version: 66.03
glider: 5
mission: 3
dive: 246
start: 7 31 108 12 18 12
data:
$ID,5
$MISSION,3
$DIVE,246
$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,-81221.109
$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,25
$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
$GPS1,121138,6231.846,-1023.862,32,1.0,32,-10.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-56.2
$GPS2,121721,6231.815,-1023.921,14,1.6,14,-10.4
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRSILL
$TGT_LATLONG,6250.000,-940.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.205,0.083
$KALMAN_X,-61026.2,945.4,86.7,85619.8,-7767.6
$KALMAN_Y,-30888.5,891.1,-163.1,71909.1,-4442.9
$MHEAD_RNG_PITCHd_Wd,78.3,50135,-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,-110.30,0.000,6,0.000,0.000,420,2181,3098
$GC,144,-1.30,-117.3,2.2,-1.6,5,160,10.38,2.47,0.00,0.000,4,0.141,0.054,2406,3567,3098
$GC,233,-0.95,-117.3,18.3,-15.3,8,239,0.43,2.53,0.00,0.000,6,0.095,0.046,2493,2146,3097
$GC,555,-0.87,-117.3,50.5,-8.4,24,560,0.00,2.50,0.00,0.000,4,0.000,0.056,2493,745,3097
$GC,601,-0.79,-117.3,54.6,-9.2,26,606,0.15,2.58,0.00,0.000,6,0.096,0.048,2524,2185,3097
$GC,923,-0.79,-117.3,77.5,-7.5,42,927,0.00,2.60,0.00,0.000,4,0.000,0.057,2524,752,3097
$GC,985,-0.79,-117.3,82.3,-8.1,45,990,0.00,2.50,0.00,0.000,6,0.000,0.048,2524,2156,3098
$GC,1314,-0.79,-117.3,107.9,-7.4,61,1318,0.00,2.55,0.00,0.000,4,0.000,0.058,2524,742,3098
$GC,1399,-0.79,-117.3,114.5,-7.8,65,1404,0.00,2.50,0.00,0.000,6,0.000,0.048,2524,2143,3098
$GC,1727,-0.79,-117.3,137.6,-6.9,81,1731,0.00,2.55,0.00,0.000,4,0.000,0.060,2524,746,3098
$GC,1783,-0.79,-117.3,141.6,-7.6,83,1789,0.00,2.50,0.00,0.000,6,0.000,0.050,2524,2142,3098
$GC,2100,-0.83,-117.3,164.4,-7.3,99,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2141,3098
$GC,2409,-0.88,-117.3,187.3,-7.7,114,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2143,3097
$GC,2718,-0.92,-117.3,211.9,-7.9,129,2723,0.12,2.55,0.00,0.000,4,0.051,0.061,2487,751,3097
$GC,2785,-0.84,-117.3,218.3,-9.7,132,2790,0.15,2.45,0.00,0.000,6,0.092,0.051,2518,2128,3097
$GC,3107,-0.84,-117.3,244.0,-7.7,148,3111,0.00,2.58,0.00,0.000,4,0.000,0.061,2518,3563,3097
$GC,3162,-0.84,-117.3,248.7,-8.6,150,3169,0.00,2.55,0.00,0.000,6,0.000,0.050,2518,2129,3096
$GC,3479,-0.84,-117.3,271.3,-6.8,166,3483,0.00,2.47,0.00,0.000,4,0.000,0.061,2518,745,3096
$GC,3541,-0.84,-117.3,276.0,-7.9,169,3546,0.00,2.47,0.00,0.000,6,0.000,0.051,2518,2127,3096
$GC,3869,-0.84,-117.3,300.3,-7.8,185,3874,0.00,2.58,0.00,0.000,4,0.000,0.063,2518,3563,3096
$GC,3915,-0.84,-117.3,304.3,-8.9,187,3919,0.00,2.55,0.00,0.000,6,0.000,0.050,2518,2134,3096
$GC,4235,-0.84,-117.3,330.5,-8.0,203,4240,0.00,2.47,0.00,0.000,4,0.000,0.061,2518,746,3096
$GC,4285,-0.84,-117.3,334.8,-8.4,205,4290,0.00,2.50,0.00,0.000,6,0.000,0.052,2518,2137,3095
$GC,4602,-0.84,-117.3,359.5,-7.9,220,4606,0.00,2.55,0.00,0.000,4,0.000,0.061,2518,738,3096
$GC,4646,-0.84,-117.3,363.2,-8.4,222,4650,0.00,2.50,0.00,0.000,6,0.000,0.053,2518,2128,3096
$GC,4968,-0.88,-117.3,386.2,-6.9,238,4972,0.00,2.53,0.00,0.000,4,0.000,0.064,2518,744,3095
$GC,5091,-0.88,-117.3,394.4,-6.9,243,5096,0.00,2.47,0.00,0.000,6,0.000,0.052,2518,2120,3095
$GC,5407,-0.92,-117.3,414.7,-6.3,259,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2119,3095
$GC,5717,-0.97,-117.3,432.6,-5.5,274,5722,0.12,2.53,0.00,0.000,4,0.054,0.064,2481,747,3095
$GC,5883,-0.90,-117.3,444.1,-7.1,281,5888,0.10,2.42,0.00,0.000,6,0.102,0.054,2500,2089,3094
$GC,6201,-0.90,-117.3,462.2,-5.5,296,6205,0.00,2.67,0.00,0.000,4,0.000,0.067,2500,3560,3094
$GC,6245,-0.90,-117.3,465.0,-6.4,298,6249,0.00,2.72,0.00,0.000,6,0.000,0.054,2500,2043,3093
$GC,6567,-0.90,-117.3,485.1,-7.0,314,6571,0.00,2.80,0.00,0.000,4,0.000,0.067,2500,3561,3093
$GC,6622,-0.90,-117.3,489.5,-8.1,316,6628,0.00,2.72,0.00,0.000,6,0.000,0.055,2500,2042,3093
$GC,6938,-0.90,-117.3,514.8,-8.6,332,6942,0.00,2.80,0.00,0.000,4,0.000,0.067,2500,3556,3093
$GC,7045,-0.90,-117.3,524.8,-10.1,337,7049,0.00,2.70,0.00,0.000,6,0.000,0.057,2500,2056,3092
$GC,7372,-0.90,-117.3,550.9,-7.2,353,7376,0.00,2.40,0.00,0.000,4,0.000,0.071,2500,744,3091
$GC,7508,-0.90,-117.3,560.6,-7.0,359,7512,0.00,2.38,0.00,0.000,6,0.000,0.061,2500,2044,3091
$GC,7829,-0.90,-117.3,583.8,-7.5,375,7834,0.00,2.78,0.00,0.000,4,0.000,0.075,2500,3553,3090
$GC,7897,-0.90,-117.3,589.4,-8.0,378,7901,0.00,2.72,0.00,0.000,6,0.000,0.062,2500,2055,3090
$STATE,7926,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7926,begin apogee
$GC,7934,-0.33,0.0,591.7,7.6,380,8036,0.60,0.00,98.93,1.251,6,0.089,0.000,2624,2106,2620
$STATE,8037,end apogee,CONTROL_FINISHED_OK
$STATE,8037,begin climb
$GC,8040,1.30,117.3,595.0,0.0,385,8151,1.67,2.70,98.00,1.221,4,0.070,0.071,2980,3498,2140
$GC,8169,1.30,117.3,587.3,8.5,391,8175,0.00,2.60,0.00,0.000,6,0.000,0.061,2980,2105,2140
$GC,8486,1.30,117.3,558.0,9.0,407,8490,0.00,2.65,0.00,0.000,4,0.000,0.073,2980,3500,2139
$GC,8548,1.30,117.3,551.6,10.5,410,8552,0.00,2.55,0.00,0.000,6,0.000,0.063,2980,2120,2139
$GC,8875,1.30,117.3,523.5,8.1,426,8879,0.00,2.60,0.00,0.000,4,0.000,0.073,2980,3500,2138
$GC,8902,1.30,117.3,521.0,8.4,427,8906,0.00,2.53,0.00,0.000,6,0.000,0.061,2980,2129,2138
$GC,9218,1.31,122.7,496.0,7.8,442,9229,0.00,2.60,5.80,0.944,4,0.000,0.073,2980,3498,2118
$GC,9338,1.33,131.5,486.5,7.6,447,9352,0.00,2.50,8.82,1.055,6,0.000,0.061,2980,2143,2084
$GC,9680,1.36,149.5,461.8,7.2,464,9702,0.00,2.65,16.48,1.136,4,0.000,0.071,2980,3499,2009
$GC,9742,1.36,154.4,457.1,7.8,466,9752,0.00,2.45,5.65,0.918,6,0.000,0.062,2980,2176,1990
$GC,10075,1.38,162.7,432.3,7.6,483,10089,0.00,2.55,8.60,1.029,4,0.000,0.071,2980,3498,1956
$GC,10113,1.38,162.7,429.2,8.0,484,10119,0.00,2.42,0.00,0.000,6,0.000,0.058,2980,2187,1955
$GC,10429,1.38,162.7,404.0,8.0,500,10434,0.00,2.72,0.00,0.000,4,0.000,0.068,2980,692,1955
$GC,10447,1.38,162.7,402.4,8.1,501,10452,0.00,2.72,0.00,0.000,6,0.000,0.059,2980,2190,1955
$GC,10774,1.38,162.7,375.3,8.7,517,10778,0.00,2.75,0.00,0.000,4,0.000,0.067,2980,683,1954
$GC,10819,1.38,162.7,370.9,9.5,519,10823,0.00,2.70,0.00,0.000,6,0.000,0.058,2980,2173,1954
$GC,11140,1.38,162.7,340.2,9.8,535,11145,0.00,2.40,0.00,0.000,4,0.000,0.065,2980,3501,1954
$GC,11174,1.38,162.7,336.5,10.2,536,11180,0.00,2.38,0.00,0.000,6,0.000,0.053,2980,2188,1954
$GC,11490,1.38,162.7,305.7,9.9,552,11494,0.00,2.40,0.00,0.000,4,0.000,0.064,2980,3501,1954
$GC,11513,1.38,162.7,303.5,9.4,553,11517,0.00,2.33,0.00,0.000,6,0.000,0.052,2980,2206,1954
$GC,11839,1.38,162.7,271.2,10.2,569,11844,0.00,2.38,0.00,0.000,4,0.000,0.062,2980,3504,1955
$GC,11857,1.38,162.7,269.4,9.8,570,11861,0.00,2.35,0.00,0.000,6,0.000,0.052,2980,2198,1955
$GC,12185,1.42,162.7,237.8,9.7,586,12190,0.12,2.38,0.00,0.000,4,0.051,0.061,3018,3501,1956
$GC,12218,1.34,162.7,233.6,12.3,587,12224,0.15,2.33,0.00,0.000,6,0.091,0.051,2989,2210,1956
$GC,12534,1.34,162.7,200.0,10.5,603,12536,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2209,1956
$GC,12843,1.34,162.7,169.3,9.4,618,12847,0.00,2.35,0.00,0.000,4,0.000,0.060,2989,3504,1956
$GC,12870,1.34,162.7,166.4,10.4,619,12874,0.00,2.33,0.00,0.000,6,0.000,0.051,2989,2209,1956
$GC,13186,1.34,162.7,137.6,8.6,634,13190,0.00,2.38,0.00,0.000,4,0.000,0.059,2989,3505,1956
$GC,13208,1.34,162.7,135.5,8.6,635,13212,0.00,2.30,0.00,0.000,6,0.000,0.050,2989,2224,1957
$GC,13530,1.34,162.7,107.9,9.1,651,13534,0.00,2.75,0.00,0.000,4,0.000,0.063,2990,688,1958
$GC,13557,1.34,162.7,104.8,10.3,652,13561,0.00,2.72,0.00,0.000,6,0.000,0.051,2989,2214,1957
$GC,13874,1.38,162.7,73.2,10.2,667,13878,0.00,2.30,0.00,0.000,4,0.000,0.060,2989,3502,1958
$GC,13914,1.38,162.7,68.9,10.5,669,13918,0.00,2.28,0.00,0.000,6,0.000,0.050,2989,2227,1958
$GC,14247,1.42,162.7,36.2,8.9,685,14248,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2224,1959
$GC,14559,1.50,168.7,11.1,7.7,700,14573,0.15,2.83,6.80,0.693,4,0.048,0.061,3036,680,1932
$GC,14619,1.36,168.7,4.4,11.7,702,14625,0.20,2.78,0.00,0.000,6,0.090,0.048,2998,2240,1932
$STATE,14643,end climb,SURFACE_DEPTH_REACHED
$STATE,14643,begin surface coast
$FINISH,0.2,1.026828
$STATE,14665,end surface coast,CONTROL_FINISHED_OK
$STATE,14665,begin surface
$SM_CCo,14689,226.12,0.777,0,0,390,547.02
$SM_GC,0.55,0.00,0.00,226.12,0.000,0.000,0.777,419,2136,390,-10.49,-0.45,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1683
$TCM_TEMP,17.60
$XPDR_PINGS,396
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,501.0,100.8
$24V_AH,23.8,47.373
$10V_AH,10.1,23.053
$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,25.475,178.050,249.075,226.125,0.000,37.760,27.969,153.374,103.250,0.000,0.000,14.432,1377.644,11009.972,674.789,1675.641,521.488,33.351,1537.186,0.000,1638.897,0.000,29.902
$DEVICE_MAMPS,141.128,79.001,1250.977,776.971,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,483.451,524.128,473.666,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34844,705
$CAP_FILE_SIZE,125953,0
$CFSIZE,254472192,235597824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,310708,162834,6231.083,-1026.137,67,1.4,67,-10.4