version: 66.03
glider: 5
mission: 3
dive: 207
start: 7 21 108 17 39 21
data:
$ID,5
$MISSION,3
$DIVE,207
$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,-80460.133
$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,34
$R_STBD_OVSHOOT,18
$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
$GPS1,173201,6157.027,-1006.593,37,2.0,37,-10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-47.6
$GPS2,173829,6157.028,-1006.557,16,2.3,35,-10.0
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,IFRS1K
$TGT_LATLONG,6210.000,-1055.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.218,-0.041
$KALMAN_X,-32424.8,-260.9,1421.3,-22921.5,4976.6
$KALMAN_Y,2265.5,-2.7,-191.1,-21237.6,1252.8
$MHEAD_RNG_PITCHd_Wd,269.4,48289,-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,22,begin dive
$GC,25,-1.30,-117.3,0.0,0.0,0,138,0.00,0.00,-111.12,0.000,6,0.000,0.000,424,2120,3099
$GC,142,-1.30,-117.3,2.1,-1.6,5,158,10.40,2.45,0.00,0.000,4,0.143,0.054,2409,755,3098
$GC,332,-0.98,-117.3,31.9,-15.0,12,339,0.38,2.50,0.00,0.000,6,0.098,0.048,2485,2161,3097
$GC,649,-0.89,-117.3,67.2,-8.8,28,651,0.10,0.00,0.00,0.000,6,0.100,0.000,2506,2161,3097
$GC,960,-0.89,-117.3,91.5,-7.9,43,964,0.00,2.55,0.00,0.000,4,0.000,0.056,2506,752,3097
$GC,1000,-0.89,-117.3,95.3,-8.9,45,1004,0.00,2.45,0.00,0.000,6,0.000,0.048,2506,2127,3098
$GC,1327,-0.89,-117.3,120.9,-8.7,61,1331,0.00,2.55,0.00,0.000,4,0.000,0.059,2506,3555,3098
$GC,1368,-0.85,-117.3,124.2,-8.4,63,1372,0.00,2.53,0.00,0.000,6,0.000,0.046,2506,2129,3098
$GC,1695,-0.85,-117.3,148.9,-7.6,79,1699,0.00,2.47,0.00,0.000,4,0.000,0.060,2506,744,3098
$GC,1745,-0.85,-117.3,153.1,-8.6,81,1749,0.00,2.47,0.00,0.000,6,0.000,0.050,2506,2124,3098
$GC,2061,-0.85,-117.3,178.1,-7.6,96,2065,0.00,2.58,0.00,0.000,4,0.000,0.061,2506,3563,3097
$GC,2094,-0.81,-117.3,180.8,-8.4,97,2100,0.00,2.55,0.00,0.000,6,0.000,0.048,2506,2126,3097
$GC,2410,-0.81,-117.3,207.6,-8.5,113,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2125,3097
$GC,2719,-0.81,-117.3,232.3,-7.8,128,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2125,3097
$GC,3029,-0.81,-117.3,254.6,-7.2,143,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2125,3097
$GC,3341,-0.81,-117.3,275.4,-6.4,158,3345,0.00,2.47,0.00,0.000,4,0.000,0.061,2506,739,3097
$GC,3368,-0.81,-117.3,277.6,-7.2,159,3373,0.00,2.47,0.00,0.000,6,0.000,0.052,2506,2124,3097
$GC,3685,-0.81,-117.3,301.7,-8.9,174,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2125,3096
$GC,3994,-0.81,-117.3,330.1,-9.2,189,3998,0.00,2.60,0.00,0.000,4,0.000,0.064,2506,3567,3096
$GC,4060,-0.81,-117.3,336.7,-10.1,192,4065,0.00,2.58,0.00,0.000,6,0.000,0.051,2506,2125,3096
$GC,4382,-0.81,-117.3,365.7,-8.8,208,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2124,3096
$GC,4692,-0.81,-117.3,391.8,-7.3,223,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2123,3095
$GC,5000,-0.81,-117.3,410.4,-6.5,238,5005,0.00,2.47,0.00,0.000,4,0.000,0.063,2506,741,3095
$GC,5045,-0.81,-117.3,413.9,-8.0,240,5050,0.00,2.50,0.00,0.000,6,0.000,0.053,2506,2132,3095
$GC,5368,-0.81,-117.3,436.6,-6.7,256,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2133,3095
$GC,5677,-0.81,-117.3,457.8,-7.0,271,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2133,3095
$GC,5986,-0.81,-117.3,482.5,-8.4,286,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2136,3094
$GC,6295,-0.81,-117.3,506.1,-7.0,301,6299,0.00,2.55,0.00,0.000,4,0.000,0.062,2506,735,3094
$GC,6322,-0.81,-117.3,508.0,-6.7,302,6327,0.00,2.50,0.00,0.000,6,0.000,0.054,2506,2125,3094
$GC,6639,-0.81,-117.3,528.2,-6.5,317,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2126,3094
$GC,6948,-0.81,-117.3,549.1,-7.7,332,6949,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2125,3094
$GC,7257,-0.81,-117.3,577.0,-9.7,347,7259,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2126,3093
$GC,7567,-0.81,-117.3,599.3,-5.7,362,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2126,3093
$GC,7876,-0.81,-117.3,618.7,-7.3,377,7877,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2125,3093
$GC,8185,-0.81,-117.3,642.5,-7.9,392,8189,0.00,2.55,0.00,0.000,4,0.000,0.064,2506,737,3093
$GC,8212,-0.81,-117.3,645.1,-9.4,393,8217,0.00,2.50,0.00,0.000,6,0.000,0.054,2506,2124,3093
$GC,8528,-0.81,-117.3,671.7,-5.6,408,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2124,3093
$GC,8837,-0.81,-117.3,693.4,-6.4,423,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2124,3093
$GC,9147,-0.81,-117.3,704.7,-3.9,438,9152,0.00,2.55,0.00,0.000,4,0.000,0.067,2506,738,3093
$GC,9198,-0.81,-117.3,707.6,-6.0,440,9202,0.00,2.50,0.00,0.000,6,0.000,0.058,2506,2117,3093
$GC,9514,-0.81,-117.3,726.8,-8.1,455,9515,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2117,3093
$GC,9823,-0.81,-117.3,744.4,-5.0,470,9827,0.00,2.53,0.00,0.000,4,0.000,0.071,2506,746,3093
$GC,9935,-0.81,-117.3,751.6,-6.7,475,9939,0.00,2.50,0.00,0.000,6,0.000,0.062,2506,2110,3093
$GC,10257,-0.81,-117.3,771.2,-5.1,491,10261,0.00,2.55,0.00,0.000,4,0.000,0.076,2506,747,3092
$GC,10286,-0.81,-117.3,772.9,-5.7,492,10290,0.00,2.47,0.00,0.000,6,0.000,0.064,2506,2088,3092
$GC,10602,-0.81,-117.3,794.6,-6.5,507,10603,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2089,3091
$STATE,10846,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10846,begin apogee
$GC,10854,-0.33,0.0,816.3,9.2,519,10958,0.57,0.00,101.15,1.410,6,0.091,0.000,2625,2088,2620
$STATE,10959,end apogee,CONTROL_FINISHED_OK
$STATE,10959,begin climb
$GC,10962,1.30,117.3,820.7,0.0,524,11070,1.65,0.00,100.65,1.384,6,0.073,0.000,2977,2089,2140
$GC,11379,1.31,118.6,786.4,7.9,545,11384,0.00,2.67,0.00,0.000,4,0.000,0.081,2977,3505,2139
$GC,11525,1.31,118.6,773.0,10.1,551,11531,0.00,2.62,0.00,0.000,6,0.000,0.070,2977,2106,2138
$GC,11841,1.32,124.7,746.4,7.7,567,11850,0.00,0.00,7.30,1.141,6,0.000,0.000,2976,2106,2111
$GC,12150,1.32,125.3,719.5,8.0,582,12154,0.00,2.67,0.00,0.000,4,0.000,0.081,2976,3511,2110
$GC,12216,1.32,125.3,714.0,8.3,585,12221,0.00,2.62,0.00,0.000,6,0.000,0.068,2977,2105,2109
$GC,12539,1.32,126.0,685.9,8.0,601,12544,0.00,2.65,0.00,0.000,4,0.000,0.077,2976,3509,2108
$GC,12624,1.32,126.0,678.6,8.5,605,12629,0.00,2.50,0.00,0.000,6,0.000,0.063,2976,2141,2107
$GC,12952,1.32,126.0,652.7,8.9,621,12957,0.00,2.58,0.00,0.000,4,0.000,0.072,2976,3511,2106
$GC,12980,1.32,126.0,650.2,8.8,622,12984,0.00,2.50,0.00,0.000,6,0.000,0.060,2976,2148,2106
$GC,13296,1.34,141.2,627.4,7.3,637,13317,0.00,2.62,14.35,1.230,4,0.000,0.069,2976,3511,2044
$GC,13396,1.34,141.2,618.1,10.9,641,13401,0.00,2.45,0.00,0.000,6,0.000,0.056,2977,2172,2044
$GC,13715,1.34,141.2,585.2,11.7,656,13716,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2154,2043
$GC,14022,1.34,141.2,553.2,9.8,671,14026,0.00,2.47,0.00,0.000,4,0.000,0.065,2976,3509,2044
$GC,14062,1.34,141.2,549.0,11.0,673,14066,0.00,2.40,0.00,0.000,6,0.000,0.052,2977,2175,2044
$GC,14388,1.34,141.2,520.5,8.3,689,14392,0.00,2.47,0.00,0.000,4,0.000,0.064,2976,3514,2045
$GC,14422,1.34,141.2,517.4,8.8,690,14428,0.00,2.40,0.00,0.000,6,0.000,0.052,2976,2183,2045
$GC,14738,1.34,141.2,483.6,11.2,706,14739,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2165,2045
$GC,15047,1.34,141.2,452.1,10.3,721,15051,0.00,2.45,0.00,0.000,4,0.000,0.062,2977,3516,2047
$GC,15108,1.34,141.2,445.6,10.9,723,15114,0.00,2.38,0.00,0.000,6,0.000,0.051,2977,2193,2047
$GC,15424,1.34,141.2,416.9,9.2,739,15426,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2177,2047
$GC,15733,1.34,141.2,388.4,8.5,754,15737,0.00,2.42,0.00,0.000,4,0.000,0.063,2976,3512,2048
$GC,15773,1.34,141.2,384.8,9.8,756,15777,0.00,2.35,0.00,0.000,6,0.000,0.051,2977,2197,2048
$GC,16100,1.34,141.2,353.6,9.2,772,16101,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2180,2048
$GC,16409,1.34,141.2,325.2,9.1,787,16413,0.00,2.40,0.00,0.000,4,0.000,0.061,2977,3510,2049
$GC,16441,1.34,141.2,322.1,9.6,788,16447,0.00,2.35,0.00,0.000,6,0.000,0.050,2977,2196,2049
$GC,16758,1.34,141.2,296.8,8.1,804,16762,0.00,2.40,0.00,0.000,4,0.000,0.061,2977,3514,2049
$GC,16785,1.34,141.2,294.2,8.7,805,16789,0.00,2.33,0.00,0.000,6,0.000,0.049,2977,2211,2049
$GC,17101,1.34,141.2,266.9,9.0,820,17105,0.00,2.72,0.00,0.000,4,0.000,0.062,2977,687,2049
$GC,17128,1.34,141.2,264.2,11.7,821,17132,0.00,2.75,0.00,0.000,6,0.000,0.053,2977,2223,2050
$GC,17445,1.39,141.2,234.0,9.8,836,17447,0.12,0.00,0.00,0.000,6,0.051,0.000,3014,2222,2051
$GC,17754,1.32,141.2,196.9,12.4,851,17759,0.15,2.80,0.00,0.000,4,0.089,0.062,2981,678,2051
$GC,17776,1.32,141.2,194.0,12.6,852,17781,0.00,2.75,0.00,0.000,6,0.000,0.052,2981,2214,2051
$GC,18097,1.32,141.2,160.0,10.5,868,18098,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2214,2051
$GC,18407,1.36,141.2,129.8,9.1,883,18408,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2214,2051
$GC,18716,1.40,163.2,106.2,7.0,898,18743,0.10,2.38,20.75,0.844,4,0.056,0.058,3013,3516,1953
$GC,18760,1.35,163.2,102.2,9.7,900,18764,0.00,2.38,0.00,0.000,6,0.000,0.048,3012,2202,1953
$GC,19082,1.35,163.2,70.2,11.2,916,19086,0.00,2.72,0.00,0.000,4,0.000,0.062,3013,683,1953
$GC,19148,1.35,163.2,62.1,11.3,919,19153,0.00,2.70,0.00,0.000,6,0.000,0.051,3013,2193,1952
$GC,19472,1.35,163.2,27.3,11.3,935,19476,0.00,2.35,0.00,0.000,4,0.000,0.057,3012,3513,1953
$GC,19584,1.35,163.2,14.2,10.2,940,19588,0.00,2.33,0.00,0.000,6,0.000,0.048,3013,2207,1953
$STATE,19737,end climb,SURFACE_DEPTH_REACHED
$STATE,19737,begin surface coast
$FINISH,0.2,1.013943
$STATE,19760,end surface coast,CONTROL_FINISHED_OK
$STATE,19760,begin surface
$SM_CCo,19782,222.75,0.770,0,0,389,547.02
$SM_GC,0.47,0.00,0.00,222.75,0.000,0.000,0.770,420,2177,389,-10.49,1.07,547.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1659
$TCM_TEMP,17.80
$XPDR_PINGS,494
$ALTIM_TOP_PING,19.2,19.0
$ALTIM_BOTTOM_PING,775.8,49.8
$24V_AH,23.7,40.387
$10V_AH,10.1,19.309
$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,24.725,146.000,244.200,222.750,0.000,37.761,29.469,165.362,130.500,0.000,0.000,35.929,1738.099,15433.479,665.092,1980.565,571.432,33.368,1627.798,0.000,1919.537,0.000,49.921
$DEVICE_MAMPS,142.662,81.302,1409.746,770.068,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,651.558,700.397,542.206,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47329,949
$CAP_FILE_SIZE,139667,0
$CFSIZE,254472192,238374912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,210708,231407,6157.340,-1009.319,40,1.3,40,-10.0