487,2144,3098
$GC,626,-0.87,-117.3,57.5,-8.5,27,631,0.10,2.50,0.00,0.000,4,0.107,0.057,2507,745,3098
$GC,717,-0.82,-117.3,64.2,-6.8,31,721,0.00,2.53,0.00,0.000,6,0.000,0.048,2506,2161,3098
$GC,1038,-0.82,-117.3,85.4,-6.2,47,1043,0.00,2.50,0.00,0.000,4,0.000,0.058,2506,3561,3098
$GC,1118,-0.76,-117.3,90.9,-7.1,50,1125,0.12,2.53,0.00,0.000,6,0.108,0.046,2529,2136,3098
$GC,1436,-0.80,-117.3,112.3,-7.4,66,1440,0.00,2.47,0.00,0.000,4,0.000,0.059,2529,750,3099
$GC,1526,-0.80,-117.3,120.2,-8.8,70,1530,0.00,2.47,0.00,0.000,6,0.000,0.049,2530,2134,3099
$GC,1848,-0.86,-117.3,147.6,-8.6,86,1852,0.00,2.53,0.00,0.000,4,0.000,0.058,2529,745,3099
$GC,1920,-0.86,-117.3,154.6,-10.1,89,1924,0.00,2.47,0.00,0.000,6,0.000,0.050,2530,2132,3099
$GC,2237,-0.91,-117.3,182.6,-8.9,104,2242,0.12,2.53,0.00,0.000,4,0.053,0.058,2491,744,3099
$GC,2293,-0.83,-117.3,188.0,-9.5,106,2299,0.12,2.45,0.00,0.000,6,0.095,0.050,2517,2117,3098
$GC,2609,-0.83,-117.3,213.7,-7.7,122,2613,0.00,2.58,0.00,0.000,4,0.000,0.061,2517,3553,3098
$GC,2721,-0.83,-117.3,222.4,-7.2,127,2726,0.00,2.58,0.00,0.000,6,0.000,0.048,2517,2106,3098
$GC,3042,-0.83,-117.3,243.1,-6.4,143,3046,0.00,2.42,0.00,0.000,4,0.000,0.061,2517,742,3098
$GC,3166,-0.83,-117.3,251.3,-6.9,148,3172,0.00,2.42,0.00,0.000,6,0.000,0.051,2517,2101,3097
$GC,3482,-0.83,-117.3,272.8,-6.9,164,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2101,3097
$GC,3791,-0.83,-117.3,294.3,-7.0,179,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2101,3097
$GC,4101,-0.83,-117.3,317.8,-7.5,194,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2102,3097
$GC,4409,-0.83,-117.3,343.6,-8.6,209,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2102,3096
$GC,4718,-0.83,-117.3,368.7,-8.4,224,4723,0.00,2.47,0.00,0.000,4,0.000,0.063,2517,742,3096
$GC,4792,-0.83,-117.3,374.8,-8.5,227,4797,0.00,2.45,0.00,0.000,6,0.000,0.053,2517,2102,3096
$GC,5114,-0.83,-117.3,395.3,-5.6,243,5118,0.00,2.47,0.00,0.000,4,0.000,0.064,2517,745,3096
$GC,5215,-0.83,-117.3,400.8,-5.0,247,5221,0.00,2.40,0.00,0.000,6,0.000,0.053,2517,2079,3096
$GC,5531,-0.83,-117.3,415.9,-5.1,263,5535,0.00,2.67,0.00,0.000,4,0.000,0.065,2517,3561,3095
$GC,5643,-0.83,-117.3,423.0,-6.8,268,5647,0.00,2.65,0.00,0.000,6,0.000,0.051,2517,2077,3095
$GC,5965,-0.83,-117.3,443.3,-6.4,284,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2076,3095
$GC,6274,-0.87,-117.3,461.3,-5.2,299,6278,0.00,2.40,0.00,0.000,4,0.000,0.065,2517,746,3094
$GC,6497,-0.87,-117.3,474.8,-6.3,309,6502,0.00,2.38,0.00,0.000,6,0.000,0.054,2517,2059,3094
$GC,6825,-0.91,-117.3,495.7,-6.5,325,6829,0.00,2.70,0.00,0.000,4,0.000,0.067,2517,3560,3094
$GC,6932,-0.91,-117.3,504.2,-8.3,330,6936,0.00,2.67,0.00,0.000,6,0.000,0.054,2517,2064,3094
$GC,7260,-0.96,-117.3,524.4,-5.2,346,7264,0.12,2.38,0.00,0.000,4,0.057,0.065,2481,748,3093
$GC,7323,-0.88,-117.3,528.5,-6.6,349,7328,0.12,2.40,0.00,0.000,6,0.100,0.058,2506,2071,3093
$GC,7650,-0.88,-117.3,548.4,-6.3,365,7654,0.00,2.72,0.00,0.000,4,0.000,0.072,2506,3561,3093
$GC,7874,-0.88,-117.3,564.4,-6.9,375,7878,0.00,2.62,0.00,0.000,6,0.000,0.058,2506,2107,3092
$GC,8195,-0.88,-117.3,585.5,-6.9,391,8200,0.00,2.47,0.00,0.000,4,0.000,0.074,2506,750,3092
$GC,8259,-0.88,-117.3,590.2,-7.5,394,8263,0.00,2.47,0.00,0.000,6,0.000,0.063,2506,2104,3091
$GC,8586,-0.88,-117.3,611.9,-5.9,410,8587,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2104,3090
$STATE,8644,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8644,begin apogee
$GC,8651,-0.33,0.0,615.5,6.0,413,8753,0.57,0.00,99.12,1.274,6,0.093,0.000,2623,2104,2620
$STATE,8754,end apogee,CONTROL_FINISHED_OK
$STATE,8754,begin climb
$GC,8757,1.30,117.3,618.1,0.0,418,8864,1.65,2.72,98.82,1.242,4,0.074,0.077,2977,691,2141
$GC,8873,1.24,117.3,610.6,8.7,423,8878,0.00,2.65,0.00,0.000,6,0.000,0.064,2977,2106,2141
$GC,9189,1.24,117.3,584.0,8.2,438,9193,0.00,2.62,0.00,0.000,4,0.000,0.075,2977,3514,2139
$GC,9200,1.24,117.3,583.0,8.3,438,9206,0.00,2.60,0.00,0.000,6,0.000,0.064,2977,2114,2139
$GC,9516,1.26,130.8,558.9,7.4,454,9537,0.00,2.70,12.62,1.132,4,0.000,0.073,2977,3501,2085
$GC,9593,1.26,130.8,552.3,9.1,457,9598,0.00,2.58,0.00,0.000,6,0.000,0.064,2976,2120,2085
$GC,9910,1.26,130.8,524.7,9.0,472,9914,0.00,2.62,0.00,0.000,4,0.000,0.074,2977,3508,2084
$GC,9999,1.26,131.9,516.8,7.9,476,10003,0.00,2.53,0.00,0.000,6,0.000,0.062,2977,2142,2084
$GC,10320,1.26,131.9,492.2,8.1,492,10324,0.00,2.58,0.00,0.000,4,0.000,0.073,2977,3508,2083
$GC,10330,1.26,131.9,491.2,8.1,492,10336,0.00,2.50,0.00,0.000,6,0.000,0.063,2977,2147,2082
$GC,10646,1.31,165.3,468.5,6.5,508,10681,0.00,2.60,29.12,1.182,4,0.000,0.071,2977,3509,1946
$GC,10704,1.31,165.3,463.9,8.2,510,10711,0.00,2.53,0.00,0.000,6,0.000,0.060,2977,2150,1946
$GC,11020,1.31,165.3,435.9,9.5,526,11025,0.00,2.55,0.00,0.000,4,0.000,0.070,2977,3515,1945
$GC,11031,1.31,165.3,434.8,9.6,526,11037,0.00,2.50,0.00,0.000,6,0.000,0.061,2977,2154,1945
$GC,11347,1.31,165.3,408.1,8.5,542,11351,0.00,2.53,0.00,0.000,4,0.000,0.067,2977,3512,1944
$GC,11369,1.31,165.3,406.0,9.9,543,11373,0.00,2.47,0.00,0.000,6,0.000,0.055,2977,2157,1944
$GC,11690,1.36,165.3,375.6,9.7,559,11694,0.00,2.50,0.00,0.000,4,0.000,0.066,2977,3509,1944
$GC,11740,1.40,165.3,370.5,9.7,561,11745,0.12,2.42,0.00,0.000,6,0.053,0.055,3013,2167,1944
$GC,12057,1.34,165.3,334.0,11.6,576,12061,0.00,2.47,0.00,0.000,4,0.000,0.064,3013,3510,1944
$GC,12077,1.28,165.3,331.6,12.1,577,12082,0.17,2.40,0.00,0.000,6,0.091,0.052,2979,2179,1944
$GC,12404,1.33,165.3,298.2,10.2,593,12408,0.00,2.45,0.00,0.000,4,0.000,0.063,2979,3514,1944
$GC,12415,1.38,165.3,297.0,10.0,593,12421,0.00,2.42,0.00,0.000,6,0.000,0.054,2979,2177,1944
$GC,12731,1.43,165.3,266.0,9.3,609,12736,0.15,2.45,0.00,0.000,4,0.050,0.061,3026,3514,1945
$GC,12749,1.43,165.3,264.3,9.4,610,12753,0.00,2.40,0.00,0.000,6,0.000,0.052,3026,2182,1945
$GC,13076,1.34,165.3,227.3,11.1,626,13078,0.17,0.00,0.00,0.000,6,0.090,0.000,2993,2181,1946
$GC,13385,1.34,165.3,198.4,9.5,641,13389,0.00,2.42,0.00,0.000,4,0.000,0.061,2993,3512,1947
$GC,13396,1.34,165.3,197.0,9.5,641,13401,0.00,2.40,0.00,0.000,6,0.000,0.053,2992,2186,1947
$GC,13713,1.34,165.3,169.4,8.4,656,13717,0.00,2.42,0.00,0.000,4,0.000,0.060,2992,3515,1947
$GC,13724,1.34,165.3,168.1,8.5,656,13730,0.00,2.38,0.00,0.000,6,0.000,0.051,2993,2193,1948
$GC,14041,1.34,165.3,138.8,9.8,672,14045,0.00,2.40,0.00,0.000,4,0.000,0.060,2993,3511,1948
$GC,14069,1.34,165.3,135.6,11.2,673,14073,0.00,2.35,0.00,0.000,6,0.000,0.051,2992,2203,1948
$GC,14385,1.34,165.3,105.7,9.2,688,14386,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2201,1948
$GC,14694,1.34,165.3,74.8,10.3,703,14698,0.00,2.40,0.00,0.000,4,0.000,0.058,2992,3515,1948
$GC,14712,1.34,165.3,73.0,10.1,704,14716,0.00,2.35,0.00,0.000,6,0.000,0.051,2992,2199,1948
$GC,15039,1.34,165.3,43.2,8.6,720,15043,0.00,2.40,0.00,0.000,4,0.000,0.059,2992,3512,1949
$GC,15049,1.34,165.3,42.1,8.8,720,15055,0.00,2.33,0.00,0.000,6,0.000,0.050,2992,2212,1949
$GC,15366,1.34,165.3,13.2,9.0,736,15371,0.00,2.72,0.00,0.000,4,0.000,0.062,2993,686,1949
$GC,15400,1.39,165.3,9.8,9.2,737,15406,0.00,2.65,0.00,0.000,6,0.000,0.049,2993,2187,1950
$STATE,15507,end climb,SURFACE_DEPTH_REACHED
$STATE,15507,begin surface coast
$FINISH,0.1,1.008791
$STATE,15529,end surface coast,CONTROL_FINISHED_OK
$STATE,15529,begin surface
$SM_CCo,15552,228.07,0.780,0,0,390,547.02
$SM_GC,0.60,0.00,0.00,228.07,0.000,0.000,0.780,418,2130,390,-10.49,-0.57,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1681
$TCM_TEMP,17.50
$XPDR_PINGS,387
$ALTIM_TOP_PING,18.7,999.0
$ALTIM_BOTTOM_PING,575.8,49.1
$24V_AH,23.8,46.895
$10V_AH,10.1,22.826
$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,25.500,170.450,239.700,228.075,0.000,37.764,25.755,138.164,101.750,0.000,0.000,31.578,1439.447,11720.135,665.431,1786.764,510.598,33.355,1566.096,0.000,1728.566,0.000,34.636
$DEVICE_MAMPS,143.429,77.467,1273.987,780.039,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,510.405,549.536,484.035,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37981,744
$CAP_FILE_SIZE,128876,0
$CFSIZE,254472192,235761664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,310708,032137,6228.960,-1023.890,41,1.3,46,-10.3