version: 66.03
glider: 5
mission: 3
dive: 202
start: 7 20 108 11 24 56
data:
$ID,5
$MISSION,3
$DIVE,202
$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,-80355.75
$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,27
$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,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
$GPS1,111756,6150.533,-942.167,42,1.1,42,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-52.5
$GPS2,112402,6150.513,-942.081,11,1.4,16,-9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRS1K
$TGT_LATLONG,6210.000,-1055.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.001,0.222
$KALMAN_X,-25879.3,850.7,1022.7,-8989.7,-7405.7
$KALMAN_Y,10887.0,-142.3,559.0,-42531.9,-1264.1
$MHEAD_RNG_PITCHd_Wd,9.9,72652,-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,-117.3,0.0,0.0,0,136,0.00,0.00,-109.90,0.000,6,0.000,0.000,419,2174,3099
$GC,140,-1.30,-117.3,2.2,-1.5,5,156,10.32,2.60,0.00,0.000,4,0.137,0.056,2407,738,3099
$GC,322,-0.97,-117.3,26.7,-12.0,12,327,0.38,2.53,0.00,0.000,6,0.095,0.048,2484,2158,3098
$GC,644,-0.87,-117.3,58.0,-10.3,28,649,0.12,2.58,0.00,0.000,4,0.098,0.055,2510,738,3097
$GC,822,-0.87,-117.3,77.5,-11.0,36,826,0.00,2.47,0.00,0.000,6,0.000,0.048,2510,2131,3097
$GC,1150,-0.87,-117.3,111.5,-10.1,52,1154,0.00,2.53,0.00,0.000,4,0.000,0.057,2510,738,3097
$GC,1313,-0.87,-117.3,130.8,-12.9,59,1317,0.00,2.45,0.00,0.000,6,0.000,0.048,2510,2110,3097
$GC,1628,-0.87,-117.3,168.0,-11.4,74,1633,0.00,2.60,0.00,0.000,4,0.000,0.059,2510,3564,3098
$GC,1886,-0.87,-117.3,195.6,-9.8,85,1892,0.00,2.58,0.00,0.000,6,0.000,0.047,2510,2113,3098
$GC,2202,-0.87,-117.3,221.6,-7.1,101,2206,0.00,2.45,0.00,0.000,4,0.000,0.061,2510,746,3098
$GC,2281,-0.87,-117.3,227.4,-6.6,104,2287,0.00,2.45,0.00,0.000,6,0.000,0.051,2510,2113,3098
$GC,2598,-0.87,-117.3,246.8,-6.0,120,2603,0.00,2.60,0.00,0.000,4,0.000,0.061,2510,3563,3097
$GC,2717,-0.87,-117.3,254.7,-7.0,125,2721,0.00,2.58,0.00,0.000,6,0.000,0.048,2510,2113,3097
$GC,3033,-0.87,-117.3,273.5,-6.4,140,3037,0.00,2.45,0.00,0.000,4,0.000,0.062,2510,747,3097
$GC,3180,-0.87,-117.3,283.9,-7.0,146,3186,0.00,2.45,0.00,0.000,6,0.000,0.051,2510,2113,3097
$GC,3497,-0.87,-117.3,302.7,-5.7,162,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2113,3097
$GC,3806,-0.87,-117.3,322.4,-7.0,177,3810,0.00,2.50,0.00,0.000,4,0.000,0.061,2510,746,3096
$GC,3901,-0.87,-117.3,330.0,-7.8,181,3906,0.00,2.45,0.00,0.000,6,0.000,0.051,2510,2110,3096
$GC,4218,-0.87,-117.3,354.6,-7.8,196,4223,0.00,2.60,0.00,0.000,4,0.000,0.062,2510,3557,3096
$GC,4314,-0.87,-117.3,363.2,-9.3,200,4318,0.00,2.60,0.00,0.000,6,0.000,0.048,2510,2096,3096
$GC,4630,-0.87,-117.3,390.9,-9.2,215,4634,0.00,2.40,0.00,0.000,4,0.000,0.061,2510,748,3096
$GC,4799,-0.87,-117.3,407.4,-9.6,222,4805,0.00,2.42,0.00,0.000,6,0.000,0.052,2510,2097,3095
$GC,5116,-0.87,-117.3,436.1,-8.6,238,5120,0.00,2.65,0.00,0.000,4,0.000,0.065,2510,3562,3095
$GC,5285,-0.87,-117.3,450.8,-9.0,245,5292,0.00,2.60,0.00,0.000,6,0.000,0.053,2510,2099,3095
$GC,5602,-0.87,-117.3,473.5,-7.0,261,5606,0.00,2.42,0.00,0.000,4,0.000,0.064,2510,751,3095
$GC,5722,-0.87,-117.3,481.1,-5.6,266,5726,0.00,2.42,0.00,0.000,6,0.000,0.051,2510,2102,3095
$GC,6039,-0.87,-117.3,496.2,-4.3,281,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2102,3095
$GC,6347,-0.87,-117.3,508.2,-3.9,296,6351,0.00,2.50,0.00,0.000,4,0.000,0.064,2510,739,3094
$GC,6456,-0.87,-117.3,511.8,-2.9,301,6460,0.00,2.42,0.00,0.000,6,0.000,0.054,2510,2099,3094
$GC,6783,-0.87,-117.3,518.6,-2.8,317,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2098,3094
$GC,7092,-0.87,-117.3,541.6,-11.2,332,7096,0.00,2.47,0.00,0.000,4,0.000,0.064,2510,751,3094
$GC,7289,-0.87,-117.3,567.7,-12.7,341,7293,0.00,2.40,0.00,0.000,6,0.000,0.053,2510,2090,3094
$GC,7622,-0.87,-117.3,596.8,-7.4,357,7626,0.00,2.65,0.00,0.000,4,0.000,0.067,2510,3556,3094
$GC,7752,-0.87,-117.3,604.9,-5.9,363,7757,0.00,2.60,0.00,0.000,6,0.000,0.052,2510,2098,3094
$GC,8079,-0.87,-117.3,620.3,-5.5,379,8083,0.00,2.45,0.00,0.000,4,0.000,0.067,2510,740,3094
$GC,8238,-0.87,-117.3,630.3,-5.7,386,8242,0.00,2.47,0.00,0.000,6,0.000,0.058,2510,2103,3093
$GC,8560,-0.87,-117.3,652.9,-7.1,402,8564,0.00,2.65,0.00,0.000,4,0.000,0.070,2510,3554,3093
$GC,8708,-0.82,-117.3,663.1,-2.7,408,8714,0.00,2.60,0.00,0.000,6,0.000,0.057,2510,2113,3093
$GC,9025,-0.88,-117.3,678.4,-4.7,424,9029,0.00,2.47,0.00,0.000,4,0.000,0.068,2510,747,3092
$GC,9283,-0.88,-117.3,699.1,-6.3,435,9289,0.00,2.47,0.00,0.000,6,0.000,0.059,2510,2107,3092
$GC,9600,-0.94,-117.3,722.0,-7.9,451,9604,0.00,2.53,0.00,0.000,4,0.000,0.074,2510,747,3091
$GC,9858,-0.94,-117.3,724.4,8.3,462,9864,0.00,2.50,0.00,0.000,6,0.000,0.063,2510,2108,3091
$GC,10174,-0.99,-117.3,707.8,0.7,478,10179,0.12,2.55,0.00,0.000,4,0.061,0.074,2475,738,3090
$GC,10353,-0.91,-117.3,716.6,-10.8,486,10358,0.12,2.47,0.00,0.000,6,0.110,0.066,2499,2092,3090
$GC,10675,-0.91,-117.3,745.1,-7.3,502,10679,0.00,2.72,0.00,0.000,4,0.000,0.081,2499,3557,3089
$GC,10764,-0.91,-117.3,751.6,-9.2,506,10769,0.00,2.67,0.00,0.000,6,0.000,0.065,2499,2100,3089
$GC,11086,-0.91,-117.3,777.0,-9.8,522,11090,0.00,2.55,0.00,0.000,4,0.000,0.089,2499,742,3088
$GC,11344,-0.91,-117.3,813.4,-7.5,533,11350,0.00,2.47,0.00,0.000,6,0.000,0.073,2499,2066,3087
$GC,11661,-1.01,-117.3,829.2,-3.7,549,11665,0.00,2.80,0.00,0.000,4,0.000,0.088,2499,3563,3086
$GC,11689,-1.58,-117.3,829.2,0.3,550,11695,0.65,2.67,0.00,0.000,6,0.053,0.071,2347,2119,3085
$GC,12005,-1.70,-117.3,829.8,-0.3,565,12010,0.00,2.72,0.00,0.000,4,0.000,0.087,2347,3553,3084
$GC,12263,-2.13,-117.3,830.8,0.2,576,12270,0.50,2.67,0.00,0.000,6,0.057,0.069,2229,2089,3083
$GC,12580,-2.33,-117.3,833.4,-1.3,592,12585,0.15,2.78,0.00,0.000,4,0.064,0.087,2186,3561,3081
$GC,12838,-2.74,-117.3,834.1,0.3,603,12845,0.38,2.55,0.00,0.000,6,0.056,0.070,2096,2186,3080
$GC,13155,-2.74,-117.3,834.1,-0.1,619,13159,0.00,2.62,0.00,0.000,4,0.000,0.084,2095,3564,3078
$STATE,13192,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13192,begin apogee
$GC,13202,-0.33,0.0,834.3,0.6,621,13307,2.53,0.00,99.90,1.501,6,0.090,0.000,2628,2062,2620
$STATE,13308,end apogee,CONTROL_FINISHED_OK
$STATE,13308,begin climb
$GC,13311,1.30,117.3,834.1,0.0,626,13421,1.70,2.75,101.38,1.455,4,0.097,0.091,2975,692,2141
$GC,13447,1.09,117.3,822.3,13.9,632,13452,0.20,2.67,0.00,0.000,6,0.100,0.074,2938,2096,2141
$GC,13763,1.14,145.8,796.2,6.7,647,13795,0.00,2.80,25.85,1.385,4,0.000,0.088,2937,693,2025
$GC,13809,1.52,341.8,796.7,-0.9,649,13985,0.43,2.70,166.05,1.414,6,0.051,0.074,3034,2110,1226
$GC,14293,1.52,341.8,730.9,13.1,672,14295,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2111,1228
$GC,14603,1.44,341.8,681.0,17.5,687,14607,0.00,2.72,0.00,0.000,4,0.000,0.087,3034,692,1228
$GC,14647,1.40,341.8,673.2,17.1,689,14652,0.15,2.65,0.00,0.000,6,0.107,0.073,3008,2100,1227
$GC,14969,1.40,341.8,631.5,13.0,705,14973,0.00,2.65,0.00,0.000,4,0.000,0.081,3008,3513,1227
$GC,14979,1.40,341.8,630.0,13.1,705,14986,0.00,2.62,0.00,0.000,6,0.000,0.070,3008,2103,1227
$GC,15296,1.46,341.8,594.1,10.6,721,15300,0.00,2.62,0.00,0.000,4,0.000,0.079,3008,690,1227
$GC,15313,1.46,341.8,592.1,10.2,722,15317,0.00,2.62,0.00,0.000,6,0.000,0.066,3008,2106,1227
$GC,15640,1.51,341.8,558.6,10.1,738,15645,0.00,2.65,0.00,0.000,4,0.000,0.074,3008,689,1226
$GC,15662,1.51,341.8,555.9,11.8,739,15667,0.00,2.60,0.00,0.000,6,0.000,0.062,3008,2100,1226
$GC,15984,1.58,341.8,520.6,10.5,755,15986,0.17,0.00,0.00,0.000,6,0.052,0.000,3052,2106,1227
$GC,16293,1.51,341.8,477.5,13.9,770,16295,0.12,0.00,0.00,0.000,6,0.099,0.000,3029,2103,1228
$GC,16602,1.51,341.8,439.3,12.9,785,16606,0.00,2.55,0.00,0.000,4,0.000,0.065,3029,3516,1228
$GC,16612,1.51,341.8,437.8,13.1,785,16619,0.00,2.58,0.00,0.000,6,0.000,0.054,3029,2093,1229
$GC,16929,1.51,341.8,397.4,12.7,801,16933,0.00,2.60,0.00,0.000,4,0.000,0.063,3029,3513,1230
$GC,16968,1.51,341.8,392.1,12.5,803,16972,0.00,2.50,0.00,0.000,6,0.000,0.052,3029,2109,1230
$GC,17295,1.51,341.8,349.1,13.2,819,17299,0.00,2.58,0.00,0.000,4,0.000,0.063,3028,3512,1231
$GC,17322,1.51,341.8,345.1,15.0,820,17326,0.00,2.50,0.00,0.000,6,0.000,0.052,3028,2118,1231
$GC,17638,1.51,341.8,301.7,13.9,835,17642,0.00,2.58,0.00,0.000,4,0.000,0.061,3029,3519,1232
$GC,17665,1.51,341.8,297.6,14.7,836,17670,0.00,2.53,0.00,0.000,6,0.000,0.052,3029,2119,1232
$GC,17981,1.51,341.8,253.9,13.8,851,17986,0.00,2.55,0.00,0.000,4,0.000,0.061,3029,3519,1233
$GC,18009,1.51,341.8,249.7,16.1,852,18013,0.00,2.50,0.00,0.000,6,0.000,0.051,3029,2130,1233
$GC,18325,1.51,341.8,203.7,15.3,867,18329,0.00,2.53,0.00,0.000,4,0.000,0.061,3029,3515,1234
$GC,18342,1.51,341.8,200.9,16.1,868,18346,0.00,2.47,0.00,0.000,6,0.000,0.051,3029,2136,1234
$GC,18668,1.51,341.8,152.7,14.3,884,18672,0.00,2.50,0.00,0.000,4,0.000,0.060,3029,3512,1234
$GC,18685,1.51,341.8,150.2,14.2,885,18689,0.00,2.45,0.00,0.000,6,0.000,0.051,3029,2141,1234
$GC,19012,1.51,341.8,107.5,12.3,901,19021,0.00,2.53,3.72,0.572,4,0.000,0.059,3029,3509,1225
$GC,19028,1.51,341.8,105.3,12.4,901,19034,0.00,2.47,0.00,0.000,6,0.000,0.051,3029,2136,1226
$GC,19344,1.51,341.8,69.5,12.0,917,19348,0.00,2.53,0.00,0.000,4,0.000,0.058,3029,3517,1226
$GC,19362,1.51,341.8,67.5,11.6,918,19366,0.00,2.45,0.00,0.000,6,0.000,0.050,3029,2150,1226
$GC,19689,1.51,341.8,26.6,12.5,934,19690,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2149,1226
$STATE,19893,end climb,SURFACE_DEPTH_REACHED
$STATE,19893,begin surface coast
$FINISH,0.2,1.025868
$STATE,19915,end surface coast,CONTROL_FINISHED_OK
$STATE,19915,begin surface
$SM_CCo,19938,124.25,0.789,0,0,390,547.02
$SM_GC,0.76,0.00,0.00,124.25,0.000,0.000,0.789,416,2138,390,-10.51,-0.34,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1696
$TCM_TEMP,16.50
$XPDR_PINGS,510
$ALTIM_TOP_PING,18.7,999.0
$ALTIM_BOTTOM_PING,750.1,94.2
$24V_AH,23.7,39.453
$10V_AH,10.1,18.815
$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,29.300,210.050,396.900,124.250,0.000,37.763,30.065,164.178,134.250,0.000,0.000,16.372,1862.246,14680.437,707.941,2558.727,618.615,33.383,1983.641,0.000,2494.823,0.000,46.036
$DEVICE_MAMPS,137.293,90.506,1501.019,789.243,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,649.147,698.592,499.399,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50613,945
$CAP_FILE_SIZE,165639,0
$CFSIZE,254472192,238718976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,200708,170038,6151.826,-946.517,40,1.8,40,-9.8