version: 66.03
glider: 5
mission: 3
dive: 200
start: 7 20 108 0 8 56
data:
$ID,5
$MISSION,3
$DIVE,200
$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,-80322.344
$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,29
$R_STBD_OVSHOOT,21
$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,3
$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
$GPS1,000158,6146.790,-929.628,26,2.6,45,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-51.9
$GPS2,000802,6146.755,-929.599,15,1.5,15,-9.6
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRS1K
$TGT_LATLONG,6210.000,-1055.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.183,0.126
$KALMAN_X,-24114.6,960.3,1814.7,-896.3,-11587.8
$KALMAN_Y,12151.2,10.3,83.7,-50407.8,232.0
$MHEAD_RNG_PITCHd_Wd,314.1,85478,-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,-117.3,0.0,0.0,0,137,0.00,0.00,-109.12,0.000,6,0.000,0.000,422,2118,3099
$GC,141,-1.30,-117.3,3.3,-3.0,6,154,10.27,0.00,0.00,0.000,6,0.136,0.000,2409,2112,3098
$GC,473,-0.97,-117.3,48.1,-12.0,22,479,0.35,2.60,0.00,0.000,4,0.095,0.058,2485,3564,3097
$GC,574,-0.86,-117.3,59.7,-10.7,26,581,0.12,2.50,0.00,0.000,6,0.095,0.048,2511,2153,3097
$GC,891,-0.86,-117.3,81.3,-7.9,42,896,0.00,2.53,0.00,0.000,4,0.000,0.061,2511,744,3097
$GC,1079,-0.86,-117.3,96.4,-7.4,50,1083,0.00,2.50,0.00,0.000,6,0.000,0.049,2511,2142,3097
$GC,1397,-0.86,-117.3,116.9,-7.1,65,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2142,3098
$GC,1704,-0.86,-117.3,140.6,-8.1,80,1708,0.00,2.55,0.00,0.000,4,0.000,0.062,2511,751,3098
$GC,1849,-0.86,-117.3,155.1,-10.1,86,1855,0.00,2.45,0.00,0.000,6,0.000,0.050,2511,2122,3098
$GC,2165,-0.86,-117.3,184.3,-8.9,102,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2121,3098
$GC,2474,-0.86,-117.3,208.5,-7.1,117,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2121,3098
$GC,2784,-0.86,-117.3,229.5,-7.0,132,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2122,3098
$GC,3093,-0.86,-117.3,252.9,-7.4,147,3097,0.00,2.53,0.00,0.000,4,0.000,0.063,2511,744,3097
$GC,3171,-0.86,-117.3,258.9,-7.6,150,3177,0.00,2.47,0.00,0.000,6,0.000,0.053,2511,2120,3097
$GC,3488,-0.86,-117.3,280.4,-7.0,166,3493,0.00,2.60,0.00,0.000,4,0.000,0.064,2511,3561,3097
$GC,3583,-0.86,-117.3,288.2,-8.2,170,3588,0.00,2.60,0.00,0.000,6,0.000,0.052,2511,2112,3097
$GC,3899,-0.86,-117.3,312.4,-7.7,185,3903,0.00,2.45,0.00,0.000,4,0.000,0.064,2512,743,3096
$GC,3978,-0.86,-117.3,319.1,-8.1,188,3984,0.00,2.45,0.00,0.000,6,0.000,0.053,2511,2111,3096
$GC,4294,-0.86,-117.3,345.3,-8.3,204,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2110,3096
$GC,4604,-0.86,-117.3,368.1,-7.3,219,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2110,3096
$GC,4913,-0.86,-117.3,389.8,-7.1,234,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2110,3096
$GC,5222,-0.86,-117.3,409.8,-6.5,249,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2110,3096
$GC,5532,-0.86,-117.3,429.4,-7.1,264,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2110,3096
$GC,5841,-0.86,-117.3,450.2,-6.7,279,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2110,3095
$GC,6150,-0.86,-117.3,472.4,-7.4,294,6154,0.00,2.60,0.00,0.000,4,0.000,0.064,2511,3556,3095
$GC,6222,-0.86,-117.3,477.5,-7.7,297,6227,0.00,2.60,0.00,0.000,6,0.000,0.052,2511,2102,3095
$GC,6539,-0.86,-117.3,500.6,-7.7,312,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2098,3095
$GC,6848,-0.86,-117.3,522.4,-6.7,327,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2098,3094
$GC,7158,-0.86,-117.3,544.0,-6.5,342,7162,0.00,2.45,0.00,0.000,4,0.000,0.064,2511,737,3094
$GC,7281,-0.86,-117.3,551.8,-5.1,347,7287,0.00,2.45,0.00,0.000,6,0.000,0.052,2511,2102,3094
$GC,7598,-0.86,-117.3,568.1,-5.8,363,7602,0.00,2.50,0.00,0.000,4,0.000,0.064,2511,740,3094
$GC,7670,-0.86,-117.3,572.5,-6.1,366,7675,0.00,2.42,0.00,0.000,6,0.000,0.054,2511,2088,3094
$GC,7987,-0.92,-117.3,593.5,-5.8,381,7992,0.00,2.65,0.00,0.000,4,0.000,0.066,2511,3554,3094
$GC,8152,-0.92,-117.3,604.3,-8.9,388,8156,0.00,2.60,0.00,0.000,6,0.000,0.051,2511,2083,3094
$GC,8468,-0.92,-117.3,617.0,-4.9,403,8472,0.00,2.42,0.00,0.000,4,0.000,0.068,2511,741,3094
$GC,8536,-0.87,-117.3,620.7,-6.4,406,8540,0.00,2.42,0.00,0.000,6,0.000,0.058,2511,2078,3094
$GC,8863,-0.87,-117.3,642.0,-6.7,422,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2079,3093
$GC,9173,-0.87,-117.3,654.2,-1.5,437,9177,0.00,2.47,0.00,0.000,4,0.000,0.071,2511,742,3093
$GC,9245,-0.87,-117.3,654.9,-0.9,440,9249,0.00,2.42,0.00,0.000,6,0.000,0.061,2511,2068,3093
$GC,9562,-0.92,-117.3,662.6,-3.2,455,9563,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2068,3092
$GC,9871,-0.92,-117.3,674.9,-4.4,470,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2068,3092
$GC,10181,-0.98,-117.3,686.1,-3.1,485,10186,0.12,2.50,0.00,0.000,4,0.059,0.077,2476,741,3091
$GC,10238,-0.91,-117.3,688.7,-4.6,487,10244,0.12,2.45,0.00,0.000,6,0.105,0.067,2500,2064,3091
$GC,10553,-0.91,-117.3,710.3,-9.2,503,10558,0.00,2.50,0.00,0.000,4,0.000,0.081,2500,744,3090
$GC,10654,-0.91,-117.3,720.6,-11.7,507,10660,0.00,2.42,0.00,0.000,6,0.000,0.069,2500,2051,3090
$GC,10970,-0.91,-117.3,754.9,-11.0,523,10975,0.00,2.80,0.00,0.000,4,0.000,0.084,2500,3554,3089
$GC,11122,-0.91,-117.3,767.8,-9.5,530,11127,0.00,2.75,0.00,0.000,6,0.000,0.070,2500,2061,3088
$GC,11451,-0.91,-117.3,792.7,-6.0,546,11455,0.00,2.47,0.00,0.000,4,0.000,0.088,2500,742,3087
$GC,11479,-0.91,-117.3,794.6,-6.4,547,11483,0.00,2.47,0.00,0.000,6,0.000,0.074,2500,2060,3087
$GC,11795,-0.95,-117.3,814.1,-4.3,562,11800,0.00,2.80,0.00,0.000,4,0.000,0.087,2500,3556,3085
$GC,11998,-0.99,-117.3,826.2,-10.6,571,12002,0.00,2.62,0.00,0.000,6,0.000,0.069,2500,2133,3084
$GC,12319,-0.99,-117.3,832.1,3.1,587,12324,0.00,2.60,0.00,0.000,4,0.000,0.087,2501,746,3083
$STATE,12430,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12430,begin apogee
$GC,12439,-0.33,0.0,838.0,7.7,592,12543,0.57,0.00,100.75,1.486,6,0.104,0.000,2620,2101,2620
$STATE,12544,end apogee,CONTROL_FINISHED_OK
$STATE,12544,begin climb
$GC,12547,1.30,117.3,842.0,0.0,597,12659,1.70,2.78,101.55,1.442,4,0.084,0.084,2976,3508,2140
$GC,12720,1.23,117.3,825.1,10.4,605,12725,0.00,2.67,0.00,0.000,6,0.000,0.074,2976,2104,2140
$GC,13043,1.17,117.3,794.8,9.0,621,13047,0.00,2.72,0.00,0.000,4,0.000,0.085,2976,3512,2139
$GC,13054,1.13,135.5,794.1,7.2,621,13080,0.15,2.67,16.75,1.333,6,0.104,0.072,2948,2098,2067
$GC,13392,1.29,204.2,781.5,4.9,638,13458,0.15,2.80,59.70,1.417,4,0.058,0.084,2991,3508,1787
$GC,13486,1.29,204.2,770.9,13.1,642,13491,0.00,2.67,0.00,0.000,6,0.000,0.071,2990,2102,1786
$GC,13802,1.29,204.2,729.5,15.5,657,13807,0.00,2.70,0.00,0.000,4,0.000,0.084,2990,3509,1786
$GC,13842,1.29,204.2,722.1,18.8,659,13847,0.00,2.62,0.00,0.000,6,0.000,0.070,2990,2114,1785
$GC,14170,1.29,204.2,670.5,12.1,675,14174,0.00,2.67,0.00,0.000,4,0.000,0.082,2990,3509,1784
$GC,14227,1.29,204.2,664.1,11.6,677,14233,0.00,2.60,0.00,0.000,6,0.000,0.068,2990,2123,1784
$GC,14543,1.29,204.2,629.2,10.7,693,14547,0.00,2.65,0.00,0.000,4,0.000,0.080,2990,3509,1783
$GC,14564,1.29,204.2,626.5,11.2,694,14569,0.00,2.55,0.00,0.000,6,0.000,0.066,2990,2141,1783
$GC,14886,1.29,204.2,593.0,10.1,710,14890,0.00,2.67,0.00,0.000,4,0.000,0.079,2990,690,1782
$GC,14904,1.29,204.2,591.2,10.5,711,14909,0.00,2.62,0.00,0.000,6,0.000,0.067,2990,2113,1782
$GC,15231,1.29,204.2,552.9,11.4,727,15235,0.00,2.58,0.00,0.000,4,0.000,0.072,2990,3511,1782
$GC,15264,1.29,204.2,549.1,10.7,728,15270,0.00,2.55,0.00,0.000,6,0.000,0.059,2990,2120,1782
$GC,15580,1.29,204.2,518.4,9.2,744,15585,0.00,2.60,0.00,0.000,4,0.000,0.070,2990,3513,1782
$GC,15602,1.29,204.2,516.1,9.8,745,15607,0.00,2.50,0.00,0.000,6,0.000,0.057,2990,2136,1782
$GC,15924,1.29,204.2,488.0,8.9,761,15928,0.00,2.55,0.00,0.000,4,0.000,0.065,2990,3512,1783
$GC,15941,1.29,204.2,486.5,8.9,762,15945,0.00,2.50,0.00,0.000,6,0.000,0.054,2990,2129,1783
$GC,16268,1.29,204.2,456.7,9.8,778,16272,0.00,2.55,0.00,0.000,4,0.000,0.065,2991,3514,1784
$GC,16307,1.29,204.2,452.6,10.5,780,16311,0.00,2.47,0.00,0.000,6,0.000,0.054,2991,2141,1785
$GC,16634,1.29,204.2,421.7,9.7,796,16638,0.00,2.53,0.00,0.000,4,0.000,0.063,2991,3521,1786
$GC,16685,1.34,204.2,416.2,9.8,798,16689,0.00,2.45,0.00,0.000,6,0.000,0.052,2991,2156,1786
$GC,17001,1.34,204.2,383.7,10.6,813,17005,0.00,2.50,0.00,0.000,4,0.000,0.062,2990,3518,1787
$GC,17028,1.34,204.2,380.4,11.5,814,17032,0.00,2.45,0.00,0.000,6,0.000,0.052,2991,2159,1787
$GC,17344,1.34,204.2,347.0,10.5,829,17349,0.00,2.47,0.00,0.000,4,0.000,0.061,2991,3514,1788
$GC,17366,1.34,204.2,344.4,12.1,830,17371,0.00,2.42,0.00,0.000,6,0.000,0.051,2990,2165,1788
$GC,17689,1.38,204.2,314.8,8.9,846,17693,0.00,2.45,0.00,0.000,4,0.000,0.061,2990,3514,1789
$GC,17711,1.38,204.2,312.5,9.9,847,17715,0.00,2.40,0.00,0.000,6,0.000,0.051,2991,2180,1789
$GC,18032,1.43,204.2,279.7,10.6,863,18037,0.00,2.42,0.00,0.000,4,0.000,0.061,2991,3515,1789
$GC,18043,1.47,204.2,278.3,11.4,863,18050,0.12,2.40,0.00,0.000,6,0.055,0.051,3029,2181,1789
$GC,18360,1.41,204.2,240.0,11.6,879,18362,0.12,0.00,0.00,0.000,6,0.094,0.000,3006,2181,1790
$GC,18668,1.41,204.2,207.8,10.4,894,18673,0.00,2.40,0.00,0.000,4,0.000,0.060,3006,3513,1790
$GC,18679,1.41,204.2,206.5,10.4,894,18685,0.00,2.38,0.00,0.000,6,0.000,0.051,3007,2187,1790
$GC,18996,1.41,204.2,170.7,13.5,910,19000,0.00,2.40,0.00,0.000,4,0.000,0.059,3006,3513,1791
$GC,19006,1.41,204.2,168.8,13.9,910,19012,0.00,2.35,0.00,0.000,6,0.000,0.050,3006,2193,1790
$GC,19322,1.41,204.2,122.6,14.3,926,19326,0.00,2.42,0.00,0.000,4,0.000,0.061,3006,3518,1791
$GC,19345,1.41,204.2,119.4,14.2,927,19349,0.00,2.38,0.00,0.000,6,0.000,0.050,3007,2193,1791
$GC,19667,1.52,274.8,90.6,4.8,943,19731,0.12,2.47,57.28,0.864,4,0.049,0.058,3043,3515,1498
$GC,19791,1.47,274.8,81.7,8.1,948,19795,0.12,2.35,0.00,0.000,6,0.093,0.050,3019,2216,1498
$GC,20107,1.47,274.8,52.5,10.2,963,20111,0.00,2.75,0.00,0.000,4,0.000,0.063,3019,689,1499
$GC,20124,1.47,274.8,50.7,9.9,964,20129,0.00,2.75,0.00,0.000,6,0.000,0.052,3020,2224,1499
$GC,20452,1.47,274.8,12.6,11.9,980,20456,0.00,2.78,0.00,0.000,4,0.000,0.063,3019,691,1499
$GC,20479,1.47,274.8,9.4,12.4,981,20483,0.00,2.72,0.00,0.000,6,0.000,0.050,3019,2213,1499
$STATE,20545,end climb,SURFACE_DEPTH_REACHED
$STATE,20545,begin surface coast
$FINISH,0.1,1.011149
$STATE,20568,end surface coast,CONTROL_FINISHED_OK
$STATE,20568,begin surface
$SM_CCo,20591,165.18,0.775,0,0,390,547.02
$SM_GC,0.62,0.00,0.00,165.18,0.000,0.000,0.775,422,2109,390,-10.48,-0.85,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1666
$TCM_TEMP,17.70
$XPDR_PINGS,434
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,750.8,97.1
$24V_AH,23.7,39.040
$10V_AH,10.1,18.629
$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,25.275,203.750,336.025,165.175,0.000,37.759,30.067,162.394,115.250,0.000,0.000,15.627,1857.348,15706.554,689.705,2253.634,611.965,33.356,1838.815,0.000,2198.868,0.000,48.475
$DEVICE_MAMPS,135.759,88.205,1485.679,774.670,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,676.789,726.594,551.074,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50515,985
$CAP_FILE_SIZE,160920,0
$CFSIZE,254472192,238866432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,200708,055608,6147.536,-937.908,35,0.8,35,-9.7